TWI786985B - Automatic spraying operation of unmanned aerial vehicle based on dynamic adjustment of warning range system and method thereof - Google Patents

Abstract

An automatic spraying operation of unmanned aerial vehicle based on dynamic adjustment of warning range system and a method thereof are provided. Forward direction and forward speed of staff in environmental video is analyzed by unmanned aerial vehicle. Warning range is extend preset distance outward from spraying range wherein preset distance is calculated by unmanned aerial vehicle. Automatic spraying operation is paused by unmanned aerial vehicle when staff is in warning range of environmental video. Therefore, the improve efficiency of safety of staff in work area through automatic unmanned aerial vehicle spraying operation with adjusting warning range dynamically may be achieved.

Description

UAV automatic spraying operation system and method based on dynamic adjustment of early warning range

An unmanned aerial vehicle automatic spraying system and its method, in particular, an unmanned aerial vehicle automatic spraying system and its method for improving the safety of workers by dynamically adjusting the warning range during the automatic spraying process of the unmanned aerial vehicle.

Existing UAVs can be used in various fields. For the spraying of UAVs in large-area operation areas, the UAV will perform automatic spraying operations in large-area operation areas along the set path, thereby greatly reducing manpower. cost.

However, the existing drones applied to the spraying of large-area operation areas will only carry out automatic spraying operations in large-area operation areas along the set path. When there are unexpected workers in the operation area, the drone will not There are staff members in the operation area who immediately make any judgment and decision to suspend the automatic spraying operation, which will cause safety concerns in the automatic spraying operation in the large-area operation area.

To sum up, it can be seen that in the prior art, there have been existing UAVs for a long time that can only perform automatic spraying operations according to the set path, but cannot make intelligent control of automatic spraying when unexpected workers appear in the operation area. Judgment and decision-making lead to problems with security concerns, so it is necessary to propose improved technical means to solve this problem.

In view of the existence of the previous technology, the existing drones will only perform automatic spraying operations according to the set path, and cannot make judgments and decisions on intelligently controlled automatic spraying when unexpected staff appear in the operation area, resulting in safety hazards. To solve the problem of sexual misgivings, the present invention discloses a UAV automatic spraying operation system and method based on dynamically adjusting the early warning range, wherein:

The UAV automatic spraying operation system based on dynamic adjustment of early warning range disclosed in the present invention includes: UAV and path server, UAV further includes: UAV transmission module, flight control module, image analysis module, range The computing module and the spraying control module; the path server further includes: a server transmission module and a path generation module.

The UAV transmission module is to receive the operation path, transmit the recorded flight path of the UAV, and receive the secondary operation path; the flight control module is to control the UAV to perform automatic spraying operations according to the flight height, flight speed and operation path. The altitude, flight speed and secondary operation path control the drone to perform automatic spraying operations again; the image analysis module obtains environmental videos during the automatic spraying operations of drones, and further analyzes the traveling direction and speed of the staff in the environmental videos ;The range calculation module is to calculate the relative speed of the travel speed and the flight speed when it is judged that the travel direction will intersect the spray range, and then calculate the preset distance from the relative speed and the warning time, and extend the spray range outward to the preset The distance is used to calculate the warning range; the spraying control module is to suspend the automatic spraying operation and record the flight path of the UAV when the UAV suspends the automatic spraying operation when it judges that there are staff members within the early warning range in the environmental film. When there are no more workers within the warning range in the video, the drone resumes its automatic spraying operation and stops recording the flight path of the drone.

The server transmission module of the path server receives the recorded flight path of the drone from the UAV transmission module, and transmits the secondary operation path to the UAV transmission module; and the path generation module of the path server is based on the UAV transmission module. The location information of the UAV and the flight path of the UAV are combined with at least one marked range generated by the early warning range to generate a secondary operation path.

