CN112578810A - Agricultural pesticide application method for unmanned aerial vehicle, computer storage medium and electronic equipment - Google Patents
Agricultural pesticide application method for unmanned aerial vehicle, computer storage medium and electronic equipment Download PDFInfo
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- 239000000575 pesticide Substances 0.000 title claims abstract description 73
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012423 maintenance Methods 0.000 claims abstract description 48
- 238000005507 spraying Methods 0.000 claims abstract description 44
- 239000003814 drug Substances 0.000 claims abstract description 21
- 241000196324 Embryophyta Species 0.000 claims abstract description 19
- 206010020751 Hypersensitivity Diseases 0.000 claims abstract description 14
- 208000026935 allergic disease Diseases 0.000 claims abstract description 14
- 230000007815 allergy Effects 0.000 claims abstract description 14
- 239000007921 spray Substances 0.000 claims abstract description 8
- 238000004364 calculation method Methods 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims abstract description 4
- 241000607479 Yersinia pestis Species 0.000 claims description 15
- 229940079593 drug Drugs 0.000 claims description 11
- 241000238631 Hexapoda Species 0.000 claims description 9
- 239000002131 composite material Substances 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 7
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- 238000004458 analytical method Methods 0.000 claims description 3
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- 238000005516 engineering process Methods 0.000 description 2
- 239000003337 fertilizer Substances 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000003973 irrigation Methods 0.000 description 2
- 230000002262 irrigation Effects 0.000 description 2
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
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Abstract
The invention discloses an agricultural pesticide application method of an unmanned aerial vehicle, which comprises the following steps: calculating the demand of specific applied materials of a unit area of a single plant according to historical data of a single crop farmland and a planting forest area; forming a spraying maintenance table according to the calculation result of the demand and the plant variety, and forming an allergy maintenance table according to the variety of the applied object and the plant variety; storing a spray maintenance table and the allergy maintenance table to a dosing regimen maintenance table; forming a daily pesticide application flight task table according to the pesticide application scheme maintenance table, performing unmanned aerial vehicle preset path planning on each task in the daily pesticide application flight task table, and storing the preset path planning and the daily pesticide application flight task table; and executing the flight task on time according to the daily pesticide application flight task schedule, selecting the throwing objects required by the unmanned aerial vehicle loading flight task before execution, and scheduling the selected unmanned aerial vehicle. The method is used for dispatching the unmanned aerial vehicle to carry out intelligent pesticide application on farmlands and forest zones. The problem of can't schedule unmanned aerial vehicle to accomplish the task of giving medicine to poor free of charge is solved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle application, in particular to an agricultural pesticide application method for an unmanned aerial vehicle, a computer storage medium and electronic equipment.
Background
Currently, the development of unmanned aerial vehicle technology is in the phase of being in the future, and unmanned aerial vehicles are being applied to automation in many fields, wherein intelligent irrigation of unmanned aerial vehicles is one of the topics studied by people. At present, the main technical point of concern in the irrigation technology of unmanned aerial vehicles lies in how to realize the self-route planning and the self-mission planning of unmanned aerial vehicles. More specifically, it is how the drone forms and efficiently performs agricultural spraying tasks. At present, the prior art still has no good solution on how to solve the problem of scheduling unmanned aerial vehicle to accomplish the task of giving medicine to poor free of.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an agricultural pesticide application method of an unmanned aerial vehicle, a computer storage medium and electronic equipment, which are used for solving the problem that the unmanned aerial vehicle cannot be scheduled to complete a pesticide application task.
An unmanned aerial vehicle agricultural pesticide application method, the method comprising:
calculating the demand of specific applied materials of a unit area of a single plant according to historical data of a single crop farmland and a planting forest area;
forming a spraying maintenance table according to the calculation result of the demand quantity of the specific deposit per unit area of the single plant and the plant variety, and forming an allergy maintenance table according to the type of the deposit and the plant variety;
storing the spray maintenance table and the allergy maintenance table to a dosing regimen maintenance table.
Forming a daily pesticide application flight task table according to the pesticide application scheme maintenance table, performing unmanned aerial vehicle preset path planning on each task in the daily pesticide application flight task table, and storing the preset path planning and the daily pesticide application flight task table;
and executing the flight task on time according to the daily pesticide application flight task schedule, selecting the throwing objects required by the unmanned aerial vehicle loading flight task before execution, and scheduling the selected unmanned aerial vehicle.
