CN112631327A - Pesticide spraying detection method and device for plant protection unmanned aerial vehicle, electronic equipment and storage medium - Google Patents
Pesticide spraying detection method and device for plant protection unmanned aerial vehicle, electronic equipment and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 claims description 19
- 239000003814 drug Substances 0.000 claims description 12
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
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Abstract
The invention relates to the technical field of pesticide spraying detection of plant protection unmanned aerial vehicles, in particular to a pesticide spraying detection method and device for a plant protection unmanned aerial vehicle, electronic equipment and a storage medium. The detection method comprises the following steps: acquiring real-time position coordinates of the unmanned aerial vehicle; when the real-time position coordinate is in a target area, acquiring a real-time driving voltage of a pesticide spraying pump in the unmanned aerial vehicle; when the real-time driving voltage is larger than the lowest driving voltage of the pesticide spraying pump, calculating the real-time pesticide spraying speed of the pesticide spraying pump according to the difference value between the real-time driving voltage and the lowest driving voltage; and calculating the pesticide spraying amount according to the real-time pesticide spraying speed and the pesticide spraying time. According to the unmanned aerial vehicle, the pesticide spraying speed is obtained by detecting the real-time driving voltage and the lowest driving voltage of the pesticide spraying pump, and the driving voltage collected by the unmanned aerial vehicle is not accurate due to acceleration, overweight and weightlessness.
Description
Technical Field
The invention relates to the technical field of pesticide spraying detection of plant protection unmanned aerial vehicles, in particular to a pesticide spraying detection method and device for a plant protection unmanned aerial vehicle, electronic equipment and a storage medium.
Background
Agricultural plant protection machinery includes agricultural plant protection unmanned aerial vehicle and self-propelled plant protection machinery etc. and plant protection unmanned aerial vehicle is the unmanned aerial vehicle that is used for agriculture and forestry plant protection operation, and this unmanned aerial vehicle can spray medicament, seed, powder etc. including spraying mechanism. At present, the pesticide amount of pesticide sprayed on an unmanned aerial vehicle is detected by using a pressure sensor, an impeller flowmeter and other modes.
The invention discloses a plant protection unmanned aerial vehicle spraying flow detection system and a detection method, wherein the plant protection unmanned aerial vehicle spraying flow detection system comprises a spraying flow detection system, a single chip microcomputer, a stabilized voltage power supply, a control module, a wireless data transmission module, a driving module, a gravity sensor, an A \ D conversion module, a signal amplifier and a liquid flow velocity sensor are arranged on the spraying flow detection system, the liquid flow velocity sensor on the spraying flow detection system detects the flowing speed of sprayed pesticide through a pipeline, a detected signal is amplified by a model amplifier and then transmitted to the single chip microcomputer, and the detected data is transmitted to a ground control center in time through the wireless data transmission module.
In practice, the inventors found that the above prior art has the following disadvantages:
above-mentioned technical scheme detects the speed that pesticide sprayed in certain time quantum through gravity sensor and liquid velocity of flow sensor, and then calculates unmanned aerial vehicle's spraying volume, but at the in-process of plant protection unmanned aerial vehicle flight, the condition such as acceleration, overweight, weightlessness often appears, and gravity sensor can appear detecting the deviation, and consequently the spraying volume that obtains is inaccurate.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a pesticide spraying detection method and device for a plant protection unmanned aerial vehicle, electronic equipment and a storage medium, and the adopted technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a method for detecting pesticide spraying of a plant protection unmanned aerial vehicle, where the method includes the following steps:
acquiring real-time position coordinates of the unmanned aerial vehicle;
when the real-time position coordinate is in a target area, acquiring a real-time driving voltage of a pesticide spraying pump in the unmanned aerial vehicle;
when the real-time driving voltage is larger than the lowest driving voltage of the pesticide spraying pump, calculating the real-time pesticide spraying speed of the pesticide spraying pump according to the difference value between the real-time driving voltage and the lowest driving voltage;
and calculating the pesticide spraying amount according to the real-time pesticide spraying speed and the pesticide spraying time.