The UAV automatic spraying operation method based on dynamically adjusting the early warning range disclosed by the present invention comprises the following steps:

First, the UAV receives the operation path; then, the UAV controls the UAV to carry out the automatic spraying operation of the spraying range according to the flight height, flight speed and operation path; then, the UAV obtains the environmental video during the automatic spraying operation, and further analyzes the environmental video The travel direction and travel speed of the staff in the center; then, when the UAV judges that the travel direction will intersect the spraying range, it calculates the relative speed of the travel speed and flight speed, and then calculates the preset distance based on the relative speed and the warning time , extend the spraying range outwards by a preset distance to calculate the warning range; then, when the UAV judges that there are workers within the warning range in the environmental video, it suspends the automatic spraying operation and records when the UAV suspends the automatic spraying operation. The flight path of the drone; then, when the UAV judges that there are no more workers within the early warning range in the environmental film, it resumes the automatic spraying operation and stops recording the flight path of the UAV; then, the UAV transmits the recorded flight of the UAV route to the route server; then, the route server generates a secondary operation route based on the location information of the UAV and the flight path of the UAV and cooperates with at least one mark range generated by the warning range; then, the route server sends the secondary operation route to UAV; Finally, the UAV controls the UAV to perform automatic spraying operations again according to the flight altitude, flight speed and secondary operation path.

The system and method disclosed in the present invention are as above, and the difference from the prior art is that the UAV analyzes the traveling direction and speed of the staff in the environmental video, and the UAV calculates the preset distance to extend the spraying range to the preset The distance is the early warning range. When the UAV judges that there are staff within the early warning range in the environmental video, the automatic spraying operation will be suspended.

Through the above-mentioned technical means, the present invention can achieve the technical effect of improving the safety of personnel in the operation area through the automatic spraying operation of the UAV that can dynamically adjust the warning range.

The implementation of the present invention will be described in detail below in conjunction with the drawings and examples, so that the realization process of how to use technical means to solve technical problems and achieve technical effects in the present invention can be fully understood and implemented accordingly.

Firstly, the UAV automatic spraying operation system based on the dynamic adjustment of the early warning range disclosed by the present invention will be described below, and please refer to "Fig. 1", which shows the unmanned aerial vehicle based on the dynamic adjustment of the early warning range The system block diagram of the machine automatic spraying operation system.

The UAV automatic spraying operation system based on dynamic adjustment of early warning range disclosed in the present invention includes: UAV 10 and path server 20, and UAV 10 further includes: UAV transmission module 12, flight control module 14, image The analysis module 15 , the range calculation module 16 and the spraying control module 17 ; the path server 20 further includes: a server transmission module 21 and a path generation module 23 .

The unmanned aerial vehicle 10 is an unmanned aerial vehicle for spraying pesticides and water on large-scale agricultural land. The unmanned aerial vehicle 10 and the path server 20 establish a connection with each other through wireless transmission. The aforementioned wireless transmission method is, for example: Wi- Fi, mobile communication network (such as: 3G, 4G, 5G...etc.) etc., the UAV 10 has the function of regularly obtaining location information. The UAV 10 obtains location information through the Global Positioning System, for example. Every 5 seconds, every 30 seconds, every minute, etc., the location information is transmitted through the UAV transmission module 12 .

Please refer to "Figure 2", which is a schematic diagram of the operating area of the UAV automatic spraying operation based on the dynamic adjustment of the early warning range of the present invention.

The UAV 10 can receive the operation start position 41 and the operation end position 42 from an external electronic device (not shown in the figure) through wireless transmission. The aforementioned external electronic device is, for example, a general computer, a notebook computer, a smart phone... Etc., the UAV 10 can provide a work start position 41 and a work end position 42 .

The routing server 20 can receive location information from the UAV 10, and the routing server 20 can receive the operation start location 41 and the operation termination location 42 from the UAV 10, and then the routing server 20 can query the operation area 40 and divide it according to the location information. There are a plurality of operation sub-areas 401 in the operation area. Then, the route server 20 can generate an operation route 51 according to the operation start position 41 and the operation end position 42 in conjunction with the operation sub-area 401. For the schematic diagram of the operation route 51, please refer to "Fig. 3 ", "Figure 3" is a schematic diagram of the operation path of the automatic spraying operation of the drone based on the dynamic adjustment of the early warning range of the present invention.

The path server 20 can provide the operation path 51 to the UAV 10, and the UAV 10 can also receive the operation path 51 through an external electronic device (not shown in the figure), and then the flight control module 14 will follow the flight height, flight The speed and operation path control the drone 10 to carry out the automatic spraying operation of the spraying range. The spraying range, flying height and flying speed can be pre-stored in the drone 10 , provided through an external electronic device or provided through the path server 20 .