A scheme maintenance table is formed to provide basis for planning of the flight task, a path is planned and spraying parameters are sprayed to complete the scheme, and finally the flight task is deployed to the unmanned dispatching vehicle, so that the problem that the unmanned dispatching vehicle cannot be dispatched to complete a pesticide application task is solved.
In order to enable the effectiveness of the medicine application scheme maintenance table to be higher, the spraying maintenance table and the allergy maintenance table are selected as the sub-maintenance tables of the medicine application scheme maintenance table, so that the spraying efficiency can be effectively improved, and meanwhile, accidental injury caused by allergy of plants to sprayed medicines is avoided.
Preferably, the step of planning the preset flight path of the unmanned aerial vehicle and forming the flight task by combining with the prestored pesticide application scheme maintenance table comprises:
determining a pesticide application area and planning a preset flight path of the unmanned aerial vehicle according to position information, area information and shape information of a farmland or forest area of the pesticide application area;
calculating the length of the planned preset flight path and calculating the application amount of the unit path length by combining with a medication application scheme maintenance table; calculating the flight speed and the throwing speed of the unmanned aerial vehicle through the throwing amount of the unit path length; and forming a flight task according to the flight speed and the throwing speed of the unmanned aerial vehicle and the preset flight path of the unmanned aerial vehicle.
The task parameters of the flight tasks of the unmanned aerial vehicle are adjusted to achieve more reasonable dosage application, and the pesticide application areas are distinguished to be forest areas and farmlands, so that the unmanned aerial vehicle can adjust the flight tasks according to different planting conditions to enable the spraying effect to be more ideal.
Preferably, the step of determining the administration area comprises: dividing a drug application area into a drug application area set by using a unit rectangle; dividing the pesticide application area set into a farmland area set, a forest area set and a composite area set according to the area planting types; analyzing the regions included in the composite region set according to the large-scale property of the planting region to obtain region boundaries; and analyzing an actual farmland area and an actual forest area through the area boundary, the farmland area set, the forest area set and the composite area set.
The border of the pesticide application area is sharpened, and the clearer and more accurate pesticide application boundary can enable the area sprayed by the unmanned aerial vehicle to be more accurate when the unmanned aerial vehicle executes a flight task.
Preferably, the step of planning the preset flight path of the unmanned aerial vehicle according to the position information, the area information and the shape information of the farmland or the forest region of the pesticide application region comprises: planning a first flight path in an area range of an actual farmland area by using square waves in a coarse-grained mode according to an effective spraying range of the unmanned aerial vehicle; based on the planned first flight path, performing path correction by using an S-shaped curve or a vibration curve in a fine-grained mode according to the effective spraying range and the actual farmland area of the unmanned aerial vehicle, so that the spraying range corresponding to the first flight path of the unmanned aerial vehicle completely covers the actual farmland area; planning a second flight path by using an S-shaped curve or an oscillating curve in a coarse-grained mode according to the effective spraying range of the unmanned aerial vehicle and the forest area, so that the spraying range corresponding to the second flight path of the unmanned aerial vehicle completely covers the actual forest area; and connecting the first flight path after the path correction and the second flight path obtained by planning to be a preset flight path of the unmanned aerial vehicle.
The unmanned aerial vehicle flight planning system comprises a flight path planning system, a vibration curve, a two-dimensional coordinate system and a control system, wherein the flight path planning system is used for planning a flight path on the basis of a pesticide application area after distinguishing a forest area and a farmland, the main planning mode of the flight path is set as the vibration curve, so that the flight task of the unmanned aerial vehicle can adapt to more complex pesticide application areas, and the vibration curve is a continuous curve formed by splicing multiple sections of incomplete sinusoidal function waveform curves end to end on the two-.
Preferably, the step of forming a flight mission according to the flight speed of the unmanned aerial vehicle, the launch speed and the preset flight path of the unmanned aerial vehicle comprises: under the condition that a remarkable pest region exists in a pesticide application region, marking a preset flight path corresponding to the position of the remarkable pest region as a path to be modified; and modifying the flight speed and the throwing speed of the unmanned aerial vehicle corresponding to the path to be modified in the flight task according to the insect pest condition and the preset flight path of the unmanned aerial vehicle.
