CN116039924A - Automatic low-altitude medicine spraying system based on unmanned aerial vehicle - Google Patents
Automatic low-altitude medicine spraying system based on unmanned aerial vehicle Download PDFInfo
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- 238000005507 spraying Methods 0.000 title claims abstract description 160
- 239000003814 drug Substances 0.000 title claims abstract description 57
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- 239000007921 spray Substances 0.000 claims abstract description 10
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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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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
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Abstract
The invention belongs to the technical field of automatic spraying of unmanned aerial vehicles, and discloses a low-altitude automatic spraying system based on an unmanned aerial vehicle, wherein an area data of a to-be-sprayed area is determined by mapping an to-be-sprayed area of the unmanned aerial vehicle; planning a pesticide spraying path of the plant protection unmanned aerial vehicle according to the area data of the pesticide spraying area; the position of the plant protection unmanned aerial vehicle is confirmed through a GPS positioning device; controlling the spraying height of the plant protection unmanned aerial vehicle through a relative height sensor; the flying angle of the plant protection unmanned aerial vehicle is regulated through an angle regulating program; the pesticide spraying device carried by the plant protection unmanned aerial vehicle automatically sprays the pesticide to the pesticide spraying area according to the planned pesticide spraying path. The unmanned aerial vehicle-based low-altitude automatic medicine spraying system is simple in structure, high in medicine spraying precision, and particularly suitable for crops with larger spacing, medicine resources are saved, medicine spraying is uniform, and the effect is good. The method has the advantages of accurate calculation result and wide application scene, and ensures the low-altitude pesticide spraying height and flight safety of the plant protection unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of automatic medicine spraying of unmanned aerial vehicles, and particularly relates to a low-altitude automatic medicine spraying system based on an unmanned aerial vehicle.
Background
At present, along with development of science and technology, unmanned aerial vehicle spouts medicine and has become a novel means of prevention and cure plant diseases and insect pests, compares traditional manual application and has its unique advantage, plays huge effect in agricultural plant protection field, but unmanned aerial vehicle spouts medicine and also has the problem simultaneously, like: the spraying precision is poor, especially for crops with larger spacing, waste is often caused, and the spraying is not uniform enough and the effect is poor. Therefore, there is a need to design a new low-altitude automatic drug spraying system based on an unmanned aerial vehicle to make up for the defects of the prior art.
Through the above analysis, the problems and defects existing in the prior art are as follows: the existing unmanned aerial vehicle has poor pesticide spraying precision, especially for crops with larger spacing, waste can be caused, and pesticide spraying is not uniform enough, and the effect is poor.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a low-altitude automatic medicine spraying system based on an unmanned aerial vehicle.
The invention is realized in such a way that a low-altitude automatic medicine spraying system based on an unmanned aerial vehicle comprises:
the region mapping module is connected with the central control module and is used for mapping the region to be sprayed with the medicine through the mapping unmanned aerial vehicle and determining the area data of the region to be sprayed with the medicine;
the central control module is connected with the area mapping module, the non-path planning module, the height control module, the angle adjusting module and the automatic medicine spraying module and is used for cooperatively controlling the normal operation of each module of the unmanned aerial vehicle-based low-altitude automatic medicine spraying system through the central processor;
the path planning module is connected with the central control module and is used for planning the pesticide spraying path of the plant protection unmanned aerial vehicle according to the area data of the pesticide spraying area through a path planning program;
the height control module is connected with the central control module and used for controlling the spraying height of the plant protection unmanned aerial vehicle in real time through the relative height sensor;
the angle adjusting module is connected with the central control module and used for adjusting the flight angle of the plant protection unmanned aerial vehicle in real time through an angle adjusting program;
and the automatic pesticide spraying module is connected with the central control module and is used for automatically spraying the pesticide to the pesticide spraying area according to the planned pesticide spraying path by the pesticide spraying device carried by the plant protection unmanned aerial vehicle.