Further, the method for calculating the medicine spraying amount according to the real-time medicine spraying speed and the medicine spraying time further comprises the following steps:
when the spraying pump adopts fixed frequency control, the spraying amount is equal to the product of the real-time spraying speed and the time;
when the pesticide spraying pump is controlled in a variable frequency mode, the average pesticide spraying speed of a plurality of real-time pesticide spraying speeds acquired in the pesticide spraying time is acquired, and the pesticide spraying amount is equal to the product of the average pesticide spraying speed and the time;
further, the detection method also comprises the following steps:
obtaining the GPS projection area of the motion trail of the real-time position coordinate, and calculating the maximum outline area S0；
Calculating the motion area S according to the motion track1；
Area percentage P ═ S1-S0) 100% of/S0 when P is<Judging that the spray leakage phenomenon exists when the concentration is 95%; when it is 95%<P<Judging the operation to be effective when the rate is 105%; when P is present>And when the content is 105%, judging that the re-spraying phenomenon exists.
In a second aspect, an embodiment of the present invention provides a pesticide spraying detection device for a plant protection unmanned aerial vehicle, where the device includes:
the positioning module is used for acquiring the real-time position coordinate of the unmanned aerial vehicle;
the voltage acquisition module is used for acquiring the real-time driving voltage of the pesticide spraying pump in the unmanned aerial vehicle when the real-time position coordinate is in the target area;
the pesticide spraying speed calculating module is used for calculating the real-time pesticide spraying speed of the pesticide spraying pump according to the difference value between the real-time driving voltage and the lowest driving voltage when the real-time driving voltage is greater than the lowest driving voltage of the pesticide spraying pump;
and the spraying amount calculating module is used for calculating the spraying amount according to the real-time spraying speed and the spraying time.
Further, the spraying amount calculating module further comprises:
the fixed frequency calculation module is used for controlling the spraying amount to be equal to the product of the real-time spraying speed and the time when the spraying pump adopts fixed frequency control;
the variable-frequency calculation module is used for acquiring the average spraying speed of a plurality of real-time spraying speeds acquired within the time when the spraying pump adopts variable-frequency control, and the spraying amount is equal to the product of the average spraying speed and the time;
further, the apparatus further comprises:
a maximum outline area acquisition module for acquiring the GPS projection area of the motion trail of the real-time position coordinate and calculating the maximum outline area S0；
A motion area obtaining module for calculating motion area S according to the motion track1；
A judging module for judging the area percentage P ═ S1-S0)/S0100% of P when<Judging that the spray leakage phenomenon exists when the concentration is 95%; when it is 95%<P<Judging the operation to be effective when the rate is 105%; when P is present>And when the content is 105%, judging that the re-spraying phenomenon exists.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
a processing unit;
a storage unit for storing processing unit executable instructions;
wherein the processing unit is configured to: performing the method of any of the above.
In a fourth aspect, an embodiment of the present invention provides a storage medium, in which computer-readable program instructions are stored, and when the program instructions are executed by a processing unit, the method described in any one of the above is implemented.
The invention has the following beneficial effects:
the invention is additionally arranged on unmanned plant protection machinery and can detect the process of the operation machinery in real time. And calculating the effective operation area, and automatically judging whether repeated spraying or missed spraying exists.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a pesticide spraying detection method for a plant protection unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a block diagram of a plant protection unmanned aerial vehicle pesticide spraying detection device according to an embodiment of the present invention;
FIG. 3 is a block diagram of a module for calculating the amount of sprayed medicine according to the present invention;
fig. 4 is a block diagram of a pesticide spraying detection device of a plant protection unmanned aerial vehicle according to another embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined object, the following detailed description of the embodiments, structures, features and effects of the pesticide spraying detection method, device, electronic device and storage medium for plant protection unmanned aerial vehicle according to the present invention will be provided with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" refers to not necessarily the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The specific schemes of the plant protection unmanned aerial vehicle pesticide spraying detection method, the plant protection unmanned aerial vehicle pesticide spraying detection device, the electronic equipment and the storage medium provided by the invention are specifically described below with reference to the attached drawings.
