CN113303306A - Pesticide spraying prevention drifting method and system for pesticide spraying unmanned aerial vehicle and storage medium - Google Patents
Pesticide spraying prevention drifting method and system for pesticide spraying unmanned aerial vehicle and storage medium Download PDFInfo
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- 238000005507 spraying Methods 0.000 title claims abstract description 181
- 239000000575 pesticide Substances 0.000 title claims abstract description 123
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- 238000003860 storage Methods 0.000 title claims abstract description 20
- 238000012937 correction Methods 0.000 claims abstract description 47
- 239000007921 spray Substances 0.000 claims abstract description 24
- 239000002245 particle Substances 0.000 claims abstract description 11
- 238000013507 mapping Methods 0.000 claims description 24
- 239000003814 drug Substances 0.000 claims description 14
- 239000007788 liquid Substances 0.000 claims description 12
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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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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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
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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Abstract
The invention discloses a pesticide spraying prevention drifting method and system of a pesticide spraying unmanned aerial vehicle and a readable storage medium, wherein the pesticide spraying prevention drifting method comprises the following steps: acquiring wind speed information of an unmanned aerial vehicle during pesticide spraying; establishing a wind speed information and spraying pressure relation database, and matching spraying pressure of a spray head according to the acquired wind speed information through the database; establishing a droplet particle stress model, and analyzing the position information of the droplets according to the droplet particle stress model; comparing and analyzing the position information of the fog drops to obtain a deviation rate, and judging whether the deviation rate is greater than a preset deviation rate threshold value; and if the calculated value is larger than the preset value, calculating the drift distance of the fog drops, generating correction information at the same time, and correcting the motion track of the fog drops through the correction information.
Description
Technical Field
The invention relates to a pesticide spraying prevention drifting method of a pesticide spraying unmanned aerial vehicle, in particular to a pesticide spraying prevention drifting method, a pesticide spraying prevention drifting system and a readable storage medium of the pesticide spraying unmanned aerial vehicle.
Background
Agriculture is a national economic development life pulse, agricultural aviation pesticide application is an effective measure for guaranteeing national ecological safety, in agricultural application, the unmanned aerial vehicle has unique operation technical characteristics and gradually becomes a novel tool for agricultural production, particularly pesticide spraying, the unmanned aerial vehicle has the advantages of strong adaptability, high operation efficiency, labor saving, resource saving, environment protection and the like, and has very good development space in the field of agricultural aviation, the long-distance operation mode also avoids long-term contact between operators and pesticides, meanwhile, the unmanned aerial vehicle technology also improves the pesticide spraying uniformity, reduces the waste of pesticides and water resources, ensures the adaptability of pesticide spraying, improves the pesticide spraying efficiency, but the unmanned aerial vehicle is often limited by weather when carrying out aviation plant protection operation, natural wind can influence fog drop deposition and fog drop drift, and leads to serious fog drop drift, the phenomenon of re-spraying and missing spraying occurs, so that the operation effect is reduced, and drifting pesticide droplets easily cause environmental pollution.
In order to prevent the pesticide spraying unmanned aerial vehicle from drifting during pesticide spraying, a pesticide spraying prevention drifting system of the pesticide spraying unmanned aerial vehicle needs to be developed for matching, and the system acquires air speed information of the unmanned aerial vehicle during pesticide spraying; establishing a wind speed information and spraying pressure relation database, and matching spraying pressure of a spray head according to the acquired wind speed information through the database; establishing a fog drop stress model, and analyzing the position information of the fog drops according to the fog drop stress model; and generating correction information by analyzing the position information, and correcting the fog drop drift. How to match the spraying pressure of the spray head according to the monitored wind speed information and how to analyze the position information of the fog drops according to the stress model of the fog drops by establishing a database in the implementation process of the system are problems which are urgent to solve.
Disclosure of Invention
In order to solve at least one technical problem, the invention provides a pesticide spraying prevention drifting method and system for a pesticide spraying unmanned aerial vehicle and a storage medium.