Further, the unmanned aerial vehicle-based low-altitude automatic medicine spraying system further comprises:
the wireless communication module is connected with the central control module and is used for transmitting the low-altitude automatic spraying system data based on the unmanned aerial vehicle to the central processor through the wireless communication device;
the central control module is connected with the wireless communication module, the GPS positioning module, the data storage module and the mobile terminal and is used for cooperatively controlling the normal operation of each module of the unmanned aerial vehicle-based low-altitude automatic medicine spraying system through the central processor;
the GPS positioning module is connected with the central control module and is used for confirming and updating the position of the plant protection unmanned aerial vehicle in real time through the GPS positioning device;
the data storage module is connected with the central control module and is used for storing the area data of the to-be-sprayed area, the spraying planning path of the plant protection unmanned aerial vehicle, GPS positioning data, the spraying height and angle adjustment data of the plant protection unmanned aerial vehicle and the automatic spraying data of the plant protection unmanned aerial vehicle through the memory;
the mobile terminal is connected with the central control module and is used for controlling the unmanned aerial vehicle according to the area data of the to-be-sprayed area, the spraying planning path of the plant protection unmanned aerial vehicle, GPS positioning data, the spraying height and angle adjusting data of the plant protection unmanned aerial vehicle and the automatic spraying data of the plant protection unmanned aerial vehicle.
Further, survey and drawing the medicine region to be sprayed by using a survey and drawing unmanned aerial vehicle through a region survey and drawing module, and determining the area data of the medicine region to be sprayed comprises:
(1) Acquiring an area to be sprayed with the medicine and image data corresponding to a reference object of the area to be sprayed with the medicine by a high-definition camera carried by the mapping unmanned aerial vehicle;
(2) Identifying the image data of the to-be-sprayed area and the reference object to determine the number of pixel points respectively corresponding to the to-be-sprayed area and the reference object;
(3) And determining the actual area of the to-be-sprayed area according to the number of the pixel points corresponding to the to-be-sprayed area and the actual area of the reference object.
Further, the identifying the image data of the to-be-sprayed area and the reference object includes:
determining an identification probability value for each reference object; and determining the number of the pixel points corresponding to the to-be-sprayed region and the reference objects respectively according to the identification probability value of each reference object.
Further, the determining the actual area of the to-be-sprayed area includes:
and determining the actual area of the to-be-sprayed area according to the ratio of the number of the pixels corresponding to the to-be-sprayed area to the number of the pixels of the reference object and the actual area of the reference object.
Further, utilize relative altitude sensor to carry out real-time control to plant protection unmanned aerial vehicle's medicine spraying height through altitude control module includes:
(1) The plant protection unmanned aerial vehicle flies to hover and fly at the height of the spraying start point H;
(2) After 3-5 s, the plant protection unmanned aerial vehicle starts working, and the height h between the plant protection unmanned aerial vehicle and the pesticide spraying starting point is measured by using a height sensor carried by the plant protection unmanned aerial vehicle;
(3) Comparing H with H through a numerical comparison algorithm, and judging whether the spraying height of the plant protection unmanned aerial vehicle is normal or not; wherein, H is the take-off height of plant protection unmanned aerial vehicle.
Further, comparing H and H through a numerical comparison algorithm, and judging whether the spraying height of the plant protection unmanned aerial vehicle is normal or not comprises:
if H is smaller than H, the spraying height of the plant protection unmanned aerial vehicle is smaller, and the plant protection unmanned aerial vehicle flies to the H height;
if H is greater than H, the pesticide spraying height of the plant protection unmanned aerial vehicle is greater, and the plant protection unmanned aerial vehicle descends to H;
if H is equal to H, the pesticide spraying height of the plant protection unmanned aerial vehicle is normal, and the pesticide spraying work is continued.
It is a further object of the present invention to provide a computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
mapping the region to be sprayed by a mapping unmanned aerial vehicle, and determining the area data of the region to be sprayed; planning a pesticide spraying path of the plant protection unmanned aerial vehicle according to the area data of the pesticide spraying area; the position of the plant protection unmanned aerial vehicle is confirmed and updated in real time through a GPS positioning device; controlling the spraying height of the plant protection unmanned aerial vehicle through a relative height sensor; the flying angle of the plant protection unmanned aerial vehicle is regulated through an angle regulating program; the pesticide spraying device carried by the plant protection unmanned aerial vehicle automatically sprays the pesticide to the pesticide spraying area according to the planned pesticide spraying path.
Another object of the present invention is to provide a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
mapping the region to be sprayed by a mapping unmanned aerial vehicle, and determining the area data of the region to be sprayed; planning a pesticide spraying path of the plant protection unmanned aerial vehicle according to the area data of the pesticide spraying area; the position of the plant protection unmanned aerial vehicle is confirmed and updated in real time through a GPS positioning device; controlling the spraying height of the plant protection unmanned aerial vehicle through a relative height sensor; the flying angle of the plant protection unmanned aerial vehicle is regulated through an angle regulating program; the pesticide spraying device carried by the plant protection unmanned aerial vehicle automatically sprays the pesticide to the pesticide spraying area according to the planned pesticide spraying path.