Marking areas with obvious insect pests, and taking the insect pest degree as a factor influencing the task to perform targeted treatment on areas with serious insect pests.
Preferably, the step of selecting the objects to be placed required by the unmanned aerial vehicle to load the flight mission and scheduling the selected unmanned aerial vehicle comprises: the unmanned aerial vehicle feeds back real-time data of the unmanned aerial vehicle and the outside world in the process of executing the flight task; and adjusting the flight speed or the spraying speed of the unmanned aerial vehicle according to the real-time data.
The flow of adding feedback adjustment, adjust in real time according to the environmental parameter around in-process at unmanned aerial vehicle executive task in order to avoid unmanned aerial vehicle to meet accident when carrying out the task, or real-time external environment is different from the external environment when planning unmanned aerial vehicle can't in time make the processing.
Preferably, the step of adjusting the flight speed or the spraying speed of the unmanned aerial vehicle according to the real-time data includes: analyzing real-time data fed back by the unmanned aerial vehicle; determining whether the flight mission needs to be adjusted according to the analysis result of the real-time data; if the flight task needs to be adjusted, the flight speed or the spraying speed of a preset unmanned aerial vehicle in the flight task is adjusted and then uploaded to an unmanned aerial vehicle executing the flight task, and the flight task of the unmanned aerial vehicle is updated.
Adjust unmanned aerial vehicle airspeed and spray velocity in real time according to the environmental demand, make unmanned aerial vehicle can adjust the speed that sprays and fly with the regional actual demand of giving medicine to the poor free of charge of adaptation application of pesticide.
The present invention also provides a computer storage medium having a computer program stored thereon, which when executed by a program execution body, implements a UAV agricultural pesticide delivery method as described above.
The invention also provides an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the unmanned aerial vehicle agricultural pesticide application method.
Compared with the prior art, the invention has the beneficial effects that:
1. an agricultural pesticide application method for an unmanned aerial vehicle is provided, and the problem that the unmanned aerial vehicle cannot be scheduled to complete a pesticide application task is solved;
2. the flight mission of the unmanned aerial vehicle can be adjusted in real time to deal with various unexpected situations;
3. the flying route of the unmanned aerial vehicle is regularly planned by limiting the waveform, so that the spraying range of the unmanned aerial vehicle is better adapted to a pesticide application area;
4. the task is adjusted according to the various adaptive maintenance tables, so that the effect of the unmanned aerial vehicle on executing the flight task is better;
drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The drawings are only for purposes of illustration and are not to be construed as limiting the invention. For a better understanding of the following embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
Example 1
As shown in fig. 1, a method of agricultural pesticide application by unmanned aerial vehicle, the method comprising: calculating the demand of specific applied materials of a unit area of a single plant according to historical data of a single crop farmland and a planting forest area; forming a spraying maintenance table according to the calculation result of the demand quantity of the specific deposit per unit area of the single plant and the plant variety, and forming an allergy maintenance table according to the type of the deposit and the plant variety; storing the spray maintenance table and the allergy maintenance table to a dosing regimen maintenance table, the allergy maintenance table for confirming effects of dosing of a release on purposes other than release by any plant type; planning a preset flight path of the unmanned aerial vehicle and forming a flight task by combining a prestored pesticide application scheme maintenance table; and selecting the throwing objects required by the unmanned aerial vehicle to load the flight mission and scheduling the selected unmanned aerial vehicle to execute the flight mission.
A scheme maintenance table is formed to provide basis for planning of the flight task, a path is planned and spraying parameters are sprayed to complete the scheme, and finally the flight task is deployed to the unmanned dispatching vehicle, so that the problem that the unmanned dispatching vehicle cannot be dispatched to complete a pesticide application task is solved.
In order to enable the effectiveness of the medicine application scheme maintenance table to be higher, the spraying maintenance table and the allergy maintenance table are selected as the sub-maintenance tables of the medicine application scheme maintenance table, so that the spraying efficiency can be effectively improved, and meanwhile, accidental injury caused by allergy of plants to sprayed medicines is avoided.
Wherein the application schedule maintenance schedule is used to determine when it is desired to apply to which field what amount of pesticide or fertilizer is required, the amount of pesticide or fertilizer including the total demand and the demand per square meter.
