CN113359855A - Real-time control method for accurate pesticide application of plant protection unmanned aerial vehicle - Google Patents
Real-time control method for accurate pesticide application of plant protection unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a real-time control method for accurate pesticide application of a plant protection unmanned aerial vehicle, which comprises the following steps: (1) planning a flight route; (2) dividing a farmland plot into a plurality of pesticide application areas; (3) the plant protection unmanned aerial vehicle is used for applying pesticide to the pesticide application area, image acquisition is carried out on the next pesticide application area in the pesticide application process of the previous pesticide application area, and pest and disease damage degree information of the next pesticide application area is obtained after analysis and processing; (4) the control module calculates and obtains the flying pesticide application parameters of the next pesticide application area; (5) after the plant protection unmanned aerial vehicle flies into the next pesticide application area, performing pesticide application operation according to the flying pesticide application parameters, and returning to the step (3); (6) and (5) continuously repeating the steps (3) to (5) until the aerial pesticide application operation of the farmland plot is finished. The invention realizes the real-time identification analysis and accurate pesticide application of the plant protection unmanned aerial vehicle to the farmland plots, and has high operation efficiency and accurate pesticide application amount.
Description
Technical Field
The invention relates to a pesticide spraying method for a plant protection unmanned aerial vehicle, in particular to a real-time control method for accurate pesticide application of the plant protection unmanned aerial vehicle.
Background
Agricultural unmanned aerial vehicles are more and more widely applied to agricultural production, and have been applied to various fields of agricultural production, such as seeding, fertilization, pesticide application, picking, agricultural condition monitoring and the like. In the field of aerial pesticide application, research on the pesticide application technology of the plant protection unmanned aerial vehicle is advanced greatly and becomes an effective means for preventing and treating plant diseases and insect pests in continuous development. The pesticide spraying mode of the plant protection unmanned aerial vehicle is mostly uniform spraying, namely the pesticide application amount of the unmanned aerial vehicle to each plot area is uniform when the unmanned aerial vehicle flies in the plot. However, in actual farmlands, diseases, pests and weeds of crops do not cover the whole farmlands, and are often distributed in a dot-shaped or sheet-shaped manner; the uniform spraying mode can lead to the situation that the pesticide application amount in the region without or with less plant diseases and insect pests in the farmland is too large and the pesticide application amount in the region with serious plant diseases and insect pests is insufficient, so that the pesticide application can not be carried out accurately, and the waste of pesticide use and the excessive pollution of farmland land can be caused.
Aiming at the problems, a variable concentration control method capable of spraying and adjusting pesticides according to the pest and disease conditions of farmland plots appears in the prior art; specifically, before carrying out the pesticide to the farmland and spraying, carry out image acquisition and plant diseases and insect pests degree analysis to the farmland through unmanned aerial vehicle earlier, after generating the prescription picture of giving medicine to the poor free of charge, carry out the pesticide again according to the prescription picture and spray regulation and control to realize the accurate spraying of variable concentration of farmland plot.
However, in the prior art, the precise pesticide spraying of the unmanned aerial vehicle firstly carries out image acquisition and pest and disease analysis on farmland plots, and normal aerial spraying work of the unmanned aerial vehicle can be carried out after a pesticide application prescription diagram is obtained, so that the efficiency of spraying the aerial pesticide on the farmland is reduced, and the time is consumed; meanwhile, two unmanned aerial vehicles are needed to complete the work, wherein one unmanned aerial vehicle is an image acquisition unmanned aerial vehicle, and the other unmanned aerial vehicle is a plant protection unmanned aerial vehicle, so that manpower and material resources are consumed, and the operation is troublesome; when only adopting an unmanned aerial vehicle, then carry out the empty flight of image acquisition of farmland plot according to the airline earlier, carry out the flight of giving medicine to poor free of charge again, the same time consumes long, can't carry out the accurate spraying of pesticide of farmland plot fast, accurately and in real time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a real-time control method for accurate pesticide application of a plant protection unmanned aerial vehicle.