The invention provides a pesticide spraying prevention drifting method of a pesticide spraying unmanned aerial vehicle, which comprises the following steps:
acquiring wind speed information of an unmanned aerial vehicle during pesticide spraying;
establishing a wind speed information and spraying pressure relation database, and matching spraying pressure of a spray head according to the acquired wind speed information through the database;
establishing a fog drop stress model, and analyzing the position information of the fog drops according to the fog drop stress model;
and generating correction information by analyzing the position information, and correcting the fog drop drift.
In this scheme, the establishment of the wind speed information and spraying pressure relation database, through the database, the spraying pressure of the spray head is matched according to the acquired wind speed information, specifically:
collecting environmental wind speed information of an unmanned aerial vehicle during pesticide application, and carrying out mean value processing on the wind speed information;
matching the spraying pressure of the unmanned aerial vehicle with the wind speed information, and introducing a matching sequence model of the wind speed information and the spraying pressure;
presetting a multiple threshold value of spraying pressure, segmenting and extracting wind speed information characteristics and threshold value information according to the matching sequence model, and associating the wind speed information with the threshold value;
and establishing a mapping relation between the wind speed information and the spraying pressure, storing the mapping relation, and establishing a wind speed information and spraying pressure relation database.
In this scheme, the droplet stress model is established, and the expression of the droplet stress model is specifically as follows:
wherein v represents the droplet velocity, vkRepresenting ambient wind speed, vlShowing the initial speed of the sprayed liquid medicine, Re showing the Reynolds number of the fog drops, rho showing the density of the liquid medicine, rholRepresents the droplet density and m represents the droplet mass.
In this scheme, the analysis of the position information of the droplets according to the droplet stress model is described, wherein the calculation formula of the droplet position information specifically includes:
wi+1＝∫f(vi，vk，pi)+μi
wherein, wi+1Indicating the position information of the droplet at time i +1, viInformation indicating the velocity of the droplet at time i, vkRepresenting ambient wind speed information, piInformation of a state parameter, mu, representing the fog dropsiRepresenting the observed noise information at time i.
In this embodiment, the generating correction information by analyzing the position information to correct the droplet drift specifically includes:
analyzing droplet position information according to the droplet particle stress model;
comparing the fog drop position information with a preset position to obtain a position deviation rate;
judging whether the position deviation rate is greater than a preset position deviation rate threshold value or not;
and if the calculated drift distance is larger than the calculated drift distance, the drift distance is calculated, correction information is generated according to the drift distance, and the motion trail of the fog drops is corrected through the correction information.
In this scheme, the correcting the motion trajectory of the droplet through the correction information specifically includes:
the correction information is fed back to the unmanned aerial vehicle control module, and the unmanned aerial vehicle control module analyzes the correction information and extracts drift distance characteristics;
correlating the droplet drift distance characteristic with the rotating speed of the rotor wing, and presetting a threshold interval of the rotating speed of the rotor wing;
judging the interval of the drift distance characteristic, and determining the corresponding threshold interval of the rotating speed of the rotor wing according to the comparison result of the drift distance characteristic and the threshold;
control module draws rotor rotational speed information, through rotational speed information control unmanned aerial vehicle rotor rotational speed forms the vortex, revises droplet movement track.
The second aspect of the present invention also provides a pesticide spraying prevention drifting system of a pesticide spraying unmanned aerial vehicle, the system comprising: the pesticide spraying control system comprises a memory and a processor, wherein the memory comprises a pesticide spraying control drifting method program of the pesticide spraying unmanned aerial vehicle, and the processor executes the pesticide spraying control drifting method program of the pesticide spraying unmanned aerial vehicle to realize the following steps:
acquiring wind speed information of an unmanned aerial vehicle during pesticide spraying;
establishing a wind speed information and spraying pressure relation database, and matching spraying pressure of a spray head according to the acquired wind speed information through the database;
establishing a fog drop stress model, and analyzing the position information of the fog drops according to the fog drop stress model;
and generating correction information by analyzing the position information, and correcting the fog drop drift.