Specifically, the step of planning the preset flight path of the unmanned aerial vehicle and forming the flight task by combining with the prestored pesticide application scheme maintenance table comprises: determining a pesticide application area and planning a preset flight path of the unmanned aerial vehicle according to position information, area information and shape information of a farmland or forest area of the pesticide application area; calculating the length of the planned preset flight path and calculating the application amount of the unit path length by combining with a medication application scheme maintenance table; calculating the flight speed and the throwing speed of the unmanned aerial vehicle through the throwing amount of the unit path length; and forming a flight task according to the flight speed and the throwing speed of the unmanned aerial vehicle and the preset flight path of the unmanned aerial vehicle.
The task parameters of the flight tasks of the unmanned aerial vehicle are adjusted to achieve more reasonable dosage application, and the pesticide application areas are distinguished to be forest areas and farmlands, so that the unmanned aerial vehicle can adjust the flight tasks according to different planting conditions to enable the spraying effect to be more ideal.
Specifically, the step of determining the application area comprises the following steps: dividing a drug application area into a drug application area set by using a unit rectangle; dividing the pesticide application area set into a farmland area set, a forest area set and a composite area set according to the area planting types; analyzing the regions included in the composite region set according to the large-scale property of the planting region to obtain region boundaries; and analyzing an actual farmland area and an actual forest area through the area boundary, the farmland area set, the forest area set and the composite area set.
The border of the pesticide application area is sharpened, and the clearer and more accurate pesticide application boundary can enable the area sprayed by the unmanned aerial vehicle to be more accurate when the unmanned aerial vehicle executes a flight task.
Specifically, the step of planning the preset flight path of the unmanned aerial vehicle according to the position information, the area information and the shape information of the farmland or the forest region of the pesticide application region comprises: planning a first flight path in an area range of an actual farmland area by using square waves in a coarse-grained mode according to an effective spraying range of the unmanned aerial vehicle; based on the planned first flight path, performing path correction by using an S-shaped curve or a vibration curve in a fine-grained mode according to the effective spraying range and the actual farmland area of the unmanned aerial vehicle, so that the spraying range corresponding to the first flight path of the unmanned aerial vehicle completely covers the actual farmland area; planning a second flight path by using an S-shaped curve or an oscillating curve in a coarse-grained mode according to the effective spraying range of the unmanned aerial vehicle and the forest area, so that the spraying range corresponding to the second flight path of the unmanned aerial vehicle completely covers the actual forest area; and connecting the first flight path after the path correction and the second flight path obtained by planning to be a preset flight path of the unmanned aerial vehicle.
The unmanned aerial vehicle flight planning system comprises a flight path planning system, a vibration curve, a two-dimensional coordinate system and a control system, wherein the flight path planning system is used for planning a flight path on the basis of a pesticide application area after distinguishing a forest area and a farmland, the main planning mode of the flight path is set as the vibration curve, so that the flight task of the unmanned aerial vehicle can adapt to more complex pesticide application areas, and the vibration curve is a continuous curve formed by splicing multiple sections of incomplete sinusoidal function waveform curves end to end on the two-.
Specifically, include after the step of forming the flight task according to unmanned aerial vehicle's airspeed, input speed and unmanned aerial vehicle's default flight path: under the condition that a remarkable pest region exists in a pesticide application region, marking a preset flight path corresponding to the position of the remarkable pest region as a path to be modified; and modifying the flight speed and the throwing speed of the unmanned aerial vehicle corresponding to the path to be modified in the flight task according to the insect pest condition and the preset flight path of the unmanned aerial vehicle.
Marking areas with obvious insect pests, and taking the insect pest degree as a factor influencing the task to perform targeted treatment on areas with serious insect pests.
Wherein, the flying speed of the unmanned aerial vehicle is vfAnd the throwing speed of the unmanned aerial vehicle is vtThe unit area release demand is p, the area factor is a, and the length s of the flight path of the x-th sectionx，WxThe spraying amount of the x flight path, wxThe spraying requirement of the x-th flight path;
magnifying the dimensions with emphasis on time t such that v varies with t
Since the spraying amount needs to be equal to the spraying requirement, the spraying amount can be obtained,
wx＝pa*sx；
wx＝Wx；
∫vtdsx＝∫pa*sxdvf；
the relationship between the flight speed and the drop speed can be obtained as follows:
vt＝pa*vf；
the flight speed of the unmanned aerial vehicle can be planned and adjusted based on the formula;
wherein, the unit area input demand p is decided by the maintenance table of spraying in the scheme maintenance table of giving medicine to, and the value of a is confirmed by the direction and the allergy maintenance table that the flight task of unmanned aerial vehicle is emphatic, if: the task mainly aims at the forest area or farmland, and whether the medicine put in the task of the unmanned aerial vehicle is harmful to the types of partial plants in the forest area with more complex planting types or not is judged.
