阅读说明：本技术 一种基于大数据的农用植保无人机智能管控平台 (Agricultural plant protection unmanned aerial vehicle intelligence management and control platform based on big data ) 是由 贺润生 于 2020-12-02 设计创作，主要内容包括：本发明公开了一种基于大数据的农用植保无人机智能管控平台,包括主喷洒机、侧支喷洒机、管控平台端、扫描机,所述主喷洒机包括主喷洒单元、主剂量调配单元,所述侧支喷洒机包括侧支喷洒单元和侧支剂量调配单元,所述管控平台端包括飞行指挥模块、喷洒种类控制模块和喷洒剂量控制模块,所述扫描机包括植物图像提取模块、种类判定模块、成熟度判定模块、种类模型存储模块、成熟度模型存储模块,所述飞行指挥模块与主喷洒机、侧支喷洒机、扫描机电连接,所述主喷洒单元和侧支喷洒单元与喷洒种类控制模块电连接,所述主剂量调配单元、侧支剂量调配单元与喷洒剂量控制模块电连接,本发明,具有针对性喷洒和避免风力影响的特点。(The invention discloses an agricultural plant protection unmanned aerial vehicle intelligent control platform based on big data, which comprises a main spraying machine, a side branch spraying machine, a control platform end and a scanning machine, wherein the main spraying machine comprises a main spraying unit and a main dosage allocation unit, the side branch spraying machine comprises a side branch spraying unit and a side branch dosage allocation unit, the control platform end comprises a flight command module, a spraying type control module and a spraying dosage control module, the scanning machine comprises a plant image extraction module, a type judgment module, a maturity judgment module, a type model storage module and a maturity model storage module, the flight command module is electrically connected with the main spraying machine, the side branch spraying machine and the scanning machine, the main spraying unit and the side branch spraying unit are electrically connected with the spraying type control module, and the main dosage allocation unit and the side branch dosage allocation unit are electrically connected with the spraying dosage control module, the invention has the characteristics of targeted spraying and avoiding wind power influence.)

1. The utility model provides an agricultural plant protection unmanned aerial vehicle intelligence management and control platform based on big data which characterized in that: comprises a main spraying machine, a side branch spraying machine, a control platform end and a scanning machine, wherein the main spraying machine comprises a main spraying unit and a main dosage allocation unit, the collateral branch spraying machine comprises a collateral branch spraying unit and a collateral branch dosage allocation unit, the control platform end comprises a flight command module, a spraying type control module and a spraying dosage control module, the scanner comprises a plant image extraction module, a species judgment module, a maturity judgment module, a species model storage module and a maturity model storage module, the flight command module is electrically connected with the main spraying machine, the side branch spraying machine and the scanning machine, the main spraying unit and the side branch spraying unit are electrically connected with the spraying type control module, the main dose preparing unit and the collateral branch dose preparing unit are electrically connected with the spraying dose control module, the type judgment module and the maturity judgment module are electrically connected with the spraying type control module and the spraying dosage control module;

the main unit of spraying is used for spraying general type base pesticide, the collateral branch unit of spraying is used for spraying the exclusive special type pesticide of various plants, flight command module is used for commanding the flight of each sprinkler, the scanner is used for scanning the plant distribution condition in field in order to formulate suitable spraying strategy, main dosage allotment unit is used for controlling the dosage of general type base pesticide, collateral branch dosage allotment unit is used for controlling the dosage of special type pesticide, it is used for controlling the kind of spraying pesticide to spray kind control module, it is used for controlling the dosage of spraying pesticide to spray dosage control module, plant image draws the image that the module is used for noting the following side plant, kind decision module is used for deciding the kind of plant, maturity decision module is used for deciding the maturity of plant, kind model storage module is used for storing the appearance characteristic of this kind of plant, the maturity model storage module is used for storing characteristics of plants in various maturity.