The purpose of the invention is realized by the following technical scheme:
a real-time control method for accurate pesticide application of a plant protection unmanned aerial vehicle is characterized by comprising the following steps:
(1) planning a flight route according to a farmland plot to be applied with the pesticide;
(2) dividing a plurality of pesticide application areas for a farmland plot according to a planned flight route;
(3) the plant protection unmanned aerial vehicle sprays pesticide to the pesticide application area one by one according to the flight route; in the process of pesticide application operation of the plant protection unmanned aerial vehicle to the previous pesticide application area, when the plant protection unmanned aerial vehicle is separated from the next pesticide application area by a preset distance, the image acquisition device on the plant protection unmanned aerial vehicle acquires images of farmland plots of the next pesticide application area and transmits the images to the image processing module; the image processing module obtains pest and disease damage degree information of the next pesticide application area after analysis and processing, and sends the pest and disease damage degree information to the control module of the plant protection unmanned aerial vehicle;
(4) aiming at the pest and disease damage degree information of the next pesticide application region, the control module on the plant protection unmanned aerial vehicle obtains the flying pesticide application parameters of the next pesticide application region through analysis and calculation before the plant protection unmanned aerial vehicle flies to the next pesticide application region;
(5) after the plant protection unmanned aerial vehicle flies into the next pesticide application area, pesticide application operation is carried out according to the flying pesticide application parameters in the step (4), the step (3) is returned, and pest and disease damage degree analysis is continuously carried out on the next pesticide application area;
(6) and (5) continuously repeating the steps (3) to (5) until all the divided pesticide application areas finish pesticide application, and ending the aerial pesticide application operation of the farmland plots.
According to a preferable scheme of the invention, before the pesticide application operation, a unit operation mode is set, then the unit operation mode is applied to a flight route, and the pesticide application operation is carried out on farmland plots according to the unit operation mode; the setting of the unit operation mode specifically comprises the following steps: the plant protection unmanned aerial vehicle flies to the end point by the initial point straight line, set for a plurality of regions of giving medicine to the poor free of charge between initial point and the end point according to the predetermined interval.
Preferably, in the unit operation mode, along the flight direction of the plant protection unmanned aerial vehicle, the starting point is arranged behind the first pesticide application area, and the distance between the starting point and the first pesticide application area is the preset distance; the plant protection unmanned aerial vehicle starts to take off at the starting point position, and image acquisition and pest and disease damage degree information acquisition are carried out on the first pesticide application region so as to obtain flight pesticide application parameters of the first pesticide application region; and after entering the first pesticide application area, the plant protection unmanned aerial vehicle performs pesticide application operation according to the flying pesticide application parameters.
Preferably, in the unit operation mode, the end point is arranged in front of the last pesticide application area along the flight direction of the plant protection unmanned aerial vehicle, and the distance between the end point and the last pesticide application area is the preset distance.
According to a preferable scheme of the invention, in the step (1), a Chinese character-shaped flight path is planned to be used as a flight path according to a farmland plot to be applied.
According to a preferable scheme of the invention, the flight application parameters comprise the required application amount, the flight speed and the liquid medicine spraying speed; at the same time, through the formula,
t＝L/S
V＝D/t
obtaining a regulation and control formula of the flight speed and the liquid medicine spraying speed of the plant protection unmanned aerial vehicle,
V＝D*S/L
wherein t is the required flight time of the pesticide application region, L is the required pesticide application amount of the pesticide application region, S is the total spraying speed of a pesticide application device carried by the plant protection unmanned aerial vehicle, D is the flight distance of the pesticide application region, and V is the flight speed of the plant protection unmanned aerial vehicle;
by combining the formula, after the required pesticide application amount L of the pesticide application region is obtained, the flight speed V of the plant protection unmanned aerial vehicle and the spraying speed S of the pesticide application device can be matched.
Preferably, the plant protection unmanned aerial vehicle comprises the following operation modes in the pesticide application process:
in the first operation mode, the plant protection unmanned aerial vehicle keeps flying at the maximum flying speed Vmax; after the required application rate of the application region is analyzed and obtained in the operation process, the application spraying speed of the application region is obtained through calculation, the application spraying speed at the moment meets the conditions that S is more than or equal to 0 and S is less than or equal to Smax, wherein the spraying speed S changes along with the change of the required application rate L of the application region;
in the second operation mode, the pesticide applying device on the plant protection unmanned aerial vehicle keeps working at the maximum spraying speed Smax; after the required pesticide application amount of the pesticide application area is analyzed and obtained in the operation process, the flight speed of the plant protection unmanned aerial vehicle is obtained through calculation, the flight speed at the moment meets the conditions that V is more than or equal to 0 and V is less than or equal to Vmax, and the flight speed V changes along with the change of the required pesticide application amount L of the pesticide application area.