Specifically, select unmanned aerial vehicle and load the required thing of puting in of flight task and dispatch unmanned aerial vehicle carries and includes after the step of flight task: the unmanned aerial vehicle feeds back real-time data of the unmanned aerial vehicle and the outside world in the process of executing the flight task; and adjusting the flight speed or the spraying speed of the unmanned aerial vehicle according to the real-time data.
The flow of adding feedback adjustment, adjust in real time according to the environmental parameter around in-process at unmanned aerial vehicle executive task in order to avoid unmanned aerial vehicle to meet accident when carrying out the task, or real-time external environment is different from the external environment when planning unmanned aerial vehicle can't in time make the processing.
Specifically, the step of adjusting the flight speed or the spraying speed of the unmanned aerial vehicle according to the real-time data comprises: analyzing real-time data fed back by the unmanned aerial vehicle; determining whether the flight mission needs to be adjusted according to the analysis result of the real-time data; if the flight task needs to be adjusted, the flight speed or the spraying speed of a preset unmanned aerial vehicle in the flight task is adjusted and then uploaded to an unmanned aerial vehicle executing the flight task, and the flight task of the unmanned aerial vehicle is updated.
Adjust unmanned aerial vehicle airspeed and spray velocity in real time according to the environmental demand, make unmanned aerial vehicle can adjust the speed that sprays and fly with the regional actual demand of giving medicine to the poor free of charge of adaptation application of pesticide.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the technical solutions of the present invention, and are not intended to limit the specific embodiments of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention claims should be included in the protection scope of the present invention claims.
Claims (9)
1. An agricultural pesticide application method by unmanned aerial vehicles is characterized by comprising the following steps:
calculating the demand of specific applied materials of a unit area of a single plant according to historical data of a single crop farmland and a planting forest area;
forming a spraying maintenance table according to the calculation result of the demand quantity of the specific deposit per unit area of the single plant and the plant variety, and forming an allergy maintenance table according to the type of the deposit and the plant variety;
storing the spray maintenance table and the allergy maintenance table to a dosing regimen maintenance table;
forming a daily pesticide application flight task table according to the pesticide application scheme maintenance table, performing unmanned aerial vehicle preset path planning on each task in the daily pesticide application flight task table, and storing the preset path planning and the daily pesticide application flight task table;
and executing the flight task on time according to the daily pesticide application flight task schedule, selecting the throwing objects required by the unmanned aerial vehicle loading flight task before execution, and scheduling the selected unmanned aerial vehicle.
2. The agricultural unmanned aerial vehicle pesticide application method of claim 1, wherein the step of planning the preset flight path of the unmanned aerial vehicle and forming the flight mission in combination with the pre-stored pesticide application scheme maintenance schedule comprises:
determining a pesticide application area and planning a preset flight path of the unmanned aerial vehicle according to position information, area information and shape information of a farmland or forest area of the pesticide application area;
calculating the length of the planned preset flight path and calculating the application amount of the unit path length by combining with a medication application scheme maintenance table;
calculating the flight speed and the throwing speed of the unmanned aerial vehicle through the throwing amount of the unit path length;
and forming a flight task according to the flight speed and the throwing speed of the unmanned aerial vehicle and the preset flight path of the unmanned aerial vehicle.
3. The unmanned agricultural pesticide application method of claim 2, wherein the step of determining the application area comprises:
dividing a drug application area into a drug application area set by using a unit rectangle;
dividing the pesticide application area set into a farmland area set, a forest area set and a composite area set according to the area planting types;
analyzing the regions included in the composite region set according to the large-scale property of the planting region to obtain region boundaries;
and analyzing an actual farmland area and an actual forest area through the area boundary, the farmland area set, the forest area set and the composite area set.