Referring to fig. 1, a flowchart of a method for detecting pesticide spraying of a plant protection unmanned aerial vehicle according to an embodiment of the present invention is shown, in order to avoid a problem of monitoring deviation of a pressure sensor due to acceleration, overweight, or weightlessness, a method for detecting pesticide spraying of a plant protection unmanned aerial vehicle according to an embodiment of the present invention includes the following steps:
and S001, acquiring the real-time position coordinates of the unmanned aerial vehicle.
Be equipped with orientation module on unmanned aerial vehicle, this orientation module adopts big dipper to combine GPS multimode piece orientation module, utilizes the multisystem to fuse the GNSS algorithm, collects the locating information of plant protection machinery to regularly send this locating information to voltage acquisition module.
And step S002, acquiring the real-time driving voltage of the pesticide spraying pump in the unmanned aerial vehicle when the real-time position coordinate is in the target area.
The target area is the area where the pesticide is currently being sprayed.
Be equipped with voltage acquisition module on unmanned aerial vehicle, this voltage acquisition module is used for gathering the real-time driving voltage who spouts the medicine pump. Wherein, the lowest driving voltage for driving the pesticide spraying pump to work is recorded as the lowest driving voltage.
And S003, when the real-time driving voltage is greater than the lowest driving voltage of the pesticide spraying pump, calculating the real-time pesticide spraying speed of the pesticide spraying pump according to the difference between the real-time driving voltage and the lowest driving voltage.
When the real-time driving voltage V of the pesticide spraying pump is greater than the lowest driving voltage V0When the pesticide spraying speed S is calculated, the plant protection machine starts to spray the pesticide, and the real-time pesticide spraying speed S is calculated according to a formulai：
Si＝k(V–V0)
Wherein V represents the real-time driving voltage, V0Represents the lowest driving voltage, and k is the relation coefficient of the control voltage of the pesticide spraying pump and the pesticide spraying speed.
And step S004, calculating the spraying amount according to the real-time spraying speed and the spraying time.
It should be noted that the pesticide spraying pump of the plant protection operation machine can adopt a fixed frequency control pump and can also adopt a variable frequency control pump.
When the spraying pump is controlled in a fixed frequency mode, the spraying quantity Q is equal to the product of the real-time spraying speed and the time, namely:
Q＝Si×t
wherein S isiIndicating the real-time spraying speed, and t represents the spraying time.
When the spraying pump is controlled by frequency conversion, in order to ensure the calculation precision of the spraying amount, the change of the spraying speed needs to be monitored in real time, and the average spraying speed S of a plurality of real-time spraying speeds acquired in the spraying time is obtainedv：
Wherein S isvFor average spraying speed, SiThe spraying speed is real-time per second.
Using the average spraying speed SvThe calculation variable frequency pump that can be accurate is at the whole medicine volume of spouting the medicine process, spouts the medicine volume and equals the product of medicine speed and time on average, also promptly:
the spraying quantity Q is equal to Sv×t。
In summary, the embodiment of the invention provides a pesticide spraying detection method for a plant protection unmanned aerial vehicle, which is used for calculating pesticide spraying amount by monitoring the change of real-time driving voltage in real time and combining the real-time driving voltage, the lowest driving voltage and pesticide spraying time according to the frequency control type of a pesticide spraying pump. The spraying speed is obtained by detecting the real-time driving voltage and the lowest driving voltage of the spraying pump, and the acceleration, overweight and weightlessness of the unmanned aerial vehicle cannot cause the inaccuracy of the acquired driving voltage. The detection method detects the state of the pesticide spraying pump, completely avoids the defect of traditional pesticide spraying amount detection, and can realize more accurate pesticide spraying amount detection.
