AU2021104249A4 - Pesticide application method and system based on air-ground collaboration - Google Patents

Abstract

The present application provides a pesticide application method and system based on air-ground collaboration, including: acquiring target information of an orchard to be operated, the target information including geographic feature information and fruit tree feature information; determining a collaborative operation path between a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle based on the target information; and controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path. In the present application, the collaborative operation path is planned according to the feature information of the orchard and fruit trees, and on this basis, the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle are controlled to perform collaborative operations according to the collaborative operation path. The pesticide application unmanned ground vehicle is employed, in an air-ground collaborative manner, to perform supplemental operation in the blind area of the plant protection unmanned aerial vehicle, and thus complete coverage of the fruit trees with the liquid pesticide is provided, the utilization rate of the pesticides is maximized, negative effects due to unreasonable pesticide application are decreased, environmental pollution is reduced, pesticide spraying control methods and effects are optimized, fruit tree diseases and insect pests are effectively prevented, and stable fruit production and increase in yield are effectively ensured. 4/5 Scanning and photographing by unmanned aerial vehicle Fusing images Identifying target Three-dimensional modeling crosswind Path planning compensation? Air-ground Synchronous : N asynchronous operation N+ oprtin Y Air-ground synchronous operation F Fig. 6

Description

4/5

Scanning and photographing by unmanned aerial vehicle

Fusing images

Identifying target

Three-dimensional modeling

crosswind Path planning compensation?

Air-ground Synchronous : N asynchronous operation N+ oprtin

Y

Air-ground synchronous operation F

Fig. 6

PESTICIDE APPLICATION METHOD AND SYSTEM BASED ON AIR-GROUND COLLABORATION CROSS-REFERENCE TO RELATED APPLICATION

[0001] The present application claims priority to Chinese patent application No. 2021101269392 filed on January 29, 2021, entitled "Pesticide Application Method and System based on Air-Ground Collaboration", which is hereby incorporated by reference in its entirety.

TECHNICAL FIELD

[0002] The present application relates to the technical field of agricultural irrigation, and in particular to a pesticide application method and system based on air-ground collaboration.

BACKGROUND

[0003] Under the current development conditions of planting industry, hilly and mountainous areas dominate the main planting landforms of orchards. The hilly areas are steep and rugged. However, operations of large-scale large machinery in orchards are limited in hilly and mountainous areas, making it difficult to prevent and control disease and pest in orchards. The dense and concentrated canopy of fruit trees is prone to cause pests and diseases, which increase the difficulty of prevention and control. At present, plant protection in orchards mainly relies on spraying chemical pesticides for disease and pest control.

[0004] In recent years, with the development of science and technology, in addition to traditional manned ground vehicle spraying, pesticide application unmanned ground vehicles and plant protection unmanned aerial vehicles are also widely used in plant protection in terms of disease and pest control in the orchards. When spraying pesticide, the plant protection unmanned aerial vehicle performs aerial operations by being remotely controlled through controllers of the plant protection unmanned aerial vehicle; while the pesticide application unmanned ground vehicle performs ground operations by remotely controlling a spraying system in a wireless manner.

[0005] None of the above technologies may fully cover the fruit trees with the pesticide liquid, and there are problems such as uneven spraying, incomplete coverage of the pesticide liquid, serious injury, poor control effect and the like.

SUMMARY

[0006] In order to solve the problems such as uneven spraying, incomplete coverage of the pesticide liquid, serious injury, poor control effect and the like, the present application provides a pesticide application method and system based on air-ground collaboration.

[0007] The present application provides a pesticide application method based on air-ground collaboration, including: acquiring target information of an orchard to be operated, the target information including geographic feature information and fruit tree feature information; determining a collaborative operation path between a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle based on the target information; and controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path.

[0008] According to the pesticide application method based on air-ground collaboration provided by the present application, the acquiring target information of an orchard to be operated includes: acquiring remote sensing images containing the geographic feature information and three-dimensional point cloud images containing fruit tree feature information; fusing the remote sensing images and the three-dimensional point cloud images based on a multi-sensor fusion technology to acquire fusion information images and extract the target information.