4. The agricultural pesticide application method for unmanned aerial vehicles according to claim 3, wherein the step of planning the preset flight path of the unmanned aerial vehicle according to the position information, the area information and the shape information of the farmland or forest area of the pesticide application area comprises the following steps:
planning a first flight path in an area range of an actual farmland area by using square waves in a coarse-grained mode according to an effective spraying range of the unmanned aerial vehicle;
based on the planned first flight path, performing path correction by using an S-shaped curve or a vibration curve in a fine-grained mode according to the effective spraying range and the actual farmland area of the unmanned aerial vehicle, so that the spraying range corresponding to the first flight path of the unmanned aerial vehicle completely covers the actual farmland area;
planning a second flight path by using an S-shaped curve or an oscillating curve in a coarse-grained mode according to the effective spraying range of the unmanned aerial vehicle and the forest area, so that the spraying range corresponding to the second flight path of the unmanned aerial vehicle completely covers the actual forest area;
and connecting the first flight path after the path correction and the second flight path obtained by planning to be a preset flight path of the unmanned aerial vehicle.
5. The agricultural unmanned aerial vehicle pesticide application method of claim 2, wherein the step of forming a flight mission according to the flight speed of the unmanned aerial vehicle, the release speed and the preset flight path of the unmanned aerial vehicle comprises:
under the condition that a remarkable pest region exists in a pesticide application region, marking a preset flight path corresponding to the position of the remarkable pest region as a path to be modified;
and modifying the flight speed and the throwing speed of the unmanned aerial vehicle corresponding to the path to be modified in the flight task according to the insect pest condition and the preset flight path of the unmanned aerial vehicle.
6. The agricultural unmanned aerial vehicle pesticide application method of any one of claims 1 to 5, wherein the step of selecting the unmanned aerial vehicle to load the required missions for a flight mission and scheduling the selected unmanned aerial vehicle comprises:
the unmanned aerial vehicle feeds back real-time data of the unmanned aerial vehicle and the outside world in the process of executing the flight task;
and adjusting the flight speed or the spraying speed of the unmanned aerial vehicle according to the real-time data.
7. The unmanned agricultural pesticide application method of claim 6, wherein the step of adjusting the flight speed or spraying speed of the unmanned aerial vehicle according to the real-time data comprises:
analyzing real-time data fed back by the unmanned aerial vehicle;
determining whether the flight mission needs to be adjusted according to the analysis result of the real-time data;
if the flight task needs to be adjusted, the flight speed or the spraying speed of a preset unmanned aerial vehicle in the flight task is adjusted and then uploaded to an unmanned aerial vehicle executing the flight task, and the flight task of the unmanned aerial vehicle is updated.
8. A computer storage medium having a computer program stored thereon, wherein the computer program when executed by a program execution body implements a drone agricultural pesticide delivery method as claimed in any one of claims 1 to 7.
9. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is configured to execute the computer program to perform the unmanned aerial vehicle agricultural pesticide delivery method of any one of claims 1-7.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247265A (en) * | 2021-06-28 | 2021-08-13 | 泗县汉和智能装备科技有限公司 | Plant protection unmanned aerial vehicle pesticide accurate spraying system based on big data |
| CN113973794A (en) * | 2021-09-10 | 2022-01-28 | 常州希米智能科技有限公司 | Unmanned aerial vehicle pesticide spraying amount monitoring and processing method and device |
| CN114651799A (en) * | 2022-03-08 | 2022-06-24 | 南京工程学院 | Liquid medicine spraying method of flight equipment and flight equipment |
-
2020
- 2020-11-27 CN CN202011357096.9A patent/CN112578810A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247265A (en) * | 2021-06-28 | 2021-08-13 | 泗县汉和智能装备科技有限公司 | Plant protection unmanned aerial vehicle pesticide accurate spraying system based on big data |
| CN113247265B (en) * | 2021-06-28 | 2021-12-21 | 泗县汉和智能装备科技有限公司 | Plant protection unmanned aerial vehicle pesticide accurate spraying system based on big data |
| CN113973794A (en) * | 2021-09-10 | 2022-01-28 | 常州希米智能科技有限公司 | Unmanned aerial vehicle pesticide spraying amount monitoring and processing method and device |
| CN114651799A (en) * | 2022-03-08 | 2022-06-24 | 南京工程学院 | Liquid medicine spraying method of flight equipment and flight equipment |
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