In this scheme, the establishment of the wind speed information and spraying pressure relation database, through the database, the spraying pressure of the spray head is matched according to the acquired wind speed information, specifically:
collecting environmental wind speed information of an unmanned aerial vehicle during pesticide application, and carrying out mean value processing on the wind speed information;
matching the spraying pressure of the unmanned aerial vehicle with the wind speed information, and introducing a matching sequence model of the wind speed information and the spraying pressure;
presetting a multiple threshold value of spraying pressure, segmenting and extracting wind speed information characteristics and threshold value information according to the matching sequence model, and associating the wind speed information with the threshold value;
and establishing a mapping relation between the wind speed information and the spraying pressure, storing the mapping relation, and establishing a wind speed information and spraying pressure relation database.
In this scheme, the droplet stress model is established, and the expression of the droplet stress model is specifically as follows:
wherein v represents the droplet velocity, vkRepresenting ambient wind speed, vlShowing the initial speed of the sprayed liquid medicine, Re showing the Reynolds number of the fog drops, rho showing the density of the liquid medicine, rholRepresents the droplet density and m represents the droplet mass.
In this scheme, the analysis of the position information of the droplets according to the droplet stress model is described, wherein the calculation formula of the droplet position information specifically includes:
wi+1＝∫f(vi，vk，pi)+μi
wherein, wi+1Indicating the position information of the droplet at time i +1, viInformation indicating the velocity of the droplet at time i, vkRepresenting ambient wind speed information, piInformation of a state parameter, mu, representing the fog dropsiRepresenting the observed noise information at time i.
In this embodiment, the generating correction information by analyzing the position information to correct the droplet drift specifically includes:
analyzing droplet position information according to the droplet particle stress model;
comparing the fog drop position information with a preset position to obtain a position deviation rate;
judging whether the position deviation rate is greater than a preset position deviation rate threshold value or not;
and if the calculated drift distance is larger than the calculated drift distance, the drift distance is calculated, correction information is generated according to the drift distance, and the motion trail of the fog drops is corrected through the correction information.
In this scheme, the correcting the motion trajectory of the droplet through the correction information specifically includes:
the correction information is fed back to the unmanned aerial vehicle control module, and the unmanned aerial vehicle control module analyzes the correction information and extracts drift distance characteristics;
correlating the droplet drift distance characteristic with the rotating speed of the rotor wing, and presetting a threshold interval of the rotating speed of the rotor wing;
judging the interval of the drift distance characteristic, and determining the corresponding threshold interval of the rotating speed of the rotor wing according to the comparison result of the drift distance characteristic and the threshold;
control module draws rotor rotational speed information, through rotational speed information control unmanned aerial vehicle rotor rotational speed forms the vortex, revises droplet movement track.
The third aspect of the present invention also provides a computer readable storage medium, where the computer readable storage medium includes a pesticide spraying unmanned aerial vehicle pesticide spraying drifting method program, and when the pesticide spraying unmanned aerial vehicle pesticide spraying drifting method program is executed by a processor, the steps of the pesticide spraying unmanned aerial vehicle pesticide spraying drifting method are implemented.
The invention discloses a pesticide spraying prevention drifting method and system of a pesticide spraying unmanned aerial vehicle and a readable storage medium, wherein the pesticide spraying prevention drifting method comprises the following steps: acquiring wind speed information of an unmanned aerial vehicle during pesticide spraying; establishing a wind speed information and spraying pressure relation database, and matching spraying pressure of a spray head according to the acquired wind speed information through the database; establishing a droplet particle stress model, and analyzing the position information of the droplets according to the droplet particle stress model; comparing and analyzing the position information of the fog drops to obtain a deviation rate, and judging whether the deviation rate is greater than a preset deviation rate threshold value; and if the calculated value is larger than the preset value, calculating the drift distance of the fog drops, generating correction information at the same time, and correcting the motion track of the fog drops through the correction information. According to the method, the relation database between the wind speed information and the spraying pressure is established, the spraying pressure of the pesticide can be adjusted in a self-adaptive mode according to the change of the environmental wind speed, the pesticide spraying drift phenomenon is effectively reduced, meanwhile, the database is adjusted and updated according to the pesticide spraying environment information and the meteorological data information, the robustness of the database is guaranteed, meanwhile, the fogdrop position information is obtained according to the analysis of a fogdrop stress model, and the fogdrop position information is monitored to generate correction information to correct the motion trail of the fogdrop.