2. The big data-based agricultural plant protection unmanned aerial vehicle intelligent management and control platform according to claim 1, characterized in that: the species model storage module comprises a stem shape storage submodule, a blade shape storage submodule, a fitting submodule and a time storage submodule, and the species judgment module comprises a stem thickness judgment submodule, a stem height judgment submodule, a blade shape judgment submodule and a water shortage condition analysis submodule;

the stem thickness and fineness determination submodule is used for determining the thickness degree of a stem, the stem height determination submodule is used for determining the height of the stem, the blade shape determination submodule is used for recording the shape of a blade, the stem shape storage submodule is used for storing the stem shape characteristics of various crops, the blade shape storage submodule is used for storing the blade shape characteristics of various crops, the water shortage condition analysis submodule is used for analyzing whether the blade is in water shortage or not and the emergency degree of water shortage by combining the characteristics of the thickness degree of the stem, the height of the stem, the shape of the blade and the like, the fitting submodule is used for fitting according to pictures obtained by multiple observation, plant outlines which are closest to growth conditions of each period are made, and the time storage submodule is used for storing the planting time of each plant in the same field.

3. The big data-based agricultural plant protection unmanned aerial vehicle intelligent management and control platform according to claim 2, characterized in that: the side branch spraying unit comprises a receiving subunit, a mixing subunit and a spraying subunit;

the receiving subunit is used for absorbing part of the pesticide sprayed by the main spraying machine, the mixing subunit is used for mixing the absorbed pesticide with the special pesticide, the spraying subunit is used for spraying the mixed pesticide, and the mixing subunit is divided into a first mixing part and a second mixing part.

4. The big data-based agricultural plant protection unmanned aerial vehicle intelligent management and control platform of claim 3, wherein: the mixing method of the mixing subunit comprises the following steps that the concentration of a main spraying unit is p, the concentration of a side spraying unit is q, the volume of the first mixing part is c1, the volume of the second mixing part is c2, the preset pumping time interval is T, the dosage volume is vl each time, the dosage concentration is h, the first mixing part and the second mixing part are extruded to output pesticide to the mixing subunit within the time interval T, and the extruding times n1 of the pesticide are that: n2 ═ h-q) c 2: (p-h) c 1.

5. The big data-based agricultural plant protection unmanned aerial vehicle intelligent management and control platform of claim 4, wherein: the volume of the main spraying unit is set to be more than 50L, the volume of the side branch spraying unit is set to be less than 0.5L, and the volume of the mixing subunit is set to be 10-20L.

6. The big data-based agricultural plant protection unmanned aerial vehicle intelligent management and control platform of claim 5, wherein: the application range of the stem thickness and fineness determination submodule is 20-50 cm.

7. The big data-based agricultural plant protection unmanned aerial vehicle intelligent management and control platform of claim 6, wherein: the wind power balance machine comprises a wind speed sensor, a reverse air supply unit and a wind speed control module, wherein the reverse air supply unit is electrically connected with the wind speed sensor;

the wind power balancing machine is used for balancing the interference of wind speed on a spraying position when pesticides fall down, the wind speed sensor is used for sensing the transverse wind speed of the sprayed pesticides, the reverse air supply unit is used for balancing the transverse wind power of the sprayed pesticides, so that the pesticides can be kept in a free falling state to fall, and the wind speed control module is used for controlling the air supply speed of the reverse air supply unit.

8. The working method of the agricultural plant protection unmanned aerial vehicle intelligent control platform based on big data is characterized in that: when the plant growth maturity is detected,

s1, firstly, the image extraction module compares the collected information with the maturity status of the maturity model storage module to obtain an estimated value of the maturity of the existing plant;

s2, comparing the maturity estimated value of the plant to obtain a ratio, and comparing the ratio of each area with the sowing time;

s3-1, if the ratio of the maturity estimation is smaller than the ratio of the sowing time, the plant grows better and has high maturity, and at the moment, the pesticide spraying strategy is adjusted to be suitable for the current maturity;

s3-2, if the estimated value of the maturity is larger than the ratio of the sowing time, the growth vigor of the plants is poor, the maturity is low, the pesticide spraying dosage needs to be reduced, the pesticide spraying dosage can be matched with the amount of the maturity before, and the plants are prevented from being injured due to over-spraying;

and S3-3, if the estimated value of the maturity is equal to the ratio of the sowing time, the growth vigor of the plant is good, and the plant accords with the general estimated value, and the spraying dosage of the pesticide does not need to be modified.