The image analysis module 15 obtains the environmental video during the automatic spraying operation, and further analyzes the traveling direction and speed of the staff in the environmental video. Two environmental images, according to the position of the staff in the two environmental images to analyze the direction of travel of the staff, the position of the staff in the two environmental images is calculated to calculate the displacement, and the displacement is divided by the captured two environmental images time difference to work out the worker's travel rate.

It is worth noting that the UAV 10 can calculate the spraying range 61 based on flight altitude, environmental information, and droplet dispersion information. The droplet dispersion information is pre-stored in the UAV 10, provided through an external electronic device or through a routing server. 20, the droplet dispersion information is based on the spray head used by the UAV 10, the additives in the spray liquid, etc. have corresponding parameters, the aforementioned spray head is for example: air-assisted spray equipment (air-assisted sprays), electrostatic Sprinkler (electrostatic nozzle) ... etc., the aforementioned additives are, for example: polymerized ethylene oxide, polyacrylamide, polysaccharide (polysaccharide) ... etc., the spraying range 61 can use the American Institute of Agricultural Applied Technology (Architectural Technology Research Unit, ATRU) and the Ohio State University jointly developed the evaluation software "DRIFTSIM" to calculate, by inputting the wind direction, wind speed, temperature and relative humidity in the environmental information, inputting the droplet size and droplet velocity in the droplet dispersion information and inputting The spraying range 61 under the corresponding conditions can be calculated by using parameters such as flying height and the like.

The range calculation module 16 will calculate the relative speed of the travel speed and the flight speed when it is judged that the travel direction will intersect the spray range, and then calculate the preset distance from the relative speed and the warning time, and extend the spray range outward to the preset distance. Distance to calculate the early warning range 62, that is, the range calculation module 16 calculates the flight speed component along the direction of travel with the flight speed, then subtracts the flight speed component from the flight speed to take the absolute value to calculate the relative speed, and then the relative speed The preset distance is calculated by multiplying the warning time, and the spraying range is extended outward by the preset distance to calculate the warning range 62 . It should be noted that the warning range 62 includes the spraying range 61 .

Please refer to "Figure 4A" and "Figure 4B". "Figure 4A" and "Figure 4B" are schematic diagrams of the spraying range and early warning range of the UAV automatic spraying operation based on the dynamic adjustment of the early warning range of the present invention. , in "Fig. 4A" and "Fig. 4B", the range calculation module 16 judges that the travel direction 72 of the worker 71 will intersect the spraying range 61, and the travel speed 73 of the worker 71 in "Fig. 4A" Will be greater than the travel speed 73 of the worker 71 in "Figure 4B". In "Figure 4A" and "Figure 4B", the range calculation module 16 calculates the flight speed along the direction of travel to be 0, and then Take the absolute value of the flight speed minus the flight speed component to calculate the relative speed. It can be seen that the relative speed calculated in "Figure 4A" will be greater than the relative speed calculated in "Figure 4B", and then multiply the relative speed by Pre-warning time (the warning time in "Picture 4A" and "Picture 4B" is the same) to calculate the preset distance. It can be known that the preset distance calculated in "Picture 4A" will be greater than that calculated in "Picture 4B" Therefore, the range of the early warning range 62 calculated by extending the spraying range 61 outward to the preset distance in "Figure 4A" will be greater than that calculated by extending the spraying range 61 outward to the preset distance in "Figure 4B". The range of the early warning range 62 , so that it can be known that the early warning range 62 will be dynamically adjusted as the travel speed 73 of the worker 71 is different.