Preferably, the GPS projection area of the motion trail of the real-time position coordinate is obtained, and the maximum outline area S is calculated0；
Calculating the motion area S according to the motion track1Then, area percentage P:
P＝(S1-S0)/S0*100％
and when the P is less than 95%, judging that the spray missing phenomenon exists.
When 95% < P < 105%, it is judged as an effective operation.
When P is larger than 105%, judging that the re-spraying phenomenon exists.
The pesticide spraying detection method for the plant protection unmanned aerial vehicle provided by the embodiment of the invention can solve the problem of automatic monitoring of the whole pesticide spraying operation process of the plant protection machine, and can monitor the pesticide application amount and the effective operation area more accurately.
Referring to fig. 2, based on the same inventive concept as the above method embodiment, another embodiment of the present invention further provides a pesticide spraying detection device for a plant protection unmanned aerial vehicle, which includes a positioning module 201, a voltage acquisition module 202, a pesticide spraying speed calculation module 203, and a pesticide spraying amount calculation module 204.
Specifically, the positioning module 201 is configured to obtain a real-time position coordinate of the unmanned aerial vehicle; the voltage acquisition module 202 is used for acquiring the real-time driving voltage of the pesticide spraying pump in the unmanned aerial vehicle when the real-time position coordinate is in the target area; the pesticide spraying speed calculating module 203 is used for calculating the real-time pesticide spraying speed of the pesticide spraying pump according to the difference value between the real-time driving voltage and the lowest driving voltage when the real-time driving voltage is greater than the lowest driving voltage of the pesticide spraying pump; the spraying amount calculating module 204 is used for calculating the spraying amount according to the real-time spraying speed and the spraying time.
Further, referring to fig. 3, the spraying amount calculating module 204 further includes a fixed frequency calculating module 2041 and a variable frequency calculating module 2042, wherein the fixed frequency calculating module 2041 is configured to calculate the spraying amount equal to the product of the real-time spraying speed and the time when the spraying pump adopts fixed frequency control. The frequency conversion calculation module 2042 is used to obtain the average spraying speed of the multiple real-time spraying speeds collected during the time when the spraying pump is controlled by frequency conversion, and the spraying amount is equal to the product of the average spraying speed and the time.
Further, referring to fig. 4, the apparatus further includes a maximum outline area obtaining module 205, a motion area obtaining module 206, and a determining module 207. The maximum outline area obtaining module 205 is configured to obtain a GPS projection area of a motion trajectory of a real-time position coordinate, and calculate a maximum outline area S0. The motion area obtaining module 206 is configured to calculate a motion area S according to the motion trajectory1. The determining module 207 is configured to determine that the area percentage P is (S)1-S0)/S0100% of P when<Judging that the spray leakage phenomenon exists when the concentration is 95%; when it is 95%<P<Judging the operation to be effective when the rate is 105%; when P is present>And when the content is 105%, judging that the re-spraying phenomenon exists.
Referring to fig. 5, fig. 5 is a schematic diagram illustrating a possible structure of the electronic device according to the above embodiment. The electronic device may include: the device comprises a processing unit 501, a storage unit 502, a parameter setting unit 503, a communication unit 504, an arithmetic unit 505, a collection unit 506, a positioning unit 507, a drug delivery pump monitoring unit 508 and a power supply management unit 509. The processing unit 501 may be arranged in communication with the memory unit 502. The storage unit 502 is configured to store executable program codes and data of the processing unit 501, where the processing unit executes the program to implement the pesticide spraying detection method for the plant protection unmanned aerial vehicle provided by any one of the above-mentioned method embodiments. The communication unit 504 is configured to support communication between the electronic device and other network entities to implement functions such as data interaction, for example, the communication module 504 supports communication between the electronic device and other intelligent terminals to implement a data interaction function.
The processing unit 501 may be a processor or a controller, among others. The communication module 504 may be a transceiver, an RF circuit or communication interface, or the like. The storage module 502 may be a memory.
The power management unit 509 is used to supply power to other respective units.