9. The working method of the big data-based agricultural plant protection unmanned aerial vehicle intelligent management and control platform according to claim 8, characterized in that: the specific steps for detecting the health condition of the plant are as follows:

s1, before observation, the leaf shape storage submodule is subjected to multiple times of observation and fitting, and a fitting curve of the plant leaf shape in the current growth period is obtained through the fitting submodule;

s2, when in observation, extracting the image of the current plant through the image extraction module, and guiding the image into the water shortage condition analysis submodule, wherein the water shortage condition analysis submodule firstly calls the plant leaf shape stored in the leaf shape storage submodule and compares the plant leaf shape with the fitting condition of the plant to obtain the difference with the current fitting image;

s3-1, if the measured leaf shape is smaller than the fitting condition and the thickness degree and the height of the stem of the plant reach standard values, judging that the leaf of the plant curls due to water shortage, and triggering the main dosage blending unit to increase the proportion of water so as to better supplement the water of the plant;

s3-2, if the measured leaf shape is consistent with the fitting condition and the thickness degree of the two stems is smaller than the height of the stems than the fitting value, judging that the plants are weak due to insufficient fertilizer, and triggering the main dosage blending unit to increase the proportion of the fertilizer so as to supplement the nutrition of the plants;

s3-3, if the shape and fitting state of the leaf are damaged or the color is changed, it is determined that the plant is eroded by the insect pest, and at this time, the main dosage preparing unit is triggered to increase the proportion of the pesticide so as to control the insect pest.

10. The working method of the big data based intelligent management and control platform for the agricultural plant protection unmanned aerial vehicle according to claim 9, wherein the wind speed balancing comprises the following specific steps:

s1, after pesticide is sprayed, the flight command module commands each wind power balance machine to be vertically arranged below the main spraying machine and the side branch spraying machine, and the speed phase of the wind power balance machine and the speed phase of the main spraying machine and the side branch spraying machine are kept;

s2, measuring a wind force value in front of each wind power balancing machine by using a wind speed sensor, and eliminating wind force influence caused by the speed of the wind power balancing machine;

s3, after the spraying agent falls down, determining the wind speed of the reverse air supply unit according to the current wind speed and the speed of the wind balance machine, wherein the formula is

V_{Inverse direction}＝V_{Conveying appliance}-V_{Air conditioner}

Wherein V_{Inverse direction}For reversing the wind speed of the blowing unit, V_{Conveying appliance}For real-time wind speed, V, detected by the sensor_{Air conditioner}The air resistance wind speed coming for the current speed.

Technical Field

The invention relates to the technical field of agricultural plant protection, in particular to an agricultural plant protection unmanned aerial vehicle intelligent control platform based on big data.

Background

Agricultural plant protection by unmanned aerial vehicles is a common plant protection method in the field of plant maintenance, and pesticides are sprayed above plants in a field so as to achieve the purpose of maintaining the plants and promote the normal growth of the plants, and the agricultural plant protection method is widely adopted in various plant cultivation greenhouses at present.