Preferably, when the operation is started, the aerial pesticide application operation is carried out in the first operation mode; when the required medicine amount L of the medicine application area changes and the plant protection unmanned aerial vehicle flies at the maximum speed Vmax and cannot complete the medicine application of the medicine application area, the flying speed of the plant protection unmanned aerial vehicle and the spraying speed of the liquid medicine are regulated and controlled; when the plant protection unmanned aerial vehicle flies at the maximum speed Vmax and can complete aerial pesticide application operation in a pesticide application area, the first operation mode is readjusted. Therefore, the first operation mode is adopted as far as possible, so that the aerial pesticide application speed of the farmland plots is improved, and the pesticide application efficiency is improved.
Preferably, when the flying pesticide application parameters of the next pesticide application area cannot be calculated within a preset distance, the flying speed of the plant protection unmanned aerial vehicle can fly at a uniform deceleration at the stage of the preset final distance, and hover is carried out at the boundary of the next pesticide application area until the calculation of the flying pesticide application parameters is completed, and then pesticide application operation is carried out according to the flying pesticide application parameters; wherein, when the plant protection unmanned aerial vehicle carries out uniform deceleration flight at the stage of presetting the final distance, the spraying speed of the pesticide applying device is regulated and controlled according to the following formula,
L0＝L-Li
S＝Vi×L0/d
in the formula, LiThe amount of the sprayed medicine is detected by a flowmeter on the pesticide applying device, L0For the remaining amount of non-sprayed medicine, ViFor plant protection unmanned aerial vehicle in the real-time flight speed of predetermineeing the final distance stage, d is for predetermineeing the final distance.
In a preferred embodiment of the present invention, the preset distance is 3 m.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, while the pesticide application operation is carried out on the previous pesticide application region, the image acquisition is carried out on the farmland plot of the next pesticide application region, so that the flight pesticide application parameters are obtained before entering the next pesticide application region, the precise pesticide application control of the next pesticide application region is ensured, the plant protection unmanned aerial vehicle is further ensured to accurately spray the required pesticide amount on each pesticide application region plot, and the real-time precise pesticide application is realized; the recognition analysis and the accurate pesticide application are combined into a whole, the new scheme of the recognition analysis and pesticide application integrated machine is realized, and a new idea is provided for the accurate pesticide application operation of the plant protection unmanned aerial vehicle.
2. After the route planning is completed, the pesticide application areas of the farmland plots are divided, so that the pesticide application areas can be more accurately and effectively identified, and each pesticide application area is individually identified and analyzed, thereby being beneficial to improving the pesticide application accuracy.
Drawings
Fig. 1 is a flow chart of a real-time control method for accurate pesticide application of a plant protection unmanned aerial vehicle according to the present invention.
FIG. 2 is a schematic diagram of a unit operation mode (where A is a start point and B is an end point).
FIG. 3 is a schematic diagram of the six-shaped flight path and the division of the pesticide application area.
Fig. 4 is a schematic diagram of the plant protection unmanned aerial vehicle during pesticide application operation.
Fig. 5 is a graph showing a relationship between the flight speed and the flight distance of the plant protection unmanned aerial vehicle in the third operation mode.