The invention further aims to provide an information data processing terminal which is used for realizing the unmanned aerial vehicle-based low-altitude automatic medicine spraying system.
In combination with the above technical solution and the technical problems to be solved, please analyze the following aspects to provide the following advantages and positive effects:
first, aiming at the technical problems in the prior art and the difficulty in solving the problems, the technical problems solved by the technical proposal of the invention are analyzed in detail and deeply by tightly combining the technical proposal to be protected, the results and data in the research and development process, and the like, and some technical effects brought after the problems are solved have creative technical effects. The specific description is as follows:
according to the unmanned aerial vehicle-based low-altitude automatic medicine spraying system, the number of the pixels respectively corresponding to the medicine spraying region and the reference object is determined through the region mapping module, so that the actual area of the medicine spraying region is determined, the calculation result is accurate, and the application scene is wide.
Meanwhile, the height control module is used for controlling and adjusting the pesticide spraying height of the plant protection unmanned aerial vehicle in real time, so that the low-altitude pesticide spraying height and the flight safety of the plant protection unmanned aerial vehicle are ensured, the accident rate of the plant protection unmanned aerial vehicle is reduced, and the personal safety and the property safety of people are ensured.
Secondly, the technical scheme is regarded as a whole or from the perspective of products, and the technical scheme to be protected has the following technical effects and advantages:
the unmanned aerial vehicle-based low-altitude automatic medicine spraying system provided by the invention has the advantages of simple structure, high medicine spraying precision, medicine resource saving and uniform medicine spraying and good effect, and is especially suitable for crops with larger spacing.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is an interaction diagram of an unmanned aerial vehicle-based low-altitude automatic medicine spraying system provided by an embodiment of the invention;
fig. 2 is a flowchart of a method for mapping a region to be sprayed by a region mapping module by using a mapping unmanned aerial vehicle to determine area data of the region to be sprayed according to an embodiment of the present invention;
FIG. 3 is a flowchart of a method for controlling the spraying height of a plant protection unmanned aerial vehicle in real time by using a relative height sensor through a height control module according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Aiming at the problems in the prior art, the invention provides a low-altitude automatic medicine spraying system based on an unmanned aerial vehicle, and the invention is described in detail below with reference to the accompanying drawings.
1. The embodiments are explained. In order to fully understand how the invention may be embodied by those skilled in the art, this section is an illustrative embodiment in which the claims are presented for purposes of illustration.
The low-altitude automatic medicine spraying system based on the unmanned aerial vehicle provided by the embodiment of the invention comprises the following components: the system comprises an area mapping module, a wireless communication module, a central control module, a path planning module, a GPS positioning module, a height control module, an angle adjusting module, an automatic medicine spraying module, a data storage module and a mobile terminal.
The region mapping module is connected with the central control module and is used for mapping the region to be sprayed with the medicine through the mapping unmanned aerial vehicle and determining the area data of the region to be sprayed with the medicine;
the wireless communication module is connected with the central control module and is used for transmitting the low-altitude automatic spraying system data based on the unmanned aerial vehicle to the central processor through the wireless communication device;
the central control module is connected with the area mapping module, the wireless communication module, the path planning module, the GPS positioning module, the height control module, the angle adjusting module, the automatic medicine spraying module, the data storage module and the mobile terminal and is used for cooperatively controlling the normal operation of each module of the unmanned aerial vehicle-based low-altitude automatic medicine spraying system through the central processor;
the path planning module is connected with the central control module and is used for planning the pesticide spraying path of the plant protection unmanned aerial vehicle according to the area data of the pesticide spraying area through a path planning program;
the GPS positioning module is connected with the central control module and is used for confirming and updating the position of the plant protection unmanned aerial vehicle in real time through the GPS positioning device;
the height control module is connected with the central control module and used for controlling the spraying height of the plant protection unmanned aerial vehicle in real time through the relative height sensor;
the angle adjusting module is connected with the central control module and used for adjusting the flight angle of the plant protection unmanned aerial vehicle in real time through an angle adjusting program;
the automatic pesticide spraying module is connected with the central control module and is used for automatically spraying the pesticide in the pesticide spraying area to be sprayed according to the planned pesticide spraying path through the pesticide spraying device carried by the plant protection unmanned aerial vehicle;
the data storage module is connected with the central control module and is used for storing the area data of the to-be-sprayed area, the spraying planning path of the plant protection unmanned aerial vehicle, GPS positioning data, the spraying height and angle adjustment data of the plant protection unmanned aerial vehicle and the automatic spraying data of the plant protection unmanned aerial vehicle through the memory;
the mobile terminal is connected with the central control module and is used for controlling the unmanned aerial vehicle according to the area data of the to-be-sprayed area, the spraying planning path of the plant protection unmanned aerial vehicle, GPS positioning data, the spraying height and angle adjusting data of the plant protection unmanned aerial vehicle and the automatic spraying data of the plant protection unmanned aerial vehicle.