[0009] According to the pesticide application method based on air-ground collaboration provided by the present application, when the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle perform synchronous operation, the controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path includes: acquiring a first height difference between a first threshold height and a height of a pesticide-spraying arm of the pesticide application unmanned ground vehicle; the first threshold height being the relative height between a position where a critical threshold of down-wash airflow during synchronous operation is located and the ground; according to the first height difference and a vehicle-tree distance, acquiring an elevation angle, as a first angle, between the pesticide application unmanned ground vehicle and the position where the critical threshold of down-wash airflow during the synchronous operation is located, the vehicle-tree distance being a distance between the pesticide-spraying arm of the pesticide application unmanned ground vehicle and a target fruit tree; and adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the first angle based on a theoretical angle of the pesticide-spraying arm, the theoretical angle of the pesticide-spraying arm being determined based on a library function.

[0010] According to the pesticide application method based on air-ground collaboration provided by the present application, when the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle perform asynchronous operations, the controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path further includes: acquiring a second height difference between a second threshold height and a height of a pesticide-spraying arm of the pesticide application unmanned ground vehicle; the second threshold height being the relative height between a position where a critical threshold of down-wash airflow during the asynchronous operation is located; according to the second height difference and a vehicle-tree distance, determining an elevation angle, as a second angle, between the pesticide application unmanned ground vehicle and the position where a critical threshold of down-wash airflow during asynchronous operation is located and the ground; and adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the second angle based on a theoretical angle of the pesticide-spraying arm.

[0011] According to the pesticide application method based on air-ground collaboration provided by the present application, after adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the first angle based on a theoretical angle of the pesticide-spraying arm, the method further includes: according to a third height difference between a height of the plant protection unmanned aerial vehicle and a height of a canopy top of the target fruit tree based on current information about a wind speed and a wind direction, acquiring a liquid pesticide deviation angle, and determining a liquid pesticide deviation area; according to the target information, acquiring a fourth height difference between a height of the canopy top of the target fruit tree and a height of the pesticide-spraying arm of the pesticide application unmanned ground vehicle; according to the liquid pesticide deviation angle, the vehicle-tree distance and the fourth height difference, acquiring a difference, as a third angle, between an elevation angle of the pesticide application unmanned ground vehicle with respect to the liquid pesticide deviation area and the first angle; and according to the current information about a wind speed and a wind direction, adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the third angle in a direction against the wind.

[0012] According to the pesticide application method based on air-ground collaboration provided by the present application, the first angle is calculated by the following equation:

[0013] 0 = arctan

[0014] where 0, is the first angle, hi is the first threshold height, and L is the vehicle-tree distance.

[0015] According to the pesticide application method based on air-ground collaboration provided by the present application, the second angle is calculated by the following equation:

[0016] 02 =arctaLn

[0017] where 02 is the second angle, h 2 is the second threshold height, and L is the vehicle-tree distance.

[0018] According to the pesticide application method based on air-ground collaboration provided by the present application, the third angle is calculated by the following equation:

[0019] 03 = arctan[(ho + h -J vdt / tan a) / (L + vdt)] - arctan(h / L),

[0020] a=arctanfdt

[0021] where a is the liquid pesticide deviation angle, h is the third height difference, 03 is the third angle, ho is the fourth height difference between the height of the canopy top of the target fruit tree in the fruit tree feature information and the height of the pesticide-spraying arm of the pesticide application unmanned ground vehicle, and v is a wind speed in the current information about a wind speed and a wind direction, L is the vehicle-tree distance, and hi is the first threshold height.

[0022] The present application further provides a pesticide application system based on air-ground collaboration, including: a target information acquirer configured to acquire target information of an orchard to be operated; a path planner configured to determine a collaborative operation path between a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle based on the target information; and a controller configured to control the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path.

[0023] The present application further provides an electronic apparatus, including a memory, a processor, and computer programs stored on the memory and executable on the processor, wherein the processor is configured to implement steps of the pesticide application method based on air-ground collaboration mentioned above when executing the computer programs.

[0024] The present application further provides a non-transient computer-readable storage medium, on which computer programs are stored, wherein steps of the pesticide application method based on air-ground collaboration mentioned above are implemented when the computer programs are executed by a processor.

[0025] In the pesticide application method and system based on air-ground collaboration, the collaborative operation path is planned according to the feature information of the orchard and fruit trees, and on this basis, the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle are controlled to perform collaborative operations according to the collaborative operation path. The pesticide application unmanned ground vehicle is employed, in an air-ground collaborative manner, to perform supplemental operation in the blind area of the plant protection unmanned aerial vehicle, and thus complete coverage of the fruit trees with the liquid pesticide is provided, the utilization rate of the pesticides is maximized, negative effects due to unreasonable pesticide application are decreased, environmental pollution is reduced, pesticide spraying control methods and effects are optimized, fruit tree diseases and insect pests are effectively prevented, and stable fruit production and increase in yield are effectively ensured.

BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions disclosed in the embodiments of the present application or the prior art, drawings needed in the descriptions of the embodiments or the prior art will be briefly described below. Obviously, the drawings in the following description only show some of the embodiments of the present application, and other drawings can be obtained according to these drawings without any creative effort for those skilled in the art.

[0027] FIG.1 is a first schematic flow chart of a pesticide application method based on air-ground collaboration provided by the present application;

[0028] FIG. 2 is a schematic diagram showing an adjustment angle 0, of a pesticide-spraying arm of a pesticide application unmanned ground vehicle in the case of synchronous operation provided by the present application;

[0029] FIG. 3 is a schematic diagram showing a liquid pesticide deviation angle a provided by the present application;

[0030] FIG. 4 is a schematic diagram showing a crosswind compensation angle 63 provided by the present application;

[0031] FIG. 5 is a schematic structural diagram of a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle provided by the present application;

[0032] FIG. 6 is a second schematic flow chart of a pesticide application method based on air-ground collaboration provided by the present application;

[0033] FIG. 7 is a schematic structural diagram of a pesticide application system based on air-ground collaboration provided by the present application; and

[0034] FIG. 8 is a schematic structural diagram of an electronic apparatus provided by the present application.

DETAILED DESCRIPTION

[0035] In order to illustrate the objectives, technical solutions and advantages of the present application clearly, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the accompanying drawings in the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than 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 fall within the protection scope of the present application.

[0036] It should be noted that in the description of the embodiments of the present application, terms "include", "including" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, a method, an article, or a device that includes a series of elements includes not only those elements, but also includes other elements which are not explicitly listed or includes elements inherent to the process, the method, the article or the device. If there are no more limitations, the element defined by the sentence "including a..." does not exclude the existence of other same elements in the process, method, article, or equipment including the element. The orientation or positional relationships indicated by terms such as "upper", "lower" are based on the orientation or positional relationship shown in the drawings, and are merely for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or component stated must have a particular orientation, is constructed or operated in a particular orientation, and thus is not to be construed as limiting the application. Unless explicitly specified and defined otherwise, the terms "installed," "connected with," and "connected" shall be understood broadly, for example, it may be either fixedly connected or detachably connected, or may be integrated; it may be mechanically connected, or electrically connected; it may be directly connected, or indirectly connected through an intermediate medium, or a communication between the interior of two elements. The specific meanings of the terms above in the present application can be understood by a person skilled in the art in accordance with specific conditions.

[0037] Hereinafter, a pesticide application method and system based on air-ground collaboration provided by the embodiments of the present application are described with reference to FIGS. 1 to 8.

[0038] FIG.1 is a first schematic flow chart of the pesticide application method based on air-ground collaboration provided by the present application. As shown in FIG. 1, the method mainly includes but not limited to the following steps:

[0039] S101, acquiring target information of an orchard to be operated, the target information including geographic feature information and fruit tree feature information;

[0040] S102, determining a collaborative operation path between a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle based on the target information; and

[0041] S103, controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path.

[0042] First, a positioning system on the plant protection unmanned aerial vehicle is adopted to position the orchard to be operated, and an image acquisition device is adopted to scan and photograph the orchard to be operated to acquire remote sensing images and three-dimensional point cloud images of the orchard to be operated. Wherein the geographic feature information of the orchard to be operated may be extracted from the remote sensing images, and the fruit tree feature information of the orchard to be operated may be extracted from the three-dimensional point cloud images.

[0043] The geographic feature information may include information such as information about an area, a topography, a fruit tree density, and orchard boundary of the orchard to be operated. The fruit tree feature information may include: a shape, a size, contour, a volume of the fruit tree, and a height difference between a height of the canopy top of the fruit tree and a height of the pesticide-spraying arm of the pesticide application unmanned ground vehicle.

[0044] In an embodiment, the plant protection unmanned aerial vehicle is small in size and strong in load capacity. When the plant protection unmanned aerial vehicle is used for aerial spraying of pesticide liquid, it has high working efficiency, and the down-wash airflow generated by its rotor helps enhance the penetration of liquid pesticide mist flow to fruit trees, and a good control effect is provided.

[0045] In an embodiment, the positioning system may be one of the GPS positioning system, Beidou system, GLONASS system, or Galileo satellite navigation system. In the subsequent embodiments of the present application, the positioning using the GPS positioning system is taken as an example for description, which is not regarded as a limitation to the protection scope of the present application.

