阅读说明：本技术 基于无人机的农药喷洒控制设备、方法和介质 (Pesticide spraying control equipment, method and medium based on unmanned aerial vehicle ) 是由 高琰 高蕾 马玉 李芳玲 周幸 李林 温柔 管照杰 孔欣悦 闫文君 苏艺 滕欣 于 2021-12-09 设计创作，主要内容包括：本申请涉及农药喷洒技术领域,且提供一种基于无人机的农药喷洒控制设备、方法和介质。该设备中的数据采集装置采集当前环境的风速、无人机的飞行速度和当前待喷洒区域的病虫害严重程度数据；喷洒控制器基于风速和飞行速度,生成第一喷洒控制信号,并基于病虫害严重程度数据,生成第二喷洒控制信号；脉宽调制信号发生器根据第一喷洒控制信号和第二喷洒控制信号,分别向喷洒装置输出第一脉宽调制信号和第二脉宽调制信号；喷洒装置基于第一脉宽调制信号控制农药喷洒泵的喷洒方向和喷洒速率,基于第二脉宽调制信号驱动农药喷洒泵输送期望的农药量。该设备提高了农药喷洒量的控制精度,提高农药的利用效率。(The application relates to the technical field of pesticide spraying, and provides pesticide spraying control equipment, method and medium based on an unmanned aerial vehicle. A data acquisition device in the equipment acquires the wind speed of the current environment, the flight speed of the unmanned aerial vehicle and the disease and insect pest severity data of the current area to be sprayed; the spraying controller generates a first spraying control signal based on the wind speed and the flying speed, and generates a second spraying control signal based on the disease and pest severity data; the pulse width modulation signal generator respectively outputs a first pulse width modulation signal and a second pulse width modulation signal to the spraying device according to the first spraying control signal and the second spraying control signal; the spraying device controls the spraying direction and the spraying speed of the pesticide spraying pump based on the first pulse width modulation signal, and drives the pesticide spraying pump to deliver the expected pesticide amount based on the second pulse width modulation signal. The device improves the control precision of the pesticide spraying amount and improves the utilization efficiency of the pesticide.)

1. A pesticide sprays controlgear based on unmanned aerial vehicle, its characterized in that, equipment includes:

the data acquisition device is used for acquiring the wind speed of the current environment, the flight speed of the unmanned aerial vehicle and the disease and insect pest severity data of the current area to be sprayed;

the spraying controller is used for generating a first spraying control signal based on the wind speed and the flying speed and generating a second spraying control signal based on the disease and pest severity data;

the pulse width modulation signal generator is used for respectively outputting a first pulse width modulation signal and a second pulse width modulation signal to a spraying device according to the first spraying control signal and the second spraying control signal;

and the spraying device is used for receiving the first pulse width modulation signal and the second pulse width modulation signal, controlling the spraying direction and the spraying speed of the pesticide spraying pump based on the first pulse width modulation signal, and driving the pesticide spraying pump to deliver the expected pesticide amount based on the second pulse width modulation signal.

2. The apparatus of claim 1, wherein the spray controller is specifically configured to analyze the airspeed and the wind speed using a trained spray model to obtain a spray area; the trained spraying model is obtained by performing iterative training on a neural network based on combined data of different flight speeds and different wind speeds as training samples;

and generating a first spraying control signal according to the spraying area and the current area to be sprayed.

3. The apparatus of claim 1, wherein the apparatus further comprises a signal receiver;

the signal receiver is used for receiving a new first spraying control signal or a new second spraying control signal sent by an operator through a terminal;

the spray controller is configured to update the first spray control signal to the new first spray control signal or update the second spray control signal to the new second spray control signal.

4. The apparatus of claim 1, wherein the spray controller is further configured to control a spray rate, a spray droplet diameter, and a spray width of the pesticide spray pump.

5. The apparatus of claim 1, wherein the data collection device is further configured to collect a density of the crop in the area currently to be sprayed;

and the spraying controller is used for generating a second spraying control signal based on the density of the crops and the disease and insect severity data.

6. The apparatus of claim 1, wherein the pesticide spray pump is a diaphragm pump.

7. The apparatus of claim 1, further comprising a flight controller;

the flight controller is used for determining a target flight height corresponding to the wind speed of the current environment based on a preset corresponding relation between the wind speed and the flight height, and controlling the unmanned aerial vehicle to adjust the current flight height to be the target flight height, wherein the wind speed and the flight height are inversely related in the corresponding relation.