The existing plant cultivation greenhouse usually has alternate cultivation behaviors, different plants have different adaptability to the types of pesticides, and if non-conforming pesticides are sprayed on the plants, over-spraying or under-spraying can be caused, so that the health and the service life of the plants are influenced; meanwhile, some short-period plants are usually mixed in multiple stages due to the balanced yield of one year, while the tolerance of plants with different periods to pesticides is different, and uniform spraying can cause the condition of excessive or insufficient amount and cannot be sprayed in a targeted manner; thirdly, the sprayed pesticide can fly to the plants along with the wind when the wind exists outside, so that the spraying process is influenced by the wind power. Therefore, it is necessary to design a big data-based intelligent management and control platform for agricultural plant protection unmanned aerial vehicles, which is used for spraying specifically and avoiding wind influence.

Disclosure of Invention

The invention aims to provide an agricultural plant protection unmanned aerial vehicle intelligent management and control platform based on big data, and aims to solve the problems in the background technology.

In order to solve the technical problems, the invention provides the following technical scheme: an agricultural plant protection unmanned aerial vehicle intelligent control platform based on big data comprises a main sprayer, a side branch sprayer, a control platform end and a scanner, wherein the main sprayer comprises a main spraying unit and a main dose allocation unit, the side branch sprayer comprises a side branch spraying unit and a side branch dose allocation unit, the control platform end comprises a flight command module, a spraying type control module and a spraying dose control module, the scanner comprises a plant image extraction module, a type judgment module, a maturity judgment module, a type model storage module and a maturity model storage module, the flight command module is electrically connected with the main sprayer, the side branch sprayer and the scanner, the main spraying unit and the side branch spraying unit are electrically connected with the spraying type control module, and the main dose allocation unit and the side branch dose allocation unit are electrically connected with the spraying dose control module, the type judgment module and the maturity judgment module are electrically connected with the spraying type control module and the spraying dosage control module;

the main unit of spraying is used for spraying general type base pesticide, the collateral branch unit of spraying is used for spraying the exclusive special type pesticide of various plants, flight command module is used for commanding the flight of each sprinkler, the scanner is used for scanning the plant distribution condition in field in order to formulate suitable spraying strategy, main dosage allotment unit is used for controlling the dosage of general type base pesticide, collateral branch dosage allotment unit is used for controlling the dosage of special type pesticide, it is used for controlling the kind of spraying pesticide to spray kind control module, it is used for controlling the dosage of spraying pesticide to spray dosage control module, plant image draws the image that the module is used for noting the following side plant, kind decision module is used for deciding the kind of plant, maturity decision module is used for deciding the maturity of plant, kind model storage module is used for storing the appearance characteristic of this kind of plant, the maturity model storage module is used for storing the characteristics that the plant should possess at various maturity, when this spraying platform during operation, at first discharge scanner scans whole field, horizontal distribution characteristic with this comes out the plant, kind distribution characteristic and growth situation characteristic, as the basis that the commander sprayed, make the pesticide can both accurately spray on the plant, avoid spraying the pesticide in the place that does not have the plant, simultaneously when guaranteeing that every kind of plant can both absorb the base pesticide, carry out individualized customized spraying effect to the kind of different plants, be applicable to different plant kinds, also can carry out independent customization spraying scheme according to the index of the different growth states of plant, avoid spraying and the problem of owing spraying, adapt to the growth situation of plant.

According to the technical scheme, the category model storage module comprises a stem shape storage submodule, a blade shape storage submodule, a fitting submodule and a time storage submodule, and the category judgment module comprises a stem thickness judgment submodule, a stem height judgment submodule, a blade shape judgment submodule and a water shortage condition analysis submodule;

the stem thickness and fineness determination submodule is used for determining the thickness degree of a stem, the stem height determination submodule is used for determining the height of the stem, the blade shape determination submodule is used for recording the shape of a blade, the stem shape storage submodule is used for storing the stem shape characteristics of various crops, the blade shape storage submodule is used for storing the blade shape characteristics of various crops, the water shortage condition analysis submodule is used for analyzing whether the blade is in water shortage or not and the emergency degree of water shortage by combining the characteristics of the thickness degree of the stem, the height of the stem, the shape of the blade and the like, the fitting submodule is used for fitting according to pictures obtained by multiple observation, plant outlines which are closest to growth conditions of each period are made, and the time storage submodule is used for storing the planting time of each plant in the same field.