Drawings
Fig. 1 shows a flow chart of a pesticide spray prevention drifting method of a pesticide spraying unmanned aerial vehicle of the invention;
FIG. 2 is a flow chart of a method of establishing a database of wind speed information and spray pressure relationships according to the present invention;
FIG. 3 is a flow chart of a method for correcting a droplet movement locus by correction information according to the present invention;
fig. 4 shows a block diagram of a pesticide spraying prevention drifting system of a pesticide spraying unmanned aerial vehicle.
Detailed description of the invention
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
Fig. 1 shows a flow chart of a pesticide spraying prevention drifting method of a pesticide spraying unmanned aerial vehicle.
As shown in fig. 1, a first aspect of the present invention provides a pesticide spraying prevention drifting method for a pesticide spraying unmanned aerial vehicle, including:
s102, acquiring wind speed information of the unmanned aerial vehicle during pesticide spraying;
s104, establishing a database of the relation between the wind speed information and the spraying pressure, and matching the spraying pressure of a spray head according to the acquired wind speed information through the database;
s106, establishing a fog drop stress model, and analyzing the position information of the fog drops according to the fog drop stress model;
and S108, generating correction information by analyzing the position information, and correcting the fog drop drift.
It should be explained that, the pesticide sprays unmanned aerial vehicle and is influenced by the wind speed and can appear phenomenon such as flight orbit is skew when spraying the operation, can cause the droplet drift serious equally, appears heavy spray and leaks the production of spouting the phenomenon, consequently should revise unmanned aerial vehicle's flight orbit and gesture at unmanned aerial vehicle flight in-process also, specifically do: presetting unmanned aerial vehicle flight track, carrying out real-time supervision to unmanned aerial vehicle track through unmanned aerial vehicle control system, monitoring unmanned aerial vehicle's actual flight track information, compare unmanned aerial vehicle's actual flight track information with presetting flight track, obtain the deviation rate, will the deviation rate carries out comparative analysis with presetting deviation rate threshold value, if be greater than presetting deviation rate threshold value, then decompose unmanned aerial vehicle's flight direction, through the flight state information of each component direction, calculate the offset distance of each component direction, generate deviation information, deviation information feeds back to unmanned aerial vehicle control module, revises unmanned aerial vehicle's flight track and flight gesture.
FIG. 2 is a flow chart of a method for creating a database of wind speed information and spray pressure relationships according to the present invention.
According to the embodiment of the invention, the establishing of the wind speed information and spraying pressure relation database, and the matching of the spraying pressure of the spray head according to the acquired wind speed information through the database specifically comprise:
s202, collecting environmental wind speed information of the unmanned aerial vehicle during pesticide application, and carrying out mean value processing on the wind speed information;
s204, matching the spraying pressure of the unmanned aerial vehicle with the wind speed information, and introducing a matching sequence model of the wind speed information and the spraying pressure;
s206, presetting a multiple threshold value of spraying pressure, segmenting and extracting wind speed information characteristics and threshold value information according to the matching sequence model, and associating the wind speed information with the threshold value;
and S208, establishing a mapping relation between the wind speed information and the spraying pressure, storing the mapping relation, and establishing a wind speed information and spraying pressure relation database.
It should be noted that, when the unmanned aerial vehicle carries out pesticide spraying operation, the unmanned aerial vehicle adjusts and updates the wind speed information and spraying pressure relation database according to the environmental information and the meteorological information, and specifically comprises the following steps:
setting address label information for the mapping relation between the acquired wind speed information and the spraying pressure;
comparing the mapping relation corresponding to the address tag information to be updated with the data information in the update data to obtain difference information;
determining a data part needing to be updated in the mapping relation according to the difference information;
updating the mapping relation to be updated through the difference information, and simultaneously newly adding data characteristics which do not exist in the original mapping relation;
and updating the new version database information in the database according to the updated mapping relation, the newly added data characteristics and the data part which does not need to be updated.