Detailed Description
The present invention will be further described with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
Referring to fig. 1 to 5, the real-time control method for accurate pesticide application of the plant protection unmanned aerial vehicle of the embodiment includes the following steps:
(1) planning a flight route according to a farmland plot to be applied with the pesticide; in the embodiment, the Chinese character 'ji' shaped air route is used as a flight air route, and the Chinese character 'ji' shaped air route is used as the flight air route so as to carry out aerial pesticide application on a large-area farmland plot. Meanwhile, a unit operation mode is set, the plant protection unmanned aerial vehicle conducts pesticide application operation on the farmland plots according to the unit operation mode, and the setting of the unit operation mode is specifically as follows: plant protection unmanned aerial vehicle flies to end point B by starting point A straight line, set up a plurality of regions of giving medicine to the poor free of charge between starting point A and the end point B according to the preset interval, wherein the length in region of giving medicine to the poor free of charge is D, and the width is W. The unit operation mode is set so as to be applied to the flight route, the operation mode of the flight route is formed by combining a plurality of unit operation modes, analysis and calculation of dividing the pesticide application area on the flight route are simplified, and the dividing precision is improved.
(2) And applying the unit operation mode to the self-shaped flight path according to the planned flight path and the preset unit operation mode, so that the self-shaped flight path is provided with a plurality of unit operation modes which are arranged in parallel.
(3) The plant protection unmanned aerial vehicle sprays pesticide to the pesticide application area one by one according to the flight route; in the process of pesticide application operation of the plant protection unmanned aerial vehicle to the previous pesticide application area, when the plant protection unmanned aerial vehicle is separated from the next pesticide application area by a preset distance, the image acquisition device on the plant protection unmanned aerial vehicle acquires images of farmland plots of the next pesticide application area and transmits the images to the image processing module; the image processing module obtains pest and disease damage degree information of the next pesticide application area after analysis and processing, and sends the pest and disease damage degree information to the control module of the plant protection unmanned aerial vehicle; the preset distance in this embodiment is 3 m.
(4) And aiming at the pest and disease damage degree information of the next pesticide application region, the control module on the plant protection unmanned aerial vehicle obtains the flying pesticide application parameters of the next pesticide application region through analysis and calculation before the plant protection unmanned aerial vehicle flies to the next pesticide application region.
(5) And (4) after the plant protection unmanned aerial vehicle flies into the next pesticide application area, performing pesticide application operation according to the flying pesticide application parameters in the step (4), returning to the step (3), and continuously performing pest and disease damage degree analysis on the next pesticide application area.
(6) And (5) continuously repeating the steps (3) to (5) until all the divided pesticide application areas finish pesticide application, and ending the aerial pesticide application operation of the farmland plots.
Referring to fig. 2-3, in the unit operation mode, along the flight direction of the plant protection unmanned aerial vehicle, the starting point is arranged behind the first pesticide application area, and the distance between the starting point and the first pesticide application area is 3m or more than 3 m; the plant protection unmanned aerial vehicle starts to take off at the starting point position, and image acquisition and pest and disease damage degree information acquisition are carried out on the first pesticide application region so as to obtain flight pesticide application parameters of the first pesticide application region; and after entering the first pesticide application area, the plant protection unmanned aerial vehicle performs pesticide application operation according to the flying pesticide application parameters. By setting the starting point, the plant protection unmanned aerial vehicle can acquire the pest and disease information of the first pesticide application area and analyze and acquire the flying pesticide application parameters, so that accurate pesticide application of the first pesticide application area is realized.
In addition, in the unit operation mode, along the flight direction of the plant protection unmanned aerial vehicle, the end point is set in front of the last pesticide application area, and the distance between the end point and the last pesticide application area is the preset distance. By setting the starting point, the plant protection unmanned aerial vehicle can acquire the pest and disease damage information of the first pesticide application area in the next unit operation mode, and the flying pesticide application parameters are analyzed and acquired, so that the precise pesticide application of the pesticide application area is realized.
Referring to fig. 3, in this embodiment, the plant protection unmanned aerial vehicle flies according to a herringbone pattern, the plant protection unmanned aerial vehicle needs to take off at a distance of more than 3 meters in front of the first pesticide application point region, and when the plant protection unmanned aerial vehicle flies into the first pesticide application point region at a distance of 3 meters, image acquisition and analysis are performed on the first pesticide application region, so as to obtain flying pesticide application parameters. When the unit operation mode is in flying operation each time, the plant protection unmanned aerial vehicle flies to a first pesticide application area by taking the maximum operation flying speed Vmax allowed by the plant protection unmanned aerial vehicle according to the standard as an initial preset value, and flies to a distance of 3 meters beyond by using the Vmax after the operation is finished in the last pesticide application area, so that the unit operation mode is finished. In the process of each unit operation mode, when the plant protection unmanned aerial vehicle leaves the last pesticide application area, the plant protection unmanned aerial vehicle turns to fly to the next row after flying to a distance of 3 meters away from the last pesticide application area, and then the next unit operation mode is started. Therefore, by combining the Chinese character 'ji' shaped route planning, the plant protection unmanned aerial vehicle can perform image recognition on the first pesticide application area in each unit operation mode, so that enough time and enough travel are provided for analyzing pest and disease damage information and analyzing and acquiring flight pesticide application parameters.