According to the technical scheme, the side branch spraying unit comprises a receiving subunit, a mixing subunit and a spraying subunit;

the receiving subunit is used for absorbing part of the pesticide sprayed by the main spraying machine, the mixing subunit is used for mixing the absorbed pesticide with the special pesticide, the spraying subunit is used for spraying the mixed pesticide, and the mixing subunit is divided into a first mixing part and a second mixing part.

According to the technical scheme, the mixing method of the mixing subunit is that the concentration of the main spraying unit is p, the concentration of the side spraying unit is q, the volume of the first mixing part is c1, the volume of the second mixing part is c2, the preset pumping time interval is T, the dosage volume is vl each time, the dosage concentration is h, the number of times n1 that the first mixing part and the second mixing part are extruded to output pesticide to the mixing subunit in T time interval is set as follows: n2 ═ h-q) c 2: (p-h) c 1.

According to the technical scheme, the volume of the main spraying unit is set to be more than 50L, the volume of the side spraying unit is set to be less than 0.5L, and the volume of the mixing subunit is set to be 10-20L.

According to the technical scheme, the application range of the stem thickness and fineness determination submodule is 20-50 cm.

According to the technical scheme, the wind power balance device further comprises a wind power balance machine, wherein the wind power balance machine comprises a wind speed sensor, a reverse air supply unit and a wind speed control module, and the reverse air supply unit is electrically connected with the wind speed sensor;

the wind power balancing machine is used for balancing the interference of wind speed on a spraying position when pesticides fall down, the wind speed sensor is used for sensing the transverse wind speed of the sprayed pesticides, the reverse air supply unit is used for balancing the transverse wind power of the sprayed pesticides, so that the pesticides can be kept in a free falling state to fall, and the wind speed control module is used for controlling the air supply speed of the reverse air supply unit.

The working method of the agricultural plant protection unmanned aerial vehicle intelligent control platform based on big data is characterized in that: when the plant growth maturity is detected,

s1, firstly, the image extraction module compares the collected information with the maturity status of the maturity model storage module to obtain an estimated value of the maturity of the existing plant;

s2, comparing the maturity estimated value of the plant to obtain a ratio, and comparing the ratio of each area with the sowing time;

s3-1, if the ratio of the maturity estimation is smaller than the ratio of the sowing time, the plant grows better and has high maturity, and at the moment, the pesticide spraying strategy is adjusted to be suitable for the current maturity;

s3-2, if the estimated value of the maturity is larger than the ratio of the sowing time, the growth vigor of the plants is poor, the maturity is low, the pesticide spraying dosage needs to be reduced, the pesticide spraying dosage can be matched with the amount of the maturity before, and the plants are prevented from being injured due to over-spraying;

and S3-3, if the estimated value of the maturity is equal to the ratio of the sowing time, the growth vigor of the plant is good, and the plant accords with the general estimated value, and the spraying dosage of the pesticide does not need to be modified.

According to the technical scheme, the specific steps for detecting the plant health condition are as follows:

s1, before observation, the leaf shape storage submodule is subjected to multiple times of observation and fitting, and a fitting curve of the plant leaf shape in the current growth period is obtained through the fitting submodule;

s2, when in observation, extracting the image of the current plant through the image extraction module, and guiding the image into the water shortage condition analysis submodule, wherein the water shortage condition analysis submodule firstly calls the plant leaf shape stored in the leaf shape storage submodule and compares the plant leaf shape with the fitting condition of the plant to obtain the difference with the current fitting image;

s3-1, if the measured leaf shape is smaller than the fitting condition and the thickness degree and the height of the stem of the plant reach standard values, judging that the leaf of the plant curls due to water shortage, and triggering the main dosage blending unit to increase the proportion of water so as to better supplement the water of the plant;

s3-2, if the measured leaf shape is consistent with the fitting condition and the thickness degree of the two stems is smaller than the height of the stems than the fitting value, judging that the plants are weak due to insufficient fertilizer, and triggering the main dosage blending unit to increase the proportion of the fertilizer so as to supplement the nutrition of the plants;

s3-3, if the shape and fitting state of the leaf are damaged or the color is changed, it is determined that the plant is eroded by the insect pest, and at this time, the main dosage preparing unit is triggered to increase the proportion of the pesticide so as to control the insect pest.