According to the embodiment of the invention, the fog drop stress model is established, and the expression of the fog drop stress model is specifically as follows:
wherein v represents the droplet velocity, vkRepresenting ambient wind speed, vlShowing the initial speed of the sprayed liquid medicine, Re showing the Reynolds number of the fog drops, rho showing the density of the liquid medicine, rholRepresents the droplet density and m represents the droplet mass.
Analyzing the position information of the fog drops according to the fog drop stress model, wherein the fog drop position information calculation formula specifically comprises:
wi+1＝∫f(vi，vk，pi)+μi
wherein, wi+1Indicating the position information of the droplet at time i +1, viInformation indicating the velocity of the droplet at time i, vkRepresenting ambient wind speed information, piInformation of a state parameter, mu, representing the fog dropsiRepresenting the observed noise information at time i.
Fig. 3 shows a flow chart of a method for correcting a droplet movement locus by using correction information according to the invention.
According to an embodiment of the present invention, the generating correction information by analyzing the position information to correct the droplet drift includes:
s302, analyzing fog drop position information according to the fog drop particle stress model;
s304, comparing the fog drop position information with a preset position to obtain a position deviation rate;
s306, judging whether the position deviation rate is larger than a preset position deviation rate threshold value or not;
and S308, if the distance is larger than the preset value, calculating the drift distance of the fog drops, generating correction information according to the drift distance, and correcting the motion trail of the fog drops through the correction information.
It should be noted that, the correcting the motion trajectory of the droplets through the correction information specifically includes:
the correction information is fed back to the unmanned aerial vehicle control module, and the unmanned aerial vehicle control module analyzes the correction information and extracts drift distance characteristics;
correlating the droplet drift distance characteristic with the rotating speed of the rotor wing, and presetting a threshold interval of the rotating speed of the rotor wing;
judging the interval of the drift distance characteristic, and determining the corresponding threshold interval of the rotating speed of the rotor wing according to the comparison result of the drift distance characteristic and the threshold;
control module draws rotor rotational speed information, through rotational speed information control unmanned aerial vehicle rotor rotational speed forms the vortex, revises droplet movement track.
Fig. 4 shows a block diagram of a pesticide spraying prevention drifting system of a pesticide spraying unmanned aerial vehicle.
The second aspect of the present invention also provides a pesticide spraying prevention drifting system 4 of a pesticide spraying unmanned aerial vehicle, which includes: the pesticide spraying control system comprises a memory 41 and a processor 42, wherein the memory comprises a pesticide spraying control drifting method program of the pesticide spraying unmanned aerial vehicle, and when the processor executes the pesticide spraying control drifting method program of the pesticide spraying unmanned aerial vehicle, the following steps are realized:
acquiring wind speed information of an unmanned aerial vehicle during pesticide spraying;
establishing a wind speed information and spraying pressure relation database, and matching spraying pressure of a spray head according to the acquired wind speed information through the database;
establishing a fog drop stress model, and analyzing the position information of the fog drops according to the fog drop stress model;
and generating correction information by analyzing the position information, and correcting the fog drop drift.
It should be explained that, the pesticide sprays unmanned aerial vehicle and is influenced by the wind speed and can appear phenomenon such as flight orbit is skew when spraying the operation, can cause the droplet drift serious equally, appears heavy spray and leaks the production of spouting the phenomenon, consequently should revise unmanned aerial vehicle's flight orbit and gesture at unmanned aerial vehicle flight in-process also, specifically do: presetting unmanned aerial vehicle flight track, carrying out real-time supervision to unmanned aerial vehicle track through unmanned aerial vehicle control system, monitoring unmanned aerial vehicle's actual flight track information, compare unmanned aerial vehicle's actual flight track information with presetting flight track, obtain the deviation rate, will the deviation rate carries out comparative analysis with presetting deviation rate threshold value, if be greater than presetting deviation rate threshold value, then decompose unmanned aerial vehicle's flight direction, through the flight state information of each component direction, calculate the offset distance of each component direction, generate deviation information, deviation information feeds back to unmanned aerial vehicle control module, revises unmanned aerial vehicle's flight track and flight gesture.