[0046] In an embodiment, the image acquisition device may be one of an infrared scanner, a line-scan camera, a depth camera, or a hyperspectral camera.

[0047] Further, in step S1O, a control station is employed to splice and fuse the remote sensing images, acquire the fusion information image, and extract the target information including geographic feature information and fruit tree feature information.

[0048] In an embodiment, after feature points of each image are extracted using the image splicing method based on SURF algorithm, image registration is performed according to the matching of the feature points, the images are copied to a specific position of a corresponding image, and a crack removal treatment is performed on overlapping boundaries so as to fuse the remote sensing images and the three-dimensional point cloud images.

[0049] Further, in step S102, according to the target information, firstly, three-dimensional modeling of the orchard to be operated is performed, and then a path search is performed based on a path search algorithm to determine a walking path along which the predetermined performance function has optimal values, and the collaborative operation path between the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle is determined.

[0050] Wherein the three-dimensional modeling of the orchard to be operated is intended to establish an environment model that is convenient for the computer to perform path planning, abstract the actual physical space into an abstract space that may be processed by the algorithm, and provide mutual mapping.

[0051] The searched path is not necessarily a feasible path that may be walked by the pesticide application unmanned ground vehicle, and further processing and smoothing are required to make the searched path be a practical and feasible path.

[0052] In an embodiment, the path search algorithm may be one of the Dijkstra algorithm, SPFA algorithm, Bellman-Ford algorithm, Floyd-Warshall algorithm, or Johnson algorithm.

[0053] In an embodiment, the path planning method may be one of a geometric method, a unit division method, an artificial potential field method, a grid method, and a digital analysis method.

[0054] Wherein for the optimal values acquired by the performance function, the optimal value means that it is ensured the shortest operation path between the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle while ensuring that the orchard to be operated is fully operated and there is no repeated operation or omitted operation.

[0055] Wherein a down-wash airflow sensor 524 of the pesticide application unmanned ground vehicle is installed at the same level as the pesticide-spraying arm of the pesticide application unmanned ground vehicle.

[0056] Further, in step S103, the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle are controlled to perform collaborative operations according to the collaborative operation path, and the plant protection unmanned aerial vehicle applies pesticides to the upper part of the fruit tree canopy of the orchard to be operated. According to the current intensity of the down-wash airflow, a part to which the plant protection unmanned aerial vehicle does not apply pesticide is determined, an angle to be adjusted for pesticide-spraying arm of the pesticide application unmanned ground vehicle is calculated to supplement spraying on the lower part of the fruit tree canopy to achieve a complete coverage of fruit trees with pesticide liquid.

[0057] In the pesticide application method based on air-ground collaboration, the collaborative operation path is planned according to the feature information of the orchard and fruit trees, and on this basis, the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle are controlled to perform collaborative operations according to the collaborative operation path. The pesticide application unmanned ground vehicle is employed, in an air-ground collaborative manner, to perform supplemental operation in the blind area of the plant protection unmanned aerial vehicle and thus complete coverage of the fruit trees with the pesticide liquid, complete coverage of the fruit trees with the liquid pesticide is provided, the utilization rate of the pesticides is maximized, negative effects due to unreasonable pesticide application are decreased, environmental pollution is reduced, pesticide spraying control methods and effects are optimized, fruit tree diseases and insect pests are effectively prevented, and stable fruit production and increase in yield are effectively ensured.

[0058] Based on the foregoing embodiments, as an alternative embodiment, the acquiring target information of an orchard to be operated includes: acquiring remote sensing images containing the geographic feature information and three-dimensional point cloud images containing fruit tree feature information; fusing the remote sensing images and the three-dimensional point cloud images based on a multi-sensor fusion technology to acquire the target information.

[0059] In an embodiment, in addition to a visible light camera, an infrared camera, and an ultraviolet camera, the remote sensing image acquisition device also includes an infrared scanner, a multispectral scanner, a microwave radiation and scatterometer, a side-looking radar, a thematic imager, an imaging spectrometer, etc.

[0060] In an embodiment, the three-dimensional point cloud image acquisition device may be a three-dimensional camera and may be one of a binocular camera, a TOF camera, and an RGBD camera.