Next, when it is determined that there is a first worker 711 within the early warning range 62 in the environmental video, the spraying control module 17 will control the UAV 10 to suspend the automatic spraying operation and record the first flight when the UAV 10 suspends the automatic spraying operation Path 521, please refer to "Fig. 5" for the schematic diagram of the first flight path 521. "Fig. 5" is a schematic diagram of the flight path of the automatic spraying operation of the drone based on the dynamic adjustment of the warning range of the present invention. When the environment is judged When there is a second worker 712 within the early warning range 62 in the video, the spraying control module 17 will control the UAV 10 to suspend the automatic spraying operation and record the second flight path 522 when the UAV 10 suspends the automatic spraying operation. For the illustration of path 522, please refer to "Fig. 5". It is worth noting that when the spraying control module 17 controls the UAV 10 to suspend the automatic spraying operation, the UAV 10 will further play a warning message through voice or play a warning sound effect. The reminder for performing the automatic spraying operation is to remind the first worker 711 or the second worker 712 to leave the range of the automatic spraying operation as soon as possible.

In "Figure 5", the solid line is the initial warning range 62 for the UAV to suspend the automatic spraying operation, the initial positions of the first worker 711 and the second worker 712, and the dotted line is the early warning range 62 for the drone to resume the automatic spraying operation And, the moved positions of the first staff member 711 and the second staff member 712, the arrows between the solid line and the dotted line first staff member 711 and the second staff member 712 are the positions of the first staff member 711 and the second staff member 712 Moving direction, and it can be clearly seen that due to the dynamic adjustment of the early warning range 62, the first marked area 402 and the second marked area 403 that suspend the automatic spraying operation will also have range differences. For example, please refer to the dot area in "Figure 6". As shown, "Figure 6" is a schematic diagram of the sub-area marking of the UAV automatic spraying operation based on the dynamic adjustment of the early warning range of the present invention.

When it is judged that there is no longer the first worker 711 or the second worker 712 within the early warning range 62 in the environmental video obtained by the image analysis module 15, the spraying control module 17 will control the UAV 10 to resume automatic spraying operation and stop recording the first flight path 521 or the second flight path 522, when the spraying control module 17 controls the UAV 10 to resume the automatic spraying operation, the UAV 10 will further play a warning message through voice or play a warning sound effect for automatic spraying. The reminder of the spraying operation, that is, to remind the first worker 711 or the second worker 712 that the automatic spraying operation will resume after leaving the range of the automatic spraying operation.

When the UAV 10 completes the automatic spraying operation according to the operation path 51, if the spraying control module 17 has recorded the first flight path 521 and/or the second flight path 522, it can be transmitted through the UAV transmission module 12. The flight path 52 to the path server 20, the server transmission module 21 can receive the recorded first flight path 521 and/or the second flight path 522 from the UAV transmission module 12.

When the server transmission module 21 receives the recorded first flight path 521 and the second flight path 522 from the UAV transmission module 12, the first marked area 402 and the second marked area 402 marked by dots in "Figure 6" The marked area 403 is generated and established according to the first flight path 521 and the second flight path 522 in conjunction with the warning range 62 .

Next, the path generation module 23 will generate the secondary operation path 53 according to the location information, the first marked area 402 and the second marked area 403. For the schematic diagram of the secondary operation path 53, please refer to "Fig. 7", "Fig. 7 Figure 1 is a schematic diagram of the secondary operation path of the automatic spraying operation of the UAV based on the dynamic adjustment of the early warning range of the present invention. The server transmission module 21 can transmit the secondary operation path 53 to the UAV 10.

When the UAV transmission module 12 receives the secondary operation path 53 from the server transmission module 21, the flight control module 14 will control the UAV 10 to perform the automatic spraying operation again according to the flight height and the secondary operation path. It is worth noting that , the UAV 10 will only perform automatic spraying operations in the first marked area 402 and the second marked area 403, and it is worth noting that when the UAV 10 arrives at the first marked area 402 or the second marked area 402 along the secondary operation path 53 When marking the distance before the area 403, the UAV 10 will further play a warning message or a warning sound effect through voice to prompt the automatic spraying operation, that is, to remind the UAV 10 that the automatic spraying operation is about to be performed.

When the range calculation module 16 does not calculate the early warning range 62, unexpected staff appear in the environmental film and are adjacent to the spraying range 61, the spraying control module 17 suspends the automatic spraying operation and records when the drone 10 suspends the automatic spraying operation. After the unexpected staff in the environmental film leaves the spraying range 61, the preset time makes the unexpected staff in the environmental film stay away from the spraying range 61, and the spraying control module 17 resumes automatic spraying Work and stop recording the flight path of the UAV 10.