The interaction diagram of the unmanned aerial vehicle-based low-altitude automatic medicine spraying system provided by the embodiment of the invention is shown in fig. 1.
As shown in fig. 2, the mapping, by using a mapping unmanned plane, of a region to be sprayed by a region mapping module provided by the embodiment of the present invention, the determining area data of the region to be sprayed includes:
s101, acquiring an area to be sprayed with the medicine and image data corresponding to a reference object of the area to be sprayed with the medicine through a high-definition camera carried by the mapping unmanned aerial vehicle;
s102, identifying the image data of the to-be-sprayed region and the reference object to determine the number of pixel points respectively corresponding to the to-be-sprayed region and the reference object;
s103, determining the actual area of the to-be-sprayed area according to the number of the pixel points corresponding to the to-be-sprayed area and the actual area of the reference object.
The identification processing of the image data of the to-be-sprayed medicine region and the reference object provided by the embodiment of the invention comprises the following steps: determining an identification probability value for each reference object; and determining the number of the pixel points corresponding to the to-be-sprayed region and the reference objects respectively according to the identification probability value of each reference object.
The determining the actual area of the to-be-sprayed area provided by the embodiment of the invention comprises the following steps: and determining the actual area of the to-be-sprayed area according to the ratio of the number of the pixels corresponding to the to-be-sprayed area to the number of the pixels of the reference object and the actual area of the reference object.
As shown in fig. 3, the real-time control of the pesticide spraying height of the plant protection unmanned aerial vehicle by using the relative height sensor through the height control module according to the embodiment of the present invention includes:
s201, a plant protection unmanned plane flies to hover and fly at a height from a pesticide spraying starting point H;
s202, after 3-5S, the plant protection unmanned aerial vehicle starts to work, and a height sensor carried by the plant protection unmanned aerial vehicle is utilized to measure the height h between the plant protection unmanned aerial vehicle and the pesticide spraying starting point;
s203, comparing H with H through a numerical comparison algorithm, and judging whether the spraying height of the plant protection unmanned aerial vehicle is normal or not; wherein, H is the take-off height of plant protection unmanned aerial vehicle.
Comparing H and H through a numerical comparison algorithm provided by the embodiment of the invention, judging whether the spraying height of the plant protection unmanned aerial vehicle is normal or not comprises the following steps:
if H is smaller than H, the spraying height of the plant protection unmanned aerial vehicle is smaller, and the plant protection unmanned aerial vehicle flies to the H height;
if H is greater than H, the pesticide spraying height of the plant protection unmanned aerial vehicle is greater, and the plant protection unmanned aerial vehicle descends to H;
if H is equal to H, the pesticide spraying height of the plant protection unmanned aerial vehicle is normal, and the pesticide spraying work is continued.
2. Application example. In order to prove the inventive and technical value of the technical solution of the present invention, this section is an application example of the specific product or related technology application of the claim technical solution.
An application embodiment of the present invention provides a computer device including a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
mapping the region to be sprayed by a mapping unmanned aerial vehicle, and determining the area data of the region to be sprayed; planning a pesticide spraying path of the plant protection unmanned aerial vehicle according to the area data of the pesticide spraying area; the position of the plant protection unmanned aerial vehicle is confirmed and updated in real time through a GPS positioning device; controlling the spraying height of the plant protection unmanned aerial vehicle through a relative height sensor; the flying angle of the plant protection unmanned aerial vehicle is regulated through an angle regulating program; the pesticide spraying device carried by the plant protection unmanned aerial vehicle automatically sprays the pesticide to the pesticide spraying area according to the planned pesticide spraying path.