The administration pump monitoring unit 508 is communicatively coupled to the collection unit 506. The pesticide application pump monitoring unit 508 is used for monitoring the working state of the pesticide application pump, and realizes high-precision pesticide application amount monitoring. The flow rate of the drug is determined by monitoring the working state of the drug delivery pump. When the control voltage of the pesticide spraying pump is greater than the minimum pesticide spraying voltage, the pesticide spraying pump is judged to be in a pesticide spraying state; otherwise, the jet pressure pump is considered to be not operated.
The administration pump monitoring unit 508 may be a voltage acquisition circuit in the acquisition unit 506 that acquires voltage.
The positioning unit 507 is communicatively coupled to the acquisition unit 506. The positioning unit 507 combines the Beidou and the GPS multi-mode positioning module, collects positioning point information of the plant protection operation machinery by utilizing a multi-system integrated GNSS algorithm, and sends the positioning point information to the acquisition unit.
The acquisition unit 506 is connected to the arithmetic unit 505. The acquisition unit 506 is used for acquiring operation information in the operation process of the plant protection machine, and acquiring, summarizing and integrating data into an effective signal used by the arithmetic unit.
The arithmetic unit 505 is connected to the acquisition unit 506 at one end and to the processing unit 501 at the other end. Used for calculating the application dosage according to the data gathered by the acquisition unit. And performing linear accumulation and integral operation according to a preset corresponding table of the state of the pesticide application pump and the pesticide application flow rate to further obtain the pesticide application rate. On the other hand, according to the information of the positioning points, the operation motion track line of the plant protection machine is calculated, so that the operation motion distance of the operation machine and the outer contour of the operation land are obtained, the operation area and the area of the operation land are calculated, the relation between the operation area and the area of the land is comprehensively analyzed, whether repeated spraying operation and a spraying missing phenomenon exist or not is judged, and the ratio and the area of the spraying missing phenomenon and the spraying resuming phenomenon are calculated.
The processing unit 501 is the central processor of the device and may also upload data to a remote server via the communication unit. The processing unit 501 also discriminates the response to the treatment according to the feedback information received by the communication unit.
It should be noted that, when the computing capability of the processing unit 501 is sufficiently strong, the corresponding operation performed by the computing unit 505 can be directly performed by the processing unit 501.
The communication unit 504 is responsible for reporting information of the present system to a remote server using radio communication technology. The terminal is connected with the communication unit 504, and transmits and reports the information data of the terminal to a remote server by adopting a 4G wireless network communication technology according to the instruction of the processing unit 501;
the storage unit 502 is connected to the processing unit 501, and is configured to store system parameters and also store plant protection machine operation information data, such as acquisition information, positioning information, and operation data. According to the instruction of the processing unit 501, the operation information data of the plant protection machine is stored and backed up, the function of local storage is completed, meanwhile, the data backup is performed when the wireless communication network signal blind area is occupied, and when the wireless communication network signal meets the transmission condition, the processing unit 501 extracts the data to be transmitted from the storage unit 502 and transmits the information in a supplementing manner.
The parameter setting unit is connected with the processing unit and sets system parameters in multiple modes of the WIFI module, the Bluetooth module and the wired communication module. For example, after receiving a setting instruction from the server background, the communication unit 504 discriminates whether the set parameter is within a reasonable range, and if so, invokes the parameter setting unit, writes the set parameter into the storage unit, ensures power-down memory, and synchronizes system update of the parameter.
Fig. 5 is only one possible implementation manner of the embodiment of the present application, and in practical applications, the electronic device may further include more or less components, which is not limited herein.
It should be noted that the electronic device may be a server or an intelligent terminal, and the intelligent terminal may be a computer, a tablet computer, or a smart phone.