When the image analysis module 15 analyzes the spraying range 61 in the environmental film to produce an offset direction and an offset distance, the flight control module 14 generates a control command according to the offset distance to control the UAV 10 to move in the direction opposite to the offset direction. Move the distance, thereby to adjust the position of the spraying range 61.

Next, the operation method of the present invention will be described below, and please refer to "Figure 8A" and "Figure 8B". The method flowchart of the automatic spraying operation method of the unmanned aerial vehicle.

The UAV automatic spraying operation method based on dynamically adjusting the early warning range disclosed by the present invention comprises the following steps:

First, the UAV receives the operation path (step 701); then, the UAV controls the UAV to perform automatic spraying operations in the spraying range according to the flight height, flight speed and operation path (step 702); then, the UAV is in the automatic spraying operation Obtain the environmental video, and further analyze the traveling direction and speed of the staff in the environmental video (step 703); then, when the UAV judges that the traveling direction will intersect the spraying range, calculate the relative speed of the traveling speed and flight speed , and then calculate the preset distance from the relative rate and the warning time, and extend the spraying range outward to the preset distance to calculate the warning range (step 704); then, when the UAV judges that there are staff members within the warning range in the environmental video , suspend the automatic spraying operation and record the flight path of the UAV when the UAV suspends the automatic spraying operation (step 705); then, when the UAV determines that there is no longer any staff in the early warning range in the environmental film, resume the automatic spraying operation And stop recording the flight path of the drone (step 706); then, the drone sends the recorded flight path of the drone to the path server (step 707); then, the path server and the flight path of the drone according to the location information Generate a secondary operation path based on at least one marked range generated by the early warning range (step 708); then, the path server sends the secondary operation path to the UAV (step 709); finally, the UAV according to the flight altitude, flight speed and secondary operation path The operation path controls the unmanned aerial vehicle to perform the automatic spraying operation again (step 710).

In summary, it can be seen that the difference between the present invention and the prior art lies in that the UAV analyzes the traveling direction and speed of the staff in the environmental film, and the UAV calculates the preset distance to extend the spraying range outward. The preset distance is Early warning range, when the UAV judges that there are staff within the early warning range in the environmental video, the automatic spraying operation will be suspended.

This technical means can be used to solve the problems existing in the prior art that the existing drones will only perform automatic spraying operations according to the set path and cannot perform intelligent control of automatic spraying when unexpected workers appear in the operation area. Judgment and decision-making lead to problems with safety concerns, and then achieve the technical effect of improving the safety of personnel in the operation area through the automatic spraying operation of UAVs that can dynamically adjust the warning range.

Although the embodiments disclosed in the present invention are as above, the content described above is not intended to directly limit the patent protection scope of the present invention. Anyone with ordinary knowledge in the technical field to which the present invention belongs can make some changes in the forms and details of the implementation without departing from the disclosed spirit and scope of the present invention. The scope of patent protection of the present invention must still be defined by the appended patent application scope.

10: Drone 12: Drone transmission module 14: Flight control module 15: Image analysis module 16: Range calculation module 17: Spray control module 20:Path server 21: Server transmission module 23:Path generation module 40: Operating area 401: Job Sub-Area 402: The first marked area 403: Second marked area 41: Job starting position 42: job termination position 51: Job path 521: First flight path 522: Second flight path 53: Secondary job path 61: Spray range 62: Early warning range 71: Staff 72: direction of travel 73: travel speed Step 701: The UAV receives the operation path Step 702: The UAV controls the UAV to perform automatic spraying operations according to the flight height, flight speed and operation path Step 703: The UAV obtains the environmental video during the automatic spraying operation, and further analyzes the traveling direction and speed of the staff in the environmental video Step 704: When the UAV judges that the traveling direction will intersect with the spraying range, calculate the relative speed of the traveling speed and the flying speed, then calculate the preset distance from the relative speed and the warning time, and extend the spraying range outward for the preset distance to calculate the warning range Step 705: When the UAV determines that there are staff members within the early warning range in the environmental film, suspend the automatic spraying operation and record the flight path of the UAV when the UAV suspends the automatic spraying operation Step 706: When the UAV judges that there are no more staff within the early warning range in the environmental video, resume the automatic spraying operation and stop recording the flight path of the UAV Step 707: The drone transmits the recorded flight path of the drone to the path server Step 708: The path server generates a secondary operation path based on the location information and the flight path of the UAV and cooperates with at least one marked range generated by the warning range Step 709: The path server sends the secondary operation path to the UAV Step 710: The UAV controls the UAV to perform automatic spraying operations again according to the flight height, flight speed and secondary operation path