An application embodiment of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
mapping the region to be sprayed by a mapping unmanned aerial vehicle, and determining the area data of the region to be sprayed; planning a pesticide spraying path of the plant protection unmanned aerial vehicle according to the area data of the pesticide spraying area; the position of the plant protection unmanned aerial vehicle is confirmed and updated in real time through a GPS positioning device; controlling the spraying height of the plant protection unmanned aerial vehicle through a relative height sensor; the flying angle of the plant protection unmanned aerial vehicle is regulated through an angle regulating program; the pesticide spraying device carried by the plant protection unmanned aerial vehicle automatically sprays the pesticide to the pesticide spraying area according to the planned pesticide spraying path.
The embodiment of the application of the invention provides an information data processing terminal which is used for realizing the unmanned aerial vehicle-based low-altitude automatic medicine spraying system.
It should be noted that the embodiments of the present invention can be realized in hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or special purpose design hardware. Those of ordinary skill in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such as provided on a carrier medium such as a magnetic disk, CD or DVD-ROM, a programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier. The device of the present invention and its modules may be implemented by hardware circuitry, such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., as well as software executed by various types of processors, or by a combination of the above hardware circuitry and software, such as firmware.
The foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.
Claims (10)
1. Automatic medicine system of spouting in low latitude based on unmanned aerial vehicle, its characterized in that, automatic medicine system of spouting in low latitude based on unmanned aerial vehicle includes:
the region mapping module is connected with the central control module and is used for mapping the region to be sprayed with the medicine through the mapping unmanned aerial vehicle and determining the area data of the region to be sprayed with the medicine;
the central control module is connected with the area mapping module, the non-path planning module, the height control module, the angle adjusting module and the automatic medicine spraying module and is used for cooperatively controlling the normal operation of each module of the unmanned aerial vehicle-based low-altitude automatic medicine spraying system through the central processor;
the path planning module is connected with the central control module and is used for planning the pesticide spraying path of the plant protection unmanned aerial vehicle according to the area data of the pesticide spraying area through a path planning program;
the height control module is connected with the central control module and used for controlling the spraying height of the plant protection unmanned aerial vehicle in real time through the relative height sensor;
the angle adjusting module is connected with the central control module and used for adjusting the flight angle of the plant protection unmanned aerial vehicle in real time through an angle adjusting program;
and the automatic pesticide spraying module is connected with the central control module and is used for automatically spraying the pesticide to the pesticide spraying area according to the planned pesticide spraying path by the pesticide spraying device carried by the plant protection unmanned aerial vehicle.
2. The unmanned aerial vehicle-based low-altitude automatic spray system of claim 1, wherein the unmanned aerial vehicle-based low-altitude automatic spray system further comprises:
the wireless communication module is connected with the central control module and is used for transmitting the low-altitude automatic spraying system data based on the unmanned aerial vehicle to the central processor through the wireless communication device;
the central control module is connected with the wireless communication module, the GPS positioning module, the data storage module and the mobile terminal and is used for cooperatively controlling the normal operation of each module of the unmanned aerial vehicle-based low-altitude automatic medicine spraying system through the central processor;
the GPS positioning module is connected with the central control module and is used for confirming and updating the position of the plant protection unmanned aerial vehicle in real time through the GPS positioning device;
the data storage module is connected with the central control module and is used for storing the area data of the to-be-sprayed area, the spraying planning path of the plant protection unmanned aerial vehicle, GPS positioning data, the spraying height and angle adjustment data of the plant protection unmanned aerial vehicle and the automatic spraying data of the plant protection unmanned aerial vehicle through the memory;
the mobile terminal is connected with the central control module and is used for controlling the unmanned aerial vehicle according to the area data of the to-be-sprayed area, the spraying planning path of the plant protection unmanned aerial vehicle, GPS positioning data, the spraying height and angle adjusting data of the plant protection unmanned aerial vehicle and the automatic spraying data of the plant protection unmanned aerial vehicle.