In the embodiment, the flight application parameters comprise the required application amount, the flight speed and the liquid medicine spraying speed; at the same time, through the formula,
t＝L/S
V＝D/t
obtaining a regulation and control formula of the flight speed and the liquid medicine spraying speed of the plant protection unmanned aerial vehicle,
V＝D*S/L
wherein t is the required flight time of the pesticide application region, L is the required pesticide application amount of the pesticide application region, S is the total spraying speed of a pesticide application device carried by the plant protection unmanned aerial vehicle, D is the flight distance of the pesticide application region, and V is the flight speed of the plant protection unmanned aerial vehicle;
by combining the formula, after the required pesticide application amount L of the pesticide application area is obtained, the flight speed V of the plant protection unmanned aerial vehicle and the spraying speed S of the pesticide application device can be matched; the application region flying distance D is quantitative.
In this embodiment, plant protection unmanned aerial vehicle includes following mode in the operation process of giving medicine to poor free of charge:
in the first operation mode, the plant protection unmanned aerial vehicle keeps flying at the maximum flying speed Vmax; after the required application rate of the application region is analyzed and obtained in the operation process, the application spraying speed of the application region is obtained through calculation, the application spraying speed at the moment meets the conditions that S is more than or equal to 0 and S is less than or equal to Smax, and the spraying speed S changes along with the change of the required application rate L of the application region.
In the second operation mode, the pesticide applying device on the plant protection unmanned aerial vehicle keeps working at the maximum spraying speed Smax; after the required pesticide application amount of the pesticide application area is analyzed and obtained in the operation process, the flight speed of the plant protection unmanned aerial vehicle is obtained through calculation, the flight speed at the moment meets the conditions that V is more than or equal to 0 and V is less than or equal to Vmax, and the flight speed V changes along with the change of the required pesticide application amount L of the pesticide application area.
Referring to fig. 5, in the third operation mode, when the flying pesticide application parameters of the next pesticide application region cannot be calculated within the preset distance, the flying speed of the plant protection unmanned aerial vehicle flies at a uniform deceleration at the stage of the preset final distance, and hovers at the boundary of the next pesticide application region until the calculation of the flying pesticide application parameters is completed, and then pesticide application operation is performed according to the flying pesticide application parameters; wherein, when the plant protection unmanned aerial vehicle carries out uniform deceleration flight at the stage of presetting the final distance, the spraying speed of the pesticide applying device is regulated and controlled according to the following formula,
L0＝L-Li
S＝Vi×L0/d
in the formula, LiThe amount of the sprayed medicine is detected by a flowmeter on the pesticide applying device, L0For the remaining amount of non-sprayed medicine, ViTo plantThe real-time flight speed of the unmanned aerial vehicle in the stage of presetting the final distance is ensured, and d is the preset final distance; in this embodiment, the preset final distance is 1m, so that S ═ Vi×L0；
In the uniform deceleration flight process of the plant protection unmanned aerial vehicle at the stage of presetting the final distance, the flight speed of the plant protection unmanned aerial vehicle is regulated and controlled to change according to the following formula:
Vi＝Vc×(3-d1)
2≤d1≤3
wherein, VcFor the original flying speed of the plant protection unmanned aerial vehicle under the normal operation of the pesticide application area, d1The flying distance is the flying distance within the preset distance; since the preset distance is 3m, when d is more than or equal to 01<When 2, V is equal to VcAnd the plant protection unmanned aerial vehicle keeps the original flying speed to fly.