8. An unmanned aerial vehicle-based pesticide spraying control method is characterized by comprising the following steps:

acquiring wind speed of the current environment, flight speed of the unmanned aerial vehicle and disease and insect pest severity data of the current spraying area;

generating a first spraying control signal based on the wind speed and the flying speed, and generating a second spraying control signal based on the disease and pest severity data;

according to the first spraying control signal and the second spraying control signal, respectively outputting a first pulse width modulation signal and a second pulse width modulation signal to a spraying device;

controlling the spraying direction and the spraying speed of the pesticide spraying pump based on the first pulse width modulation signal, and driving the pesticide spraying pump to deliver the expected pesticide amount based on the second pulse width modulation signal.

9. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.

Technical Field

The application relates to the technical field of pesticide spraying, in particular to pesticide spraying control equipment, method and medium based on an unmanned aerial vehicle.

Background

China has wide agricultural area and serious crop disasters, and China consumes a large amount of manpower and material resources to carry out agricultural spraying on agricultural and forestry crops every year. Utilize the unmanned aerial vehicle operation not only operating efficiency high, use manpower sparingly and pesticide, and showing the harm that has alleviateed the environment pollution that the pesticide volatilizees and bring and causes the healthy operating personnel when carrying out the pesticide spraying by the manual work. Under the condition that a large amount of agricultural labor force in China is transferred to the second industry and the third industry, the development prospect of agriculture and forestry plant protection by utilizing the unmanned helicopter is wide in order to meet the requirements of agricultural production development and environmental protection in China.

Unmanned aerial vehicle sprays and adopts to combine together with artifical remote control technique and autonomous navigation technique, and the control personnel alright send the action that the instruction controlled unmanned aerial vehicle through wireless remote measurement system outside the district of giving medicine to the poor free of charge, accomplishes the overall process that unmanned aerial vehicle gave medicine to the poor free of charge automatically, compares and sprays in traditional manual work and has advantages such as the operating efficiency is high, the prevention and cure effect is high, factor of safety height. However, the pesticide spraying system of the plant protection unmanned aerial vehicle in the current market can only operate at low altitude at a fixed spraying speed, the effective and accurate control of the spraying amount cannot be realized, the effect of uniform pesticide application cannot be achieved in a pesticide application area, and the pest control effect may be reduced.

Disclosure of Invention

An object of the embodiment of the application is to provide a pesticide sprays controlgear, method and medium based on unmanned aerial vehicle for solve the above-mentioned problem that prior art exists, real-time control pesticide sprays volume and sprays the direction, has improved the control accuracy that the pesticide sprayed the volume, has improved the utilization efficiency of pesticide.

In a first aspect, an unmanned aerial vehicle-based pesticide spraying control device is provided, and the method may include:

the data acquisition device is used for acquiring the wind speed of the current environment, the flight speed of the unmanned aerial vehicle and the disease and insect pest severity data of the current area to be sprayed;

the spraying controller is used for generating a first spraying control signal based on the wind speed and the flying speed and generating a second spraying control signal based on the disease and pest severity data;

the pulse width modulation signal generator is used for respectively outputting a first pulse width modulation signal and a second pulse width modulation signal to a spraying device according to the first spraying control signal and the second spraying control signal;

and the spraying device is used for receiving the first pulse width modulation signal and the second pulse width modulation signal, controlling the spraying direction and the spraying speed of the pesticide spraying pump based on the first pulse width modulation signal, and driving the pesticide spraying pump to deliver the expected pesticide amount based on the second pulse width modulation signal.

In an optional implementation, the spraying controller is specifically configured to analyze the flight speed and the wind speed by using a trained spraying model to obtain a spraying area; the trained spraying model is obtained by performing iterative training on a neural network based on combined data of different flight speeds and different wind speeds as training samples;

and generating a first spraying control signal according to the spraying area and the current area to be sprayed.

In an alternative implementation, the apparatus further comprises a signal receiver;

the signal receiver is used for receiving a new first spraying control signal or a new second spraying control signal sent by an operator through a terminal;

the spray controller is configured to update the first spray control signal to the new first spray control signal or update the second spray control signal to the new second spray control signal.