3. The unmanned aerial vehicle-based low-altitude automatic medicine spraying system of claim 1, wherein the determining area data of the area to be sprayed with the surveying unmanned aerial vehicle for surveying and mapping the area to be sprayed with the surveying and mapping module comprises:
(1) Acquiring an area to be sprayed with the medicine and image data corresponding to a reference object of the area to be sprayed with the medicine by a high-definition camera carried by the mapping unmanned aerial vehicle;
(2) Identifying the image data of the to-be-sprayed area and the reference object to determine the number of pixel points respectively corresponding to the to-be-sprayed area and the reference object;
(3) And determining the actual area of the to-be-sprayed area according to the number of the pixel points corresponding to the to-be-sprayed area and the actual area of the reference object.
4. The unmanned aerial vehicle-based low-altitude automatic medicine ejection system of claim 3, wherein the identifying the image data of the area to be sprayed and the reference object comprises:
determining an identification probability value for each reference object; and determining the number of the pixel points corresponding to the to-be-sprayed region and the reference objects respectively according to the identification probability value of each reference object.
5. The unmanned aerial vehicle-based low-altitude automatic spray system of claim 3, wherein the determining the actual area of the area to be sprayed comprises:
and determining the actual area of the to-be-sprayed area according to the ratio of the number of the pixels corresponding to the to-be-sprayed area to the number of the pixels of the reference object and the actual area of the reference object.
6. The unmanned aerial vehicle-based low-altitude automatic pesticide spraying system of claim 1, wherein the real-time control of the pesticide spraying height of the plant protection unmanned aerial vehicle by the height control module using the relative height sensor comprises:
(1) The plant protection unmanned aerial vehicle flies to hover and fly at the height of the spraying start point H;
(2) After 3-5 s, the plant protection unmanned aerial vehicle starts working, and the height h between the plant protection unmanned aerial vehicle and the pesticide spraying starting point is measured by using a height sensor carried by the plant protection unmanned aerial vehicle;
(3) Comparing H with H through a numerical comparison algorithm, and judging whether the spraying height of the plant protection unmanned aerial vehicle is normal or not; wherein, H is the take-off height of plant protection unmanned aerial vehicle.
7. The unmanned aerial vehicle-based low-altitude automatic pesticide spraying system according to claim 6, wherein the comparing H with H by a numerical comparison algorithm, and determining whether the pesticide spraying height of the plant protection unmanned aerial vehicle is normal comprises:
if H is smaller than H, the spraying height of the plant protection unmanned aerial vehicle is smaller, and the plant protection unmanned aerial vehicle flies to the H height;
if H is greater than H, the pesticide spraying height of the plant protection unmanned aerial vehicle is greater, and the plant protection unmanned aerial vehicle descends to H;
if H is equal to H, the pesticide spraying height of the plant protection unmanned aerial vehicle is normal, and the pesticide spraying work is continued.
8. A computer device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to perform the steps of:
mapping the region to be sprayed by a mapping unmanned aerial vehicle, and determining the area data of the region to be sprayed; planning a pesticide spraying path of the plant protection unmanned aerial vehicle according to the area data of the pesticide spraying area; the position of the plant protection unmanned aerial vehicle is confirmed and updated in real time through a GPS positioning device; controlling the spraying height of the plant protection unmanned aerial vehicle through a relative height sensor; the flying angle of the plant protection unmanned aerial vehicle is regulated through an angle regulating program; the pesticide spraying device carried by the plant protection unmanned aerial vehicle automatically sprays the pesticide to the pesticide spraying area according to the planned pesticide spraying path.
9. A computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the steps of:
mapping the region to be sprayed by a mapping unmanned aerial vehicle, and determining the area data of the region to be sprayed; planning a pesticide spraying path of the plant protection unmanned aerial vehicle according to the area data of the pesticide spraying area; the position of the plant protection unmanned aerial vehicle is confirmed and updated in real time through a GPS positioning device; controlling the spraying height of the plant protection unmanned aerial vehicle through a relative height sensor; the flying angle of the plant protection unmanned aerial vehicle is regulated through an angle regulating program; the pesticide spraying device carried by the plant protection unmanned aerial vehicle automatically sprays the pesticide to the pesticide spraying area according to the planned pesticide spraying path.
10. An information data processing terminal, characterized in that the information data processing terminal is used for realizing the unmanned aerial vehicle-based low-altitude automatic medicine spraying system according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211497552.9A CN116039924A (en) | 2022-11-25 | 2022-11-25 | Automatic low-altitude medicine spraying system based on unmanned aerial vehicle |
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| CN202211497552.9A CN116039924A (en) | 2022-11-25 | 2022-11-25 | Automatic low-altitude medicine spraying system based on unmanned aerial vehicle |
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