Figure 1 is a system block diagram of the UAV automatic spraying operation system based on the dynamic adjustment of the early warning range of the present invention. Figure 2 is a schematic diagram of the operating area of the automatic spraying operation of the drone based on the dynamic adjustment of the early warning range of the present invention. Fig. 3 is a schematic diagram of the operation path of the automatic spraying operation of the drone based on the dynamic adjustment of the early warning range of the present invention. Fig. 4A and Fig. 4B are schematic diagrams of the spraying range and the early warning range of the UAV automatic spraying operation based on the dynamic adjustment of the early warning range of the present invention. Fig. 5 is a schematic diagram of the flight path of the automatic spraying operation of the UAV based on the dynamic adjustment of the early warning range of the present invention. Figure 6 is a schematic diagram of the sub-area marking of the UAV automatic spraying operation based on the dynamic adjustment of the early warning range of the present invention. Figure 7 is a schematic diagram of the secondary operation path of the UAV automatic spraying operation based on the dynamic adjustment of the early warning range of the present invention. FIG. 8A and FIG. 8B are flow charts of the method of the automatic spraying operation method of the drone based on the dynamic adjustment of the early warning range of the present invention.

10: Drone

12: Drone transmission module

14: Flight control module

15: Image analysis module

16: Range calculation module

17: Spray control module

20:Path server

21: Server transmission module

23:Path generation module

Claims (10)