[0061] Local data resources provided by multiple sensors of the same or different types distributed in different locations are integrated by a sensor data fusion technology and are analyzed by a computer technology and thus the redundancy and contradictions that may exist among multi-sensor information are eliminated and complemented, with the uncertainty being reduced, and consistent interpretation and description of the measured object are acquired, thereby improving the rapidity and correctness of decision-making, planning, and responding of the system, and allowing the system to acquire more sufficient information. The information fusion, appearing at different information levels, includes data layer fusion, feature layer fusion, and decision layer fusion.

[0062] The plant protection unmanned aerial vehicle is configured to collect data above the orchard to be operated. On the one hand, remote sensing images of the orchard to be operated may be acquired through a lidar carried by the plant protection unmanned aerial vehicle. The geographic feature information including an area, a topography, a fruit tree density, and orchard boundary information of the orchard to be operated may be extracted from remote sensing images. On the other hand, the three-dimensional point cloud images of the fruit tree in the orchard to be operated may be acquired through the three-dimensional camera carried by the plant protection unmanned aerial vehicle. The fruit tree feature information including a shape, a size, contour, a volume of the fruit tree, and a height difference between the height of the canopy top of the fruit tree and the height of the pesticide-spraying arm of the pesticide application unmanned ground vehicle may be extracted from the three-dimensional point cloud images. The control station is configured to share and integrate the remote sensing images and three-dimensional point cloud images from the plant protection unmanned aerial vehicle, the fusion information images acquired by the multi-sensor fusion technology, and extract the target information of the orchard to be operated.

[0063] In this embodiment, the target information is acquired by information fusion of the acquired image information. It provides the basis for reasonably allocating the amount of pesticides carried by the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle according to the size, shape and position of each fruit tree in the target information for the later stage. The pesticide application rate is controlled by setting a pesticide application time of each fruit tree by the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle, which is conducive to the precise pesticide application with respect to the different needs of each fruit tree.

[0064] Based on the content of the above-mentioned embodiments, in the case that the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle perform synchronous operations, the controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path includes:

[0065] acquiring a first height difference between a first threshold height and a height of a pesticide-spraying arm of the pesticide application unmanned ground vehicle, the first threshold height being the relative height between a position where a critical threshold of down-wash airflow during synchronous operation is located and the ground;

[0066] according to the first height difference and a vehicle-tree distance, acquiring an elevation angle, as a first angle, between the pesticide application unmanned ground vehicle and the position where the critical threshold of down-wash airflow during the synchronous operation is located, the vehicle-tree distance being a distance between the pesticide-spraying arm of the pesticide application unmanned ground vehicle and a target fruit tree; and

[0067] adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the first angle based on a theoretical angle of the pesticide-spraying arm, the theoretical angle of the pesticide-spraying arm being determined based on a library function.

[0068] Wherein, the critical threshold g0 of the intensity of the down-wash airflow is first set, and the position of the fruit tree canopy through which the plant protection unmanned aerial vehicle may penetrate is determined according to the intensity of the down-wash airflow. The height of the position where the intensity of the down-wash airflow is the critical threshold qi is an interface between operation areas of plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle, and the pesticide application area of pesticide application unmanned ground vehicle is then determined.

[0069] Wherein, the first threshold height is the relative height between a position where the airflow intensity is a critical threshold qi and the ground at the current down-wash air intensity and may be directly acquired by the down-wash airflow sensor 524 of the pesticide application unmanned ground vehicle.

[0070] Wherein, the vehicle-tree distance L is directly acquired by a distance measuring system installed on the pesticide application unmanned ground vehicle.

[0071] Wherein, the theoretical angle of the pesticide-spraying arm is artificially set according to the general height of the fruit tree, and the artificial setting refers to adjusting an angle of the pesticide-spraying arm according to a tree type (such as pear tree and apple tree), a tree age, and experience value of the control cycle.

[0072] Wherein, the library function is established based on the advanced algorithm to count the tree types (such as peach tree and apple tree), tree ages and control cycles.

[0073] The synchronous dynamic mode is a mode in which the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle have the same speed. By adjusting the angle of an air-driven pesticide-spraying arm of the pesticide application unmanned ground vehicle, it may compensate for poor penetration due to dense fruit tree canopy during the pesticide application of the pesticide application unmanned ground vehicle and provides complete coverage of the fruit tree canopy with the pesticide liquid.

[0074] The pesticide application unmanned ground vehicle may be configured to measure the intensity of the down-wash airflow of the plant protection unmanned aerial vehicle after the liquid pesticide penetrates through the canopy through the down-wash airflow sensor 524, estimate the dynamic deposition and distribution area of the liquid pesticide applied by the plant protection unmanned aerial vehicle in the canopy and then dynamically adjust the angle of the pesticide-spraying arm of the pesticide application unmanned ground vehicle.