The embodiment of the invention also provides a storage medium, wherein the storage medium stores computer-readable program instructions, and the program instructions are executed by a processor to realize the pesticide spraying detection method for the plant protection unmanned aerial vehicle provided by any one of the embodiments. For example, the computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the device and server embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. The plant protection unmanned aerial vehicle pesticide spraying detection method is characterized by comprising the following steps:
acquiring real-time position coordinates of the unmanned aerial vehicle;
when the real-time position coordinate is in a target area, acquiring a real-time driving voltage of a pesticide spraying pump in the unmanned aerial vehicle;
when the real-time driving voltage is larger than the lowest driving voltage of the pesticide spraying pump, calculating the real-time pesticide spraying speed of the pesticide spraying pump according to the difference value between the real-time driving voltage and the lowest driving voltage;
and calculating the pesticide spraying amount according to the real-time pesticide spraying speed and the pesticide spraying time.
2. The unmanned aerial vehicle pesticide spraying detection method for plant protection as claimed in claim 1, wherein the pesticide spraying amount is calculated according to the real-time pesticide spraying speed and pesticide spraying time, further comprising the steps of:
when the spraying pump adopts fixed frequency control, the spraying amount is equal to the product of the real-time spraying speed and the time;
when the spraying pump adopts frequency conversion control, the average spraying speed of a plurality of real-time spraying speeds collected in the spraying time is obtained, and the spraying amount is equal to the product of the average spraying speed and the time.
3. The unmanned aerial vehicle pesticide spraying detection method for plant protection according to claim 1 or 2, characterized in that the detection method further comprises the following steps:
obtaining the GPS projection area of the motion trail of the real-time position coordinate, and calculating the maximum outline areaS 0 ；
Calculating the motion area according to the motion trackS 1 ；
Area percentage P =: (S 1 -S 0 )/S 0 100% of P when<Judging that the spray leakage phenomenon exists when the concentration is 95%; when it is 95%<P<Judging the operation to be effective when the rate is 105%; when P is present>And when the content is 105%, judging that the re-spraying phenomenon exists.
4. The utility model provides a plant protection unmanned aerial vehicle spouts medicine detection device, its characterized in that, the device includes:
the positioning module is used for acquiring the real-time position coordinate of the unmanned aerial vehicle;
the voltage acquisition module is used for acquiring the real-time driving voltage of the pesticide spraying pump in the unmanned aerial vehicle when the real-time position coordinate is in the target area;
the pesticide spraying speed calculating module is used for calculating the real-time pesticide spraying speed of the pesticide spraying pump according to the difference value between the real-time driving voltage and the lowest driving voltage when the real-time driving voltage is greater than the lowest driving voltage of the pesticide spraying pump;
and the spraying amount calculating module is used for calculating the spraying amount according to the real-time spraying speed and the spraying time.
5. The plant protection unmanned aerial vehicle pesticide spraying detection device of claim 4, wherein the pesticide spraying amount calculation module further comprises:
the fixed frequency calculation module is used for controlling the spraying amount to be equal to the product of the real-time spraying speed and the time when the spraying pump adopts fixed frequency control;
and the frequency conversion calculation module is used for acquiring the average spraying speed of a plurality of real-time spraying speeds acquired in the time when the spraying pump adopts frequency conversion control, and the spraying amount is equal to the product of the average spraying speed and the time.
6. A plant protection unmanned aerial vehicle pesticide spraying detection device as claimed in claim 4 or 5, wherein the device further comprises:
a maximum outline area acquisition module for acquiring the GPS projection area of the motion trail of the real-time position coordinate and calculating the maximum outline areaS 0 ；
A motion area obtaining module for calculating motion area according to the motion trackS 1 ；
A judging module for judging the area percentage P = (C)S 1 -S 0 )/S 0 100% of P when<Judging that the spray leakage phenomenon exists when the concentration is 95%; when it is 95%<P<Judging the operation to be effective when the rate is 105%; when P is present>At 105%, judging the existenceThe phenomenon of re-spraying.
7. An electronic device, comprising:
a processing unit;
a storage unit for storing processing unit executable instructions;
wherein the processing unit is configured to: performing the method of any one of claims 1 to 4.
8. A storage medium having computer-readable program instructions stored therein, which when executed by a processing unit, implement the method of any one of claims 1 to 4.
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