In the embodiment, when the operation is started, the aerial pesticide application operation is carried out in the first operation mode; when the required medicine amount L of the medicine application area changes and the plant protection unmanned aerial vehicle flies at the maximum speed Vmax and cannot complete the medicine application of the medicine application area, the flying speed of the plant protection unmanned aerial vehicle and the spraying speed of the liquid medicine are regulated and controlled; when the plant protection unmanned aerial vehicle flies at the maximum speed Vmax and can complete aerial pesticide application operation in a pesticide application area, the first operation mode is readjusted. Therefore, the first operation mode is adopted as far as possible, so that the aerial pesticide application speed of the farmland plots is improved, and the pesticide application efficiency is improved.
The real-time control method for accurate pesticide application of the plant protection unmanned aerial vehicle can ensure that the plant protection unmanned aerial vehicle sprays the required pesticide amount in each pesticide application area, and ensure that the plant protection unmanned aerial vehicle operates with optimal efficiency on the basis, so that the aim of accurate pesticide application is fulfilled. Meanwhile, a new scheme of recognition analysis and pesticide application for the investigation and printing integrated machine is realized, and a new idea is provided for the precise pesticide application operation of the plant protection unmanned aerial vehicle.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents and are included in the scope of the present invention.
Claims (10)
1. A real-time control method for accurate pesticide application of a plant protection unmanned aerial vehicle is characterized by comprising the following steps:
(1) planning a flight route according to a farmland plot to be applied with the pesticide;
(2) dividing a plurality of pesticide application areas for a farmland plot according to a planned flight route;
(3) the plant protection unmanned aerial vehicle sprays pesticide to the pesticide application area one by one according to the flight route; in the process of pesticide application operation of the plant protection unmanned aerial vehicle to the previous pesticide application area, when the plant protection unmanned aerial vehicle is separated from the next pesticide application area by a preset distance, the image acquisition device on the plant protection unmanned aerial vehicle acquires images of farmland plots of the next pesticide application area and transmits the images to the image processing module; the image processing module obtains pest and disease damage degree information of the next pesticide application area after analysis and processing, and sends the pest and disease damage degree information to the control module of the plant protection unmanned aerial vehicle;
(4) aiming at the pest and disease damage degree information of the next pesticide application region, the control module on the plant protection unmanned aerial vehicle obtains the flying pesticide application parameters of the next pesticide application region through analysis and calculation before the plant protection unmanned aerial vehicle flies to the next pesticide application region;
(5) after the plant protection unmanned aerial vehicle flies into the next pesticide application area, pesticide application operation is carried out according to the flying pesticide application parameters in the step (4), the step (3) is returned, and pest and disease damage degree analysis is continuously carried out on the next pesticide application area;
(6) and (5) continuously repeating the steps (3) to (5) until all the divided pesticide application areas finish pesticide application, and ending the aerial pesticide application operation of the farmland plots.
2. The real-time control method for accurate pesticide application of the plant protection unmanned aerial vehicle as claimed in claim 1, wherein before pesticide application operation, a unit operation mode is set, then the unit operation mode is applied to a flight route, and pesticide application operation is performed on a farmland plot according to the unit operation mode; the setting of the unit operation mode specifically comprises the following steps: the plant protection unmanned aerial vehicle flies to the end point by the initial point straight line, set for a plurality of regions of giving medicine to the poor free of charge between initial point and the end point according to the predetermined interval.
3. The real-time control method for precise pesticide application of the plant protection unmanned aerial vehicle according to claim 2, wherein in the unit operation mode, the starting point is arranged behind a first pesticide application area along the flight direction of the plant protection unmanned aerial vehicle, and the distance between the starting point and the first pesticide application area is the preset distance; the plant protection unmanned aerial vehicle starts to take off at the starting point position, and image acquisition and pest and disease damage degree information acquisition are carried out on the first pesticide application region so as to obtain flight pesticide application parameters of the first pesticide application region; and after entering the first pesticide application area, the plant protection unmanned aerial vehicle performs pesticide application operation according to the flying pesticide application parameters.