According to the embodiment of the invention, the establishing of the wind speed information and spraying pressure relation database, and the matching of the spraying pressure of the spray head according to the acquired wind speed information through the database specifically comprise:
collecting environmental wind speed information of an unmanned aerial vehicle during pesticide application, and carrying out mean value processing on the wind speed information;
matching the spraying pressure of the unmanned aerial vehicle with the wind speed information, and introducing a matching sequence model of the wind speed information and the spraying pressure;
presetting a multiple threshold value of spraying pressure, segmenting and extracting wind speed information characteristics and threshold value information according to the matching sequence model, and associating the wind speed information with the threshold value;
and establishing a mapping relation between the wind speed information and the spraying pressure, storing the mapping relation, and establishing a wind speed information and spraying pressure relation database.
It should be noted that, when the unmanned aerial vehicle carries out pesticide spraying operation, the unmanned aerial vehicle adjusts and updates the wind speed information and spraying pressure relation database according to the environmental information and the meteorological information, and specifically comprises the following steps:
setting address label information for the mapping relation between the acquired wind speed information and the spraying pressure;
comparing the mapping relation corresponding to the address tag information to be updated with the data information in the update data to obtain difference information;
determining a data part needing to be updated in the mapping relation according to the difference information;
updating the mapping relation to be updated through the difference information, and simultaneously newly adding data characteristics which do not exist in the original mapping relation;
and updating the new version database information in the database according to the updated mapping relation, the newly added data characteristics and the data part which does not need to be updated.
According to the embodiment of the invention, the fog drop stress model is established, and the expression of the fog drop stress model is specifically as follows:
wherein v represents the droplet velocity, vkRepresenting ambient wind speed, vlShowing the initial speed of the sprayed liquid medicine, Re showing the Reynolds number of the fog drops, rho showing the density of the liquid medicine, rholRepresents the droplet density and m represents the droplet mass.
Analyzing the position information of the fog drops according to the stress model, wherein the calculation formula of the position information of the fog drops is as follows:
wi+1＝∫f(vi，vk，pi)+μi
wherein, wi+1Indicating the position information of the droplet at time i +1, viInformation indicating the velocity of the droplet at time i, vkRepresenting ambient wind speed information, piInformation of a state parameter, mu, representing the fog dropsiRepresenting the observed noise information at time i.
According to an embodiment of the present invention, the generating correction information by analyzing the position information to correct the droplet drift includes:
analyzing droplet position information according to the droplet particle stress model;
comparing the fog drop position information with a preset position to obtain a position deviation rate;
judging whether the position deviation rate is greater than a preset position deviation rate threshold value or not;
and if the calculated drift distance is larger than the calculated drift distance, the drift distance is calculated, correction information is generated according to the drift distance, and the motion trail of the fog drops is corrected through the correction information.
It should be noted that, the correcting the motion trajectory of the droplets through the correction information specifically includes:
the correction information is fed back to the unmanned aerial vehicle control module, and the unmanned aerial vehicle control module analyzes the correction information and extracts drift distance characteristics;
correlating the droplet drift distance characteristic with the rotating speed of the rotor wing, and presetting a threshold interval of the rotating speed of the rotor wing;
judging the interval of the drift distance characteristic, and determining the corresponding threshold interval of the rotating speed of the rotor wing according to the comparison result of the drift distance characteristic and the threshold;
control module draws rotor rotational speed information, through rotational speed information control unmanned aerial vehicle rotor rotational speed forms the vortex, revises droplet movement track.
The third aspect of the present invention also provides a computer readable storage medium, where the computer readable storage medium includes a pesticide spraying unmanned aerial vehicle pesticide spraying drifting method program, and when the pesticide spraying unmanned aerial vehicle pesticide spraying drifting method program is executed by a processor, the steps of the pesticide spraying unmanned aerial vehicle pesticide spraying drifting method are implemented.