The wind speed balance comprises the following specific steps:

s1, after pesticide is sprayed, the flight command module commands each wind power balance machine to be vertically arranged below the main spraying machine and the side branch spraying machine, and the speed phase of the wind power balance machine and the speed phase of the main spraying machine and the side branch spraying machine are kept;

s2, measuring a wind force value in front of each wind power balancing machine by using a wind speed sensor, and eliminating wind force influence caused by the speed of the wind power balancing machine;

s3, after the spraying agent falls down, determining the wind speed of the reverse air supply unit according to the current wind speed and the speed of the wind balance machine, wherein the formula is

V_{Inverse direction}＝V_{Conveying appliance}-V_{Air conditioner}

Wherein V_{Inverse direction}For reversing the wind speed of the blowing unit, V_{Conveying appliance}For real-time wind speed, V, detected by the sensor_{Air conditioner}The air resistance wind speed coming for the current speed.

Compared with the prior art, the invention has the following beneficial effects: according to the invention, the main spraying machine and the side branch spraying machines are arranged, so that the dosage and the type of the pesticide can be adjusted according to the distribution condition and the type condition of the plants, and the pesticide sprayed by the main spraying machine and the side branch spraying machines can be mixed to effectively realize the adjustment and the control of the concentration of various pesticides, so that various plants can be matched with the most suitable pesticide types and dosage; by arranging the scanner, external wind power during spraying can be balanced, so that the pesticide can smoothly fall down, and wind power interference is prevented.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides the technical scheme that: an agricultural plant protection unmanned aerial vehicle intelligent control platform based on big data comprises a main spraying machine, a side branch spraying machine, a control platform end and a scanning machine, wherein the main spraying machine comprises a main spraying unit and a main dosage allocation unit, the side branch spraying machine comprises a side branch spraying unit and a side branch dosage allocation unit, the control platform end comprises a flight command module, a spraying type control module and a spraying dosage control module, the scanning machine comprises a plant image extraction module and a type judgment module, the system comprises a maturity judging module, a category model storage module and a maturity model storage module, wherein a flight command module is electrically connected with a main spraying machine, a side branch spraying machine and a scanning machine, a main spraying unit and a side branch spraying unit are electrically connected with a spraying category control module, a main dose allocating unit and a side branch dose allocating unit are electrically connected with a spraying dose control module, and the category judging module and the maturity judging module are electrically connected with the spraying category control module and the spraying dose control module;

the main spraying unit is used for spraying universal base pesticides, the side spraying unit is used for spraying special pesticides unique to various plants, the flight commanding module is used for commanding the flight of each spraying machine, the scanning machine is used for scanning the plant distribution condition of a field to formulate a proper spraying strategy, the main dosage allocation unit is used for controlling the dosage of the universal base pesticides, the side dosage allocation unit is used for controlling the dosage of the special pesticides, the spraying type control module is used for controlling the type of the sprayed pesticides, the spraying dosage control module is used for controlling the dosage of the sprayed pesticides, the plant image extraction module is used for recording the image of the following plant, the type judgment module is used for judging the type of the plant, the maturity judgment module is used for judging the maturity of the plant, the type model storage module is used for storing the appearance characteristics of the various plants, and the maturity model storage module is used for storing the characteristics of the plant in various maturity, when spraying, the side branch spraying units can be adjusted according to the mixing effect of the main spraying unit and the side branch spraying units to mix according to needs, so that the side branch spraying units are suitable for different types of crops in the same field, can be adjusted in a targeted mode according to the maturity of plants, and avoid the problems of over-spraying and under-spraying;