[0075] FIG. 2 is a schematic diagram showing a state in which the pesticide-spraying arm of the pesticide application unmanned ground vehicle is adjusted by the first angle 0, in the case of synchronous operation provided by the present application. In an embodiment, as shown in FIG. 2, when the plant protection unmanned aerial vehicle is operating above the fruit tree and applying the pesticide, a down-wash airflow is generated to increase the deposition speed of the pesticide liquid. The down-wash airflow sensor 524 installed at the same level as pesticide-spraying arm of the pesticide application unmanned ground vehicle is configured to measure the intensity qi of the down-wash airflow of the orchard pesticide liquid. When P< (PO, V is the critical threshold qO of the intensity of the down-wash airflow measured by the down-wash airflow sensor 524. The height difference between a height of a position where the critical threshold qO of the intensity of the down-wash airflow is located and a height of a pesticide-spraying arm of the pesticide application unmanned ground vehicle is recorded as the first height difference hi, a coverage area by the liquid pesticide applied by the pesticide application unmanned ground vehicle is a canopy of a target fruit tree having a height less than hi, the dynamically deposited and distributed area V of the liquid pesticide sprayed by the plant protection unmanned aerial vehicle in the canopy is:

[0076] y=hO -h,

[0077] the first threshold height is acquired by measuring the intensity of down-wash airflow at different heights by the sensor of the pesticide application unmanned ground vehicle, and

[0078] the first angle 0, by which the pesticide-spraying arm of the pesticide application unmanned ground vehicle is adjusted upward may be acquired using an inverse trigonometric function according to the height difference hi between a height of a position where the critical threshold of the intensity of the down-wash airflow is located and a height of a pesticide-spraying arm of the pesticide application unmanned ground vehicle, together with the vehicle-tree distance L.

[0079] After the angle adjustment of the pesticide-spraying arm of the pesticide application unmanned ground vehicle is completed, the pesticide application unmanned ground vehicle and the plant protection unmanned aerial vehicle perform synchronous operations according to the collaborative operation path.

[0080] In this embodiment, in a manner that the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle perform synchronous operations. According to the information sent by the remote sensing image acquisition device of the plant protection unmanned aerial vehicle, the angle of the pesticide-spraying arm of the pesticide application unmanned ground vehicle is adjusted for pesticide application. The pesticide application unmanned ground vehicle is employed to perform supplemental operation in the blind area of the plant protection unmanned aerial vehicle, and thus the angle of the pesticide-spraying arm is corrected in time to provide complete coverage of the fruit trees with the liquid pesticide.

[0081] Based on the content of the above-mentioned embodiments, in the case that the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle perform asynchronous operations, the controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path further includes:

[0082] acquiring a second height difference between a second threshold height and a height of a pesticide-spraying arm of the pesticide application unmanned ground vehicle; the second threshold height being the relative height between a position where a critical threshold of down-wash airflow during asynchronous operation is located and the ground;

[0083] according to the second height difference and a vehicle-tree distance, determining an elevation angle, as a second angle, between the pesticide application unmanned ground vehicle and the position where a critical threshold of down-wash airflow during collaborative operation is located; and

[0084] adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the second angle based on a theoretical angle of the pesticide-spraying arm.

[0085] Wherein, for the asynchronous model pattern, the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle have different speeds, and the pesticide application unmanned ground vehicle and the plant protection unmanned aerial vehicle operate independently.

[0086] The second threshold height h 2 is a height where the intensity of the down-wash airflow is a critical threshold (0 when the plant protection unmanned aerial vehicle has the average value of the conventional intensity of the down-wash airflow in the orchard.

[0087] In an embodiment, the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle simultaneously apply pesticides, and the plant protection unmanned aerial vehicle performs aerial operations at a speed faster than the pesticide application unmanned ground vehicle according to the best collaborative operation path generated by the control station. The pesticide-spraying arm of the pesticide application unmanned ground vehicle is adjusted upward by the second angle 02 based on a theoretical angle of the pesticide-spraying arm according to the average value of the conventional intensity of the down-wash airflow in the orchard of the plant protection unmanned aerial vehicle. After adjusting the angle in advance, the pesticide application unmanned ground vehicle operates according to the same operation path, and provides the asynchronous model-based collaborative operation with the plant protection unmanned aerial vehicle.