The invention discloses a pesticide spraying prevention drifting method and system of a pesticide spraying unmanned aerial vehicle and a readable storage medium, wherein the pesticide spraying prevention drifting method comprises the following steps: acquiring wind speed information of an unmanned aerial vehicle during pesticide spraying; establishing a wind speed information and spraying pressure relation database, and matching spraying pressure of a spray head according to the acquired wind speed information through the database; establishing a droplet particle stress model, and analyzing the position information of the droplets according to the droplet particle stress model; comparing and analyzing the position information of the fog drops to obtain a deviation rate, and judging whether the deviation rate is greater than a preset deviation rate threshold value; and if the calculated value is larger than the preset value, calculating the drift distance of the fog drops, generating correction information at the same time, and correcting the motion track of the fog drops through the correction information. According to the method, the relation database between the wind speed information and the spraying pressure is established, the spraying pressure of the pesticide can be adjusted in a self-adaptive mode according to the change of the environmental wind speed, the pesticide spraying drift phenomenon is effectively reduced, meanwhile, the database is adjusted and updated according to the pesticide spraying environment information and the meteorological data information, the robustness of the database is guaranteed, meanwhile, the fogdrop position information is obtained according to the analysis of a fogdrop stress model, and the fogdrop position information is monitored to generate correction information to correct the motion trail of the fogdrop.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. The utility model provides a pesticide sprays unmanned aerial vehicle's prevents spouting medicine drift method which characterized in that includes:
acquiring wind speed information of an unmanned aerial vehicle during pesticide spraying;
establishing a wind speed information and spraying pressure relation database, and matching spraying pressure of a spray head according to the acquired wind speed information through the database;
establishing a fog drop stress model, and analyzing the position information of the fog drops according to the fog drop stress model;
and generating correction information by analyzing the position information, and correcting the fog drop drift.
2. The pesticide spraying prevention drifting method of the pesticide spraying unmanned aerial vehicle according to claim 1, characterized in that: the method comprises the following steps of establishing a wind speed information and spraying pressure relation database, and matching spraying pressure of a sprayer according to acquired wind speed information through the database, wherein the method specifically comprises the following steps:
collecting environmental wind speed information of an unmanned aerial vehicle during pesticide application, and carrying out mean value processing on the wind speed information;
matching the spraying pressure of the unmanned aerial vehicle with the wind speed information, and introducing a matching sequence model of the wind speed information and the spraying pressure;
presetting a multiple threshold value of spraying pressure, segmenting and extracting wind speed information characteristics and threshold value information according to the matching sequence model, and associating the wind speed information with the threshold value;
and establishing a mapping relation between the wind speed information and the spraying pressure, storing the mapping relation, and establishing a wind speed information and spraying pressure relation database.
3. The pesticide spraying prevention drifting method of the pesticide spraying unmanned aerial vehicle according to claim 1, characterized in that: the method comprises the following steps of establishing a fog drop stress model, wherein the expression of the fog drop stress model is specifically as follows:
wherein v represents the droplet velocity, vkRepresenting ambient wind speed, vlShowing the initial speed of the sprayed liquid medicine, Re showing the Reynolds number of the fog drops, rho showing the density of the liquid medicine, rholRepresents the droplet density and m represents the droplet mass.
4. The pesticide spraying prevention drifting method of the pesticide spraying unmanned aerial vehicle according to claim 1, characterized in that: analyzing the position information of the fog drops according to the fog drop stress model, wherein the fog drop position information calculation formula specifically comprises:
wi+1＝∫f(vi，vk，pi)+μi
wherein, wi+1Indicating the position information of the droplet at time i +1, viInformation indicating the velocity of the droplet at time i, vkRepresenting ambient wind speed information, piInformation of a state parameter, mu, representing the fog dropsiRepresenting the observed noise information at time i.
5. The pesticide spraying prevention drifting method of the pesticide spraying unmanned aerial vehicle according to claim 1, characterized in that: the correcting information is generated by analyzing the position information, and the drift correction of the fog drops is carried out, specifically:
analyzing droplet position information according to the droplet particle stress model;
comparing the fog drop position information with a preset position to obtain a position deviation rate;
judging whether the position deviation rate is greater than a preset position deviation rate threshold value or not;
and if the calculated drift distance is larger than the calculated drift distance, the drift distance is calculated, correction information is generated according to the drift distance, and the motion trail of the fog drops is corrected through the correction information.