the species model storage module comprises a stem shape storage submodule, a blade shape storage submodule, a fitting submodule and a time storage submodule, and the species judgment module comprises a stem thickness judgment submodule, a stem height judgment submodule, a blade shape judgment submodule and a water shortage condition analysis submodule;

the stem thickness and fineness judging submodule is used for judging the thickness degree of a stem, the stem height judging submodule is used for judging the height of the stem, the leaf shape judging submodule is used for recording the shape of a leaf, the stem shape storage submodule is used for storing the stem shape characteristics of various crops, the leaf shape storage submodule is used for storing the leaf shape characteristics of various crops, the water shortage condition analyzing submodule is used for analyzing whether the leaf is short of water and the emergency degree of water shortage by combining the thickness degree of the stem, the height of the stem, the shape of the leaf and other characteristics, the fitting submodule is used for fitting according to pictures obtained by multiple observations to make a plant outline which is closest to the growth condition of each period, the time storage submodule is used for storing the planting time of each plant in the same slice, and the field is arranged to judge the water shortage degree of the plant according to the stem characteristics and the leaf shape of the plant, the spraying operation is performed in a targeted manner;

the collateral spraying unit comprises a receiving subunit, a mixing subunit and a spraying subunit;

the receiving subunit is used for absorbing part of the pesticide sprayed by the main spraying machine, the mixing subunit is used for mixing the absorbed pesticide with the special pesticide, the spraying subunit is used for spraying the mixed pesticide, the mixing subunit is divided into a first mixing part and a second mixing part, the receiving subunit is used for receiving the pesticide from the main spraying unit and is used as a substrate for subsequent mixing, the mixing subunit is used for mixing the two pesticides, and the spraying subunit is used for spraying;

the mixing method of the mixing subunit comprises the following steps of setting the concentration of the main spraying unit as p, the concentration of the side spraying unit as q, the volume of the first mixing part as c1, the volume of the second mixing part as c2, presetting a pumping time interval as T, setting the dosage volume each time as vl and the dosage concentration as h, and extruding the first mixing part and the second mixing part to output pesticide to the mixing subunit n1 within the time interval T: n2 ═ h-q) c 2: (p-h) c1, the main spraying unit is used for measuring the volume of the basic low-concentration pesticide, the side branch spraying unit is used for measuring the special-purpose pesticide, and the mixing subunit is used for extruding the two pesticide supply ends, so that the concentration regulation and control of spraying are effectively realized, the inadaptability of different plants to the toxicity of the pesticide with the same concentration is avoided, and the administration time in the spraying process is effectively controlled, so that the spraying is more accurate;

the volume of the main spraying unit is set to be more than 50L, the volume of the side spraying unit is set to be less than 0.5L, the volume of the mixing subunit is set to be 10-20L, and the volume setting ratio is used for controlling the spraying concentration more flexibly;

the application range of the stem thickness and fineness determination submodule is 20-50cm, most of weeds and sundries can be avoided in the thickness range, and the stems can be accurately positioned to crops;

the wind power balance machine comprises a wind speed sensor, a reverse air supply unit and a wind speed control module, wherein the reverse air supply unit is electrically connected with the wind speed sensor;

the wind power balancing machine is used for balancing the interference of wind speed on a spraying position when pesticides fall down, the wind speed sensor is used for sensing the transverse wind speed of the sprayed pesticides, the reverse air supply unit is used for balancing the transverse wind power on the sprayed pesticides to enable the sprayed pesticides to keep a free falling body state for falling, the wind speed control module is used for controlling the air supply speed of the reverse air supply unit, and the wind power balancing machine is used for controlling the horizontal falling distance of the fallen pesticides to enable the fallen pesticides to be sprayed on a field more accurately;