In an optional implementation, the spray controller is further used for controlling the spraying speed, the spray droplet diameter and the spray amplitude of the pesticide spraying pump.

In an optional implementation, the data acquisition device is further configured to acquire the density of crops in the area to be sprayed currently;

and the spraying controller is used for generating a second spraying control signal based on the density of the crops and the disease and insect severity data.

In an alternative implementation, the pesticide spray pump is a diaphragm pump.

In an alternative implementation, the apparatus further comprises a flight controller;

the flight controller is used for determining a target flight height corresponding to the wind speed of the current environment based on a preset corresponding relation between the wind speed and the flight height, and controlling the unmanned aerial vehicle to adjust the current flight height to be the target flight height, wherein the wind speed and the flight height are inversely related in the corresponding relation.

In a second aspect, a pesticide spraying control method based on an unmanned aerial vehicle is provided, and the method may include:

acquiring wind speed of the current environment, flight speed of the unmanned aerial vehicle and disease and insect pest severity data of the current spraying area;

generating a first spraying control signal based on the wind speed and the flying speed, and generating a second spraying control signal based on the disease and pest severity data;

according to the first spraying control signal and the second spraying control signal, respectively outputting a first pulse width modulation signal and a second pulse width modulation signal to a spraying device;

controlling the spraying direction and the spraying speed of the pesticide spraying pump based on the first pulse width modulation signal, and driving the pesticide spraying pump to deliver the expected pesticide amount based on the second pulse width modulation signal.

In an alternative implementation, generating a first spray control signal based on the wind speed and the airspeed includes:

analyzing the flight speed and the wind speed by adopting a trained spraying model to obtain a spraying area; the trained spraying model is obtained by performing iterative training on a neural network based on combined data of different flight speeds and different wind speeds as training samples;

and generating a first spraying control signal according to the spraying area and the current area to be sprayed.

In an optional implementation, after generating a first spray control signal based on the wind speed and the airspeed and generating a second spray control signal based on the pest severity data, the method further comprises:

receiving a new first spraying control signal or a new second spraying control signal sent by an operator through a terminal;

updating the first spray control signal to the new first spray control signal or updating the second spray control signal to the new second spray control signal.

In an optional implementation, the method further comprises:

and controlling the spraying speed, the spraying drop diameter and the spraying amplitude of the pesticide spraying pump.

In an optional implementation, the method further comprises:

collecting the density of crops in a current area to be sprayed;

generating a second spray control signal based on the pest severity data, comprising:

and generating a second spraying control signal based on the density of the crops and the disease and insect severity data.

In an optional implementation, the method further comprises:

and determining a target flight height corresponding to the wind speed of the current environment based on a preset corresponding relation between the wind speed and the flight height, and controlling the unmanned aerial vehicle to adjust the current flight height to be the target flight height, wherein the wind speed and the flight height are in inverse correlation in the corresponding relation.

In a third aspect, an electronic device is provided, which includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete communication with each other through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps as described in any one of the above second aspects when executing the program stored in the memory.

In a fourth aspect, a computer-readable storage medium is provided, having stored therein a computer program which, when executed by a processor, carries out the method steps as set forth in any of the second aspects above.

The data acquisition device in the pesticide spraying control equipment based on the unmanned aerial vehicle acquires the wind speed of the current environment, the flight speed of the unmanned aerial vehicle and the disease and insect pest severity data of the current to-be-sprayed area; the spraying controller generates a first spraying control signal based on the wind speed and the flying speed, and generates a second spraying control signal based on the disease and pest severity data; the pulse width modulation signal generator respectively outputs a first pulse width modulation signal and a second pulse width modulation signal to the spraying device according to the first spraying control signal and the second spraying control signal; the spraying device receives the first pulse width modulation signal and the second pulse width modulation signal, controls the spraying direction and the spraying speed of the pesticide spraying pump based on the first pulse width modulation signal, and drives the pesticide spraying pump to deliver the expected pesticide amount based on the second pulse width modulation signal. The device combines the wind speed, the flight speed and the pulse width modulation signal together, controls the pesticide spraying amount and the spraying direction in real time, improves the control precision of the pesticide spraying amount, and improves the utilization efficiency of the pesticide.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a pesticide spraying control device based on an unmanned aerial vehicle according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a pesticide spraying control method based on an unmanned aerial vehicle according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without any creative effort belong to the protection scope of the present application.