4. The real-time control method for precise pesticide application of the plant protection unmanned aerial vehicle according to claim 3, wherein in the unit operation mode, the end point is arranged in front of the last pesticide application area along the flight direction of the plant protection unmanned aerial vehicle, and the distance between the end point and the last pesticide application area is the preset distance.
5. The real-time control method for precise pesticide application of the plant protection unmanned aerial vehicle as claimed in claim 1, wherein in the step (1), a herringbone air route is planned as a flight air route according to a farmland plot to be applied.
6. The real-time control method for accurate pesticide application of the plant protection unmanned aerial vehicle according to claim 1, wherein the flight pesticide application parameters comprise a required pesticide application amount, a flight speed and a pesticide spraying speed; at the same time, through the formula,
t＝L/S
V＝D/t
obtaining a regulation and control formula of the flight speed and the liquid medicine spraying speed of the plant protection unmanned aerial vehicle,
V＝D*S/L
wherein t is the required flight time of the pesticide application region, L is the required pesticide application amount of the pesticide application region, S is the total spraying speed of a pesticide application device carried by the plant protection unmanned aerial vehicle, D is the flight distance of the pesticide application region, and V is the flight speed of the plant protection unmanned aerial vehicle;
by combining the formula, after the required pesticide application amount L of the pesticide application region is obtained, the flight speed V of the plant protection unmanned aerial vehicle and the spraying speed S of the pesticide application device can be matched.
7. The accurate pesticide application real-time control method for the plant protection unmanned aerial vehicle as claimed in claim 6, wherein the plant protection unmanned aerial vehicle comprises the following operation modes in the pesticide application process:
in the first operation mode, the plant protection unmanned aerial vehicle keeps flying at the maximum flying speed Vmax; after the required application rate of the application region is analyzed and obtained in the operation process, the application spraying speed of the application region is obtained through calculation, the application spraying speed at the moment meets the conditions that S is more than or equal to 0 and S is less than or equal to Smax, wherein the spraying speed S changes along with the change of the required application rate L of the application region;
in the second operation mode, the pesticide applying device on the plant protection unmanned aerial vehicle keeps working at the maximum spraying speed Smax; after the required pesticide application amount of the pesticide application area is analyzed and obtained in the operation process, the flight speed of the plant protection unmanned aerial vehicle is obtained through calculation, the flight speed at the moment meets the conditions that V is more than or equal to 0 and V is less than or equal to Vmax, and the flight speed V changes along with the change of the required pesticide application amount L of the pesticide application area.
8. The real-time control method for precise pesticide application of the plant protection unmanned aerial vehicle according to claim 7, wherein at the beginning of operation, aerial pesticide application operation is performed in the first operation mode; when the required medicine amount L of the medicine application area changes and the plant protection unmanned aerial vehicle flies at the maximum speed Vmax and cannot complete the medicine application of the medicine application area, the flying speed of the plant protection unmanned aerial vehicle and the spraying speed of the liquid medicine are regulated and controlled; when the plant protection unmanned aerial vehicle flies at the maximum speed Vmax and can complete aerial pesticide application operation in a pesticide application area, the first operation mode is readjusted.
9. The real-time control method for precise pesticide application of the plant protection unmanned aerial vehicle according to claim 7 or 8, characterized in that when the flying pesticide application parameters of the next pesticide application region cannot be calculated within a preset distance, the flying speed of the plant protection unmanned aerial vehicle can uniformly decelerate at a preset final distance stage, and hover is performed at the boundary of the next pesticide application region until the calculation of the flying pesticide application parameters is completed, and then pesticide application operation is performed according to the flying pesticide application parameters; wherein, when the plant protection unmanned aerial vehicle carries out uniform deceleration flight at the stage of presetting the final distance, the spraying speed of the pesticide applying device is regulated and controlled according to the following formula,
L0＝L-Li
S＝Vi×L0/d
in the formula, LiThe amount of the sprayed medicine is detected by a flowmeter on the pesticide applying device, L0For the remaining amount of non-sprayed medicine, ViFor plant protection unmanned aerial vehicle in the real-time flight speed of predetermineeing the final distance stage, d is for predetermineeing the final distance.
10. The real-time control method for precise pesticide application of the plant protection unmanned aerial vehicle of claim 1, wherein the preset distance is 3 m.
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