[0088] In this embodiment, by controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform asynchronous operates, complete coverage of the fruit trees with the liquid pesticide is provided. Through this embodiment, the defect of limited pesticide-carrying rate of the plant protection unmanned aerial vehicle due to its insufficient cruising capability may be overcome, and the operation efficiency is improved.

[0089] Based on the content of any one of the foregoing embodiments, as an alternative embodiment, after adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the first angle based on a theoretical angle of the pesticide-spraying arm, the method further includes a crosswind compensation for a windy weather:

[0090] according to a third height difference between a height of the plant protection unmanned aerial vehicle and a height of a canopy top of the target fruit tree based on current information about a wind speed and a wind direction, acquiring a liquid pesticide deviation angle, and determining a liquid pesticide deviation area;

[0091] according to the target information, acquiring a fourth height difference between a height of the canopy top of the target fruit tree and a height of the pesticide-spraying arm of the pesticide application unmanned ground vehicle;

[0092] according to the liquid pesticide deviation angle, the vehicle-tree distance and the fourth height difference, acquiring a difference, as a third angle, between an elevation angle of the pesticide application unmanned ground vehicle with respect to the liquid pesticide deviation area and the first angle; and

[0093] according to the current information about a wind speed and a wind direction, adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the third angle in a direction against the wind.

[0094] Wherein, during the pesticide-spraying process of the plant protection unmanned aerial vehicle, the airflow generated by disturbing the air due to the rotation of a rotor during the flight of the plant protection unmanned aerial vehicle will cause the atomized pesticide sprayed from a nozzle to drift, and the atomized pesticide cannot be accurately sprayed on the surface of the fruit. In windy weather, this kind of pesticide drift phenomenon may also occur, resulting in poor pesticide-application effects. At this time, it is necessary to adjust the angle of the pesticide-spraying arm of the pesticide application unmanned ground vehicle to perform crosswind compensation for the pesticide-application range.

[0095] In an embodiment, the wind direction information is acquired by a wind speed and direction sensor 514 of the plant protection unmanned aerial vehicle, and pesticide drift information is acquired through AD conversion and electrical signal conversion, and is shared to the control station; the third height difference h between the height of the plant protection unmanned aerial vehicle and the height of the canopy top of the target fruit tree is measured by a lidar on the plant protection unmanned aerial vehicle and is shared to the control station; the control station is configured to acquire the liquid pesticide deviation angle a according to the pesticide drift information and the third height difference h, as shown in FIG. 3.

[0096] The fourth height difference hobetween the height of the canopy top of the target fruit tree and the height of the pesticide-spraying arm of the pesticide application unmanned ground vehicle is acquired according to the target information; a difference between an elevation angle of the pesticide application unmanned ground vehicle with respect to the liquid pesticide deviation area and the first angle 0, is acquired as a third angle 0, according to the liquid pesticide deviation angle a, the vehicle-tree distance and the fourth height difference ho and the pesticide-spraying arm of the pesticide application unmanned ground vehicle is adjusted upward by the third angle 0, in a direction against the wind according to the current information about a wind speed and a wind direction. Wherein the adjustment of the third angle , is shown in FIG. 4.

[0097] In this embodiment, the drift information collected by the sensor is transmitted to the control station, and then the drift range of the liquid pesticide in the fruit tree canopy is acquired, and the pesticide-spraying angle of the pesticide-spraying arm of the pesticide application unmanned ground vehicle is adjusted accordingly to compensate a pesticide-application drift part of the plant protection unmanned aerial vehicle and to provide the complete coverage of the application, thereby achieving the uniformity of the control liquid of the fruit tree. Therefore, pesticide is applied precisely to the target of the fruit tree in the orchard.

[0098] Based on the content of any of the foregoing embodiments, as an alternative embodiment, the first angle is calculated by the following equation:

[0099] 0 =arctan(hiL

[00100] where 0, is the first angle, hi is the first threshold height, and L is the vehicle-tree distance.

[00101] Based on the content of any of the foregoing embodiments, as an alternative embodiment, the second angle is calculated by the following equation:

[00102] 02= arctan kL

[00103] where 02 is the second angle, h 2 is the second threshold height, and L is the vehicle-tree distance.