The application provides a pesticide sprays controlgear based on unmanned aerial vehicle can be according to factors such as different airspeeds, height, wind speed, crop type and density, reagent, through combining wind speed, airspeed and pulse width modulation signal together, adjusts in real time and sprays the volume, spray the direction and realize that unit area application rate equals.

The preferred embodiments of the present application will be described below with reference to the accompanying drawings of the specification, it should be understood that the preferred embodiments described herein are merely for illustrating and explaining the present application, and are not intended to limit the present application, and that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

Fig. 1 is the structure schematic diagram of pesticide spraying controlgear based on unmanned aerial vehicle that this application embodiment provided. As shown in fig. 1, the apparatus may include: data acquisition device, spraying controller, pulse width modulation signal generator, sprinkler and pesticide spray pump.

The data acquisition device is used for acquiring the wind speed of the current environment, the flight speed of the unmanned aerial vehicle and the disease and insect pest severity data of the current area to be sprayed;

the spraying controller is used for generating a first spraying control signal based on the wind speed and the flying speed of the current environment and generating a second spraying control signal based on the disease and pest severity data;

in specific implementation, the spraying controller can adopt a trained spraying model to analyze the flight speed and the wind speed to obtain the spraying area; and generating a first spraying control signal according to the spraying area and the current area to be sprayed. The trained spraying model is obtained by performing iterative training on a neural network based on combined data of different flight speeds and different wind speeds as training samples.

The pulse width modulation signal generator is used for respectively outputting a first pulse width modulation signal and a second pulse width modulation signal to the spraying device according to the first spraying control signal and the second spraying control signal;

and the spraying device is used for receiving the first pulse width modulation signal and the second pulse width modulation signal, controlling the spraying direction and the spraying speed of the pesticide spraying pump based on the first pulse width modulation signal, and driving the pesticide spraying pump to deliver the expected pesticide amount based on the second pulse width modulation signal. Wherein, the pesticide spraying pump can be a diaphragm pump.

In the embodiment, the ambient wind speed and the flying speed of the unmanned aerial vehicle are considered to generate a certain drift degree to the sprayed pesticide, and the wind speed is changed in real time, so that the spraying controller generates a first spraying control signal corresponding to the spraying process data and a second spraying control signal corresponding to the spraying amount in order to reduce the drift degree, wherein the first spraying control signal and the second spraying control signal are also control signals which are changed in real time, and then the pulse width modulation signal generator generates a corresponding pulse width modulation signal to control the spraying device to determine the corresponding spraying direction, spraying rate and spraying amount in real time.

In some embodiments, to achieve flexibility of control of pesticide spray, the apparatus may further comprise a signal receiver;

the signal receiver is used for receiving a new first spraying control signal and/or a new second spraying control signal sent by an operator through a terminal;

a spray controller for updating the first spray control signal to a new first spray control signal; and/or updating the second spray control signal to a new second spray control signal.

In some embodiments, the spray controller may also control the spray rate, spray droplet diameter, and spray width of the pesticide spray pump.

In one example, the spray controller may control the spraying rate of the pesticide spray pump to be 0.2-0.5L/min, the spray droplet diameter to be 80-120 μm, and the spray width to be 3-6m at the flying speed of 0-8 m/s.

In some embodiments, the data acquisition device may also acquire the density of the crops in the area to be sprayed;

the spray controller may generate a second spray control signal based on the crop density and pest severity data. For example, if the pest is more severe and/or the density of the crop is greater, the greater the amount of pesticide required, i.e., the second spray control signal is required to control the spray device to drive the pesticide spray pump to deliver a greater amount of pesticide.

In some embodiments, since the higher the flight height of the drone, the greater the drift generated by the sprayed pesticide, in order to reduce the drift, the flight height of the drone may be reduced, so the device further comprises a flight controller;

specifically, the flight controller is configured to determine a target flight altitude corresponding to the wind speed of the current environment based on a pre-configured corresponding relationship between the wind speed and the flight altitude, and control the unmanned aerial vehicle to adjust the current flight altitude to the target flight altitude, where the wind speed and the flight altitude in the corresponding relationship are inversely related, that is, the larger the wind speed is, the smaller the flight altitude is.