An unmanned aerial vehicle automatic spraying operation system based on dynamically adjusting the early warning range, which includes: An unmanned aerial vehicle, the unmanned aerial vehicle further includes: An unmanned aerial vehicle transmission module receives an operation path, transmits the recorded flight path of the unmanned aerial vehicle, and receives a secondary operation path; A flight control module, controlling the UAV to perform an automatic spraying operation in a spraying range according to a flight height, a flight speed and the operation path, according to the flight height, the flight speed and the secondary operation path Controlling the unmanned aerial vehicle to carry out the automatic spraying operation of the spraying range again; An image analysis module, which obtains an environmental video during the automatic spraying operation of the drone, and further analyzes a traveling direction and a traveling speed of the staff in the environmental video; A range calculation module, when it is judged that the traveling direction will intersect the spraying range, calculate the relative speed of the traveling speed and the flying speed, and then calculate a preset distance based on the relative speed and the warning time , extending the spraying range outwards by the preset distance to calculate a warning range; and A spraying control module, when it is determined that there are staff members within the warning range in the environmental film, the automatic spraying operation is suspended and the flight path of the drone is recorded when the automatic spraying operation of the drone is suspended. When there are no more staff within the warning range in the environmental video, resume the automatic spraying operation and stop recording the flight path of the drone; and A path server, the path server further includes: A server transmission module, which receives the recorded flight path of the drone from the drone transmission module, and transmits the secondary operation path to the drone transmission module; and A path generation module generates the secondary operation path according to the location information of the UAV and the flight path of the UAV and cooperates with at least one marked range generated by the warning range. The UAV automatic spraying operation system based on dynamically adjusting the warning range as described in claim 1, wherein when the range calculation module does not calculate the warning range, unexpected staff appear in the environmental film and are nearby The spraying range, the spraying control module suspends the automatic spraying operation and records the flight path of the drone when the drone suspends the automatic spraying operation, and unexpected staff members leave the spraying range in the environmental film After that, after a preset period of time, the unexpected workers appearing in the environmental video will stay away from the spraying range, and the spraying control module will resume the automatic spraying operation and stop recording the flight path of the drone. The UAV automatic spraying operation system based on dynamically adjusting the early warning range as described in claim 1, wherein the image analysis module analyzes when the spraying range in the environmental film produces an offset direction and an offset distance The flight control module generates a control command according to the offset distance to control the UAV to move the offset distance in a direction opposite to the offset direction. The UAV automatic spraying operation system based on dynamically adjusting the early warning range as described in claim 1, wherein the spraying range is determined by the range calculation module based on the flight altitude, the flight speed, an environmental information, and a fog The droplet dispersal information is calculated, or the spraying range is calculated by an external device or an external server according to the flight altitude, the flight speed, the environment information, and the droplet dispersal information. The UAV automatic spraying operation system based on dynamic adjustment of the early warning range as described in claim 1, wherein when the spraying control module suspends/resumes the automatic spraying operation, the UAV further plays a warning message or a warning sound effect through voice to perform automatic spraying operations; and when the UAV reaches the prompt distance before the at least one marked area along the secondary operation path, the UAV will further play a warning message through voice or play a warning sound effect. Tips for automatic spraying operations. A kind of UAV automatic spraying operation method based on dynamically adjusting the early warning range, it comprises the following steps: An unmanned aerial vehicle receives an operation path; The UAV controls the UAV to perform an automatic spraying operation with a spraying range according to a flight height, a flight speed and the operation path; The drone obtains an environmental video during the automatic spraying operation, and further analyzes a traveling direction and a traveling speed of the staff in the environmental video; When the UAV determines that the traveling direction will intersect the spraying range, it calculates the relative speed of the traveling speed and the flying speed, and then calculates a preset distance from the relative speed and the warning time, and then The spraying range is extended outward by the preset distance to calculate an early warning range; When the UAV determines that there are staff members within the warning range in the environmental film, it suspends the automatic spraying operation and records the flight path of the UAV when the UAV suspends the automatic spraying operation; When the UAV determines that there are no longer any staff members within the warning range in the environmental video, it resumes the automatic spraying operation and stops recording the flight path of the UAV; The UAV transmits the recorded flight path of the UAV to a path server; The path server generates a secondary operation path according to the location information of the UAV and the flight path of the UAV and cooperates with at least one marked range generated by the warning range; The path server sends the secondary operation path to the drone; and The UAV controls the UAV to perform the automatic spraying operation again according to the flight altitude, the flight speed and the secondary operation path. The UAV automatic spraying operation method based on dynamically adjusting the early warning range as described in claim 6, wherein the UAV automatic spraying operation method based on dynamically adjusting the early warning range further includes the following steps: When the UAV does not calculate the warning range, and unexpected staff appear in the environmental film and are close to the spraying range, the UAV suspends the automatic spraying operation and records that the UAV suspends the automatic spraying operation the flight path of the unmanned aerial vehicle; and After the unintended staff appearing in the environmental video leaves the spraying range, the unmanned aerial vehicle makes the unanticipated staff appearing in the environmental film stay away from the spraying range after a preset time. The drone resumes automatic spraying operations and stops recording the flight path of the drone. The UAV automatic spraying operation method based on dynamically adjusting the early warning range as described in claim 6, wherein the UAV automatic spraying operation method based on dynamically adjusting the early warning range further includes that the UAV analyzes all the elements in the environmental film When the spraying range produces an offset direction and an offset distance, the UAV generates a control command according to the offset distance to control the UAV to move the offset distance in a direction opposite to the offset direction. step. The UAV automatic spraying operation method based on dynamically adjusting the early warning range as described in claim 6, wherein the UAV controls the UAV to carry out the spraying range according to the flight height, the flight speed and the operation path In the step of the automatic spraying operation, the spraying range is calculated according to the flight altitude, the flying speed, an environmental information, and a droplet scattering information, or the spraying range is calculated by an external device or an external servo Calculated by the device according to the flight altitude, the flight speed, the environmental information, and the droplet dispersion information. The UAV automatic spraying operation method based on dynamically adjusting the early warning range as described in claim 6, wherein the UAV automatic spraying operation method based on dynamically adjusting the early warning range further includes the following steps: When the drone suspends/resumes the automatic spraying operation, it plays a warning message through voice or plays a warning sound effect to prompt the automatic spraying operation; and When the UAV arrives at the prompting distance before the at least one marked area along the secondary operation path, it plays a warning message or a warning sound effect through voice to prompt the automatic spraying operation.

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