6. The pesticide spraying prevention drifting method of the pesticide spraying unmanned aerial vehicle according to claim 5, characterized in that: the method for correcting the motion trail of the fog drops through the correction information specifically comprises the following steps:
the correction information is fed back to the unmanned aerial vehicle control module, and the unmanned aerial vehicle control module analyzes the correction information and extracts drift distance characteristics;
correlating the droplet drift distance characteristic with the rotating speed of the rotor wing, and presetting a threshold interval of the rotating speed of the rotor wing;
judging the interval of the drift distance characteristic, and determining the corresponding threshold interval of the rotating speed of the rotor wing according to the comparison result of the drift distance characteristic and the threshold;
control module draws rotor rotational speed information, through rotational speed information control unmanned aerial vehicle rotor rotational speed forms the vortex, revises droplet movement track.
7. The utility model provides a pesticide sprays unmanned aerial vehicle's prevents spouting medicine drift system which characterized in that, this system includes: the pesticide spraying control system comprises a memory and a processor, wherein the memory comprises a pesticide spraying control drifting method program of the pesticide spraying unmanned aerial vehicle, and the processor executes the pesticide spraying control drifting method program of the pesticide spraying unmanned aerial vehicle to realize the following steps:
acquiring wind speed information of an unmanned aerial vehicle during pesticide spraying;
establishing a wind speed information and spraying pressure relation database, and matching spraying pressure of a spray head according to the acquired wind speed information through the database;
establishing a fog drop stress model, and analyzing the position information of the fog drops according to the fog drop stress model;
and generating correction information by analyzing the position information, and correcting the fog drop drift.
8. The pesticide spraying prevention drifting system of pesticide spraying unmanned aerial vehicle of claim 7, characterized in that: the method comprises the following steps of establishing a wind speed information and spraying pressure relation database, and matching spraying pressure of a sprayer according to acquired wind speed information through the database, wherein the method specifically comprises the following steps:
collecting environmental wind speed information of an unmanned aerial vehicle during pesticide application, and carrying out mean value processing on the wind speed information;
matching the spraying pressure of the unmanned aerial vehicle with the wind speed information, and introducing a matching sequence model of the wind speed information and the spraying pressure;
presetting a multiple threshold value of spraying pressure, segmenting and extracting wind speed information characteristics and threshold value information according to the matching sequence model, and associating the wind speed information with the threshold value;
and establishing a mapping relation between the wind speed information and the spraying pressure, storing the mapping relation, and establishing a wind speed information and spraying pressure relation database.
9. The pesticide spraying prevention drifting system of pesticide spraying unmanned aerial vehicle of claim 7, characterized in that: the method comprises the following steps of establishing a fog drop stress model, wherein the expression of the fog drop stress model is specifically as follows:
wherein v represents the droplet velocity, vkRepresenting ambient wind speed, vlShowing the initial speed of the sprayed liquid medicine, Re showing the Reynolds number of the fog drops, rho showing the density of the liquid medicine, rholRepresents the droplet density, and m represents the droplet mass;
analyzing the position information of the fog drops according to the fog drop stress model, wherein the fog drop position information calculation formula specifically comprises:
wi+1＝∫f(vi，vk，pi)+μi
wherein, wi+1Indicating the position information of the droplet at time i +1, viInformation indicating the velocity of the droplet at time i, vkRepresenting ambient wind speed information, piInformation of a state parameter, mu, representing the fog dropsiRepresenting the observed noise information at time i.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium includes a pesticide spraying unmanned aerial vehicle pesticide spraying drifting method program, and when the pesticide spraying unmanned aerial vehicle pesticide spraying drifting method program is executed by a processor, the steps of the pesticide spraying unmanned aerial vehicle pesticide spraying drifting method are realized according to any one of claims 1 to 6.
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