It can be understood that, in order to reduce the drift degree, the flying speed of the unmanned aerial vehicle can be reduced, and the specific implementation is similar to the above implementation, and the description is omitted here.

The data acquisition device in the pesticide spraying control equipment based on the unmanned aerial vehicle acquires the wind speed of the current environment, the flight speed of the unmanned aerial vehicle and the disease and insect pest severity data of the current to-be-sprayed area; the spraying controller generates a first spraying control signal based on the wind speed and the flying speed, and generates a second spraying control signal based on the disease and pest severity data; the pulse width modulation signal generator respectively outputs a first pulse width modulation signal and a second pulse width modulation signal to the spraying device according to the first spraying control signal and the second spraying control signal; the spraying device receives the first pulse width modulation signal and the second pulse width modulation signal, controls the spraying direction and the spraying speed of the pesticide spraying pump based on the first pulse width modulation signal, and drives the pesticide spraying pump to deliver the expected pesticide amount based on the second pulse width modulation signal. The device combines the wind speed, the flight speed and the pulse width modulation signal together, controls the pesticide spraying amount and the spraying direction in real time, improves the control precision of the pesticide spraying amount, and improves the utilization efficiency of the pesticide.

Corresponding to the above method, an embodiment of the present application further provides a pesticide spraying control method based on an unmanned aerial vehicle, and as shown in fig. 2, the method may include:

s210, acquiring wind speed of the current environment, flight speed of an unmanned aerial vehicle and disease and pest severity data of a current region to be sprayed;

s220, generating a first spraying control signal based on the wind speed and the flight speed, and generating a second spraying control signal based on the disease and pest severity data;

step S230, respectively outputting a first pulse width modulation signal and a second pulse width modulation signal to a spraying device according to the first spraying control signal and the second spraying control signal;

and S240, controlling the spraying direction and the spraying speed of the pesticide spraying pump based on the first pulse width modulation signal, and driving the pesticide spraying pump to deliver the expected pesticide amount based on the second pulse width modulation signal.

Each method step of the pesticide spraying control method based on the unmanned aerial vehicle provided by the embodiment of the application can be realized through the functions of each functional unit, and therefore each method step and beneficial effect in the method provided by the embodiment of the application are not repeated herein.

The embodiment of the present application further provides an electronic device, as shown in fig. 3, including a processor 310, a communication interface 320, a memory 330, and a communication bus 340, where the processor 310, the communication interface 320, and the memory 330 complete communication with each other through the communication bus 340.

A memory 330 for storing a computer program;

the processor 310, when executing the program stored in the memory 330, implements the following steps:

acquiring wind speed of the current environment, flight speed of the unmanned aerial vehicle and disease and insect pest severity data of the current spraying area;

generating a first spraying control signal based on the wind speed and the flying speed, and generating a second spraying control signal based on the disease and pest severity data;

according to the first spraying control signal and the second spraying control signal, respectively outputting a first pulse width modulation signal and a second pulse width modulation signal to a spraying device;

controlling the spraying direction and the spraying speed of the pesticide spraying pump based on the first pulse width modulation signal, and driving the pesticide spraying pump to deliver the expected pesticide amount based on the second pulse width modulation signal.

The aforementioned communication bus may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the electronic equipment and other equipment.

The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.

The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.

Since the implementation manner and the beneficial effects of the problem solving of each device of the electronic device in the foregoing embodiment can be implemented by referring to each step in the embodiment shown in fig. 2, detailed working processes and beneficial effects of the electronic device provided in the embodiment of the present application are not repeated herein.

In yet another embodiment provided herein, there is also provided a computer-readable storage medium having instructions stored thereon, which when executed on a computer, cause the computer to perform the drone-based pesticide spray control method of any of the above embodiments.

In yet another embodiment provided herein, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform the drone-based pesticide spray control method of any of the above embodiments.

As will be appreciated by one of skill in the art, the embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present application.

It is apparent that those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. Thus, if such modifications and variations of the embodiments of the present application fall within the scope of the claims of the embodiments of the present application and their equivalents, the embodiments of the present application are also intended to include such modifications and variations.