when the plant growth maturity is detected,

s1, firstly, the image extraction module compares the collected information with the maturity status of the maturity model storage module to obtain an estimated value of the maturity of the existing plant;

s2, comparing the maturity estimated value of the plant to obtain a ratio, and comparing the ratio of each area with the sowing time;

s3-1, if the ratio of the maturity estimation is smaller than the ratio of the sowing time, the plant grows better and has high maturity, and at the moment, the pesticide spraying strategy is adjusted to be suitable for the current maturity;

s3-2, if the estimated value of the maturity is larger than the ratio of the sowing time, the growth vigor of the plants is poor, the maturity is low, the pesticide spraying dosage needs to be reduced, the pesticide spraying dosage can be matched with the amount of the maturity before, and the plants are prevented from being injured due to over-spraying;

s3-3, if the estimated value of the maturity is equal to the ratio of the sowing time, the growth vigor of the plant is good, the plant accords with the general estimated value, the spraying dosage of the pesticide does not need to be modified, the dynamic adjustment of the spraying strategy is carried out through the maturity change of the plant, and the pertinence and the real-time performance of pesticide spraying are further improved;

the specific steps for detecting the health condition of the plant are as follows:

s1, before observation, the leaf shape storage submodule is subjected to multiple times of observation and fitting, and a fitting curve of the plant leaf shape in the current growth period is obtained through the fitting submodule;

s2, when in observation, extracting the image of the current plant through the image extraction module, and guiding the image into the water shortage condition analysis submodule, wherein the water shortage condition analysis submodule firstly calls the plant leaf shape stored in the leaf shape storage submodule and compares the plant leaf shape with the fitting condition of the plant to obtain the difference with the current fitting image;

s3-1, if the measured leaf shape is smaller than the fitting condition and the thickness degree and the height of the stem of the plant reach standard values, judging that the leaf of the plant curls due to water shortage, and triggering the main dosage blending unit to increase the proportion of water so as to better supplement the water of the plant;

s3-2, if the measured leaf shape is consistent with the fitting condition and the thickness degree of the two stems is smaller than the height of the stems than the fitting value, judging that the plants are weak due to insufficient fertilizer, and triggering the main dosage blending unit to increase the proportion of the fertilizer so as to supplement the nutrition of the plants;

s3-3, if the detected shape and fitting condition of the leaf are damaged or the color is changed, the plant is judged to be eroded by the insect pest, at the moment, the main dosage allocation unit is triggered to increase the proportion of the pesticide so as to treat the insect pest, and the state of the current plant can be correctly identified through switching the three conditions, so that the current condition of the plant is positively responded, and the cultivation-deinsectization-integrated water replenishing cultivation scheme is carried out.

The wind speed balance comprises the following specific steps:

s1, after pesticide is sprayed, the flight command module commands each wind power balance machine to be vertically arranged below the main spraying machine and the side branch spraying machine, and the speed phase of the wind power balance machine and the speed phase of the main spraying machine and the side branch spraying machine are kept;

s2, measuring a wind force value in front of each wind power balancing machine by using a wind speed sensor, and eliminating wind force influence caused by the speed of the wind power balancing machine;

s3, after the spraying agent falls down, determining the wind speed of the reverse air supply unit according to the current wind speed and the speed of the wind balance machine, wherein the formula is

V_{Inverse direction}＝V_{Conveying appliance}-V_{Air conditioner}

Wherein V_{Inverse direction}For reversing the wind speed of the blowing unit, V_{Conveying appliance}For real-time wind speed, V, detected by the sensor_{Air conditioner}For the air resistance wind speed that present speed came, utilize the balanced strategy of wind speed, can make the horizontal direction of pesticide that sprays out change, make its direction disorder that can balance the wind-force and bring lead to the problem that can not correctly spray the plant, promoted the accuracy nature of spraying.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.