[00104] Based on the content of any of the foregoing embodiments, as an alternative embodiment, FIG. 3 is a schematic diagram of determining the liquid pesticide deviation angle provided by the present application. As shown in FIG. 3, the third angle is calculated by the following equation:

[00105] 3= arctan[(ho+ h - fvdt / tan a) / (L +fvdt)] - arctan(h, / L),

[00106] a= arctan vdt

[00107] where a is the liquid pesticide deviation angle, h is the third height difference, 03 is the third angle, ho is the fourth height difference between the height of the canopy top of the target fruit tree in the fruit tree feature information and the height of the pesticide-spraying arm of the pesticide application unmanned ground vehicle, and v is a wind speed in the current information about a wind speed and a wind direction, L is the vehicle-tree distance, and hi is the first threshold height.

[00108] Wherein, the crosswind compensation method for an angle 0, of the pesticide-spraying arm of the pesticide application unmanned ground vehicle is shown in FIG. 4: a height hdeiation relative to the plant protection unmanned aerial vehicle is calculated by measuring a deviation angle a and a distance generated in terms of the wind speed per unit time:

[00109] h devaton (fvdt)/tan a,

[00110] where relativedeviaion is calculated by the following equation:

[00111] h1 lte, deviation = h+ h) - hdii

[00112] the relationship between a sum of the angle 0 of the pesticide-spraying arm of the pesticide application unmanned ground vehicle and the first angle 0, and the height hdeiaion relative to the plant protection unmanned aerial vehicle, the deviation angle a, a height ho of the fruit tree from the down-wash airflow sensor 524, and the vehicle-tree distance L is as follows:

[00113]tan(63 +1)= (ho + h -Jvdt / tan a) / (L + vdt),

[00114] the relationship between the angle 0 of the pesticide-spraying arm of the pesticide application unmanned ground vehicle and the deviation angle a is as follows:

[00115] 0=arctan[(ho+h- fvdt / tana) / (L+fvdt)] - arctan(h, / L),

[00116] where a is the liquid pesticide deviation angle, h is the third height difference, 03 is the third angle, ho is the fourth height difference between the height of the canopy top of the target fruit tree in the fruit tree feature information and the height of the pesticide-spraying arm of the pesticide application unmanned ground vehicle, and v is a wind speed in the current information about a wind speed and a wind direction, L is the vehicle-tree distance, and hi is the first threshold height.

[00117] FIG. 5 is a schematic structural diagram of a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle provided by the present application. As an alternative embodiment, as shown in FIG. 5, the plant protection unmanned aerial vehicle 51 is provided with:

[00118] an image acquisition system 511 configured to scan and photograph the orchard to be operated, the system including a three-dimensional camera and a lidar; wherein the three-dimensional camera is configured to acquire three-dimensional point cloud images of the fruit tree, and the lidar is configured to acquire remote sensing images of the orchard to be operated;

[00119] a GPS positioning system 512 of the plant protection unmanned aerial vehicle configured to position the orchard to be operated and a target fruit tree, so that the plant protection unmanned aerial vehicle operates according to the collaborative operation path;

[00120] a collaborative operation pesticide-spraying control system 513 of the plant protection unmanned aerial vehicle configured to perform aerial operations on the orchard to be operated; and

[00121] a wind speed and direction sensor 514 configured to acquire wind speed information and wind direction information.

[00122] The pesticide application unmanned ground vehicle 52 is provided with:

[00123] a control station 521 configured to share and process the information acquired by the pesticide application unmanned ground vehicle and plant protection unmanned aerial vehicle, and control the plant protection unmanned aerial vehicle and pesticide application unmanned ground vehicle;

[00124] a collaborative operation pesticide-spraying control system 522 of the pesticide application unmanned ground vehicle configured to perform ground operations in the orchard to be operated and including an air-driven pesticide-spraying arm of the pesticide application unmanned ground vehicle;

[00125] a GPS positioning system 523 of the pesticide application unmanned ground vehicle configured to allow the plant protection unmanned aerial vehicle to operate according to the collaborative operation path;

[00126] a down-wash airflow sensor 524 configured to measure intensities of the down-wash airflow at different heights at the location of the pesticide application unmanned ground vehicle; and

[00127] a distance measuring system 525 configured to measure a distance between the pesticide-spraying arm and the target fruit tree, including lidar.

[00128] FIG. 6 is a second schematic flow chart of a pesticide application method based on air-ground collaboration provided by the present application. As an alternative embodiment, as shown in FIG. 6, the plant protection unmanned aerial vehicle adopts the GPS positioning system 512 of the plant protection unmanned aerial vehicle in the process of collecting information to acquire the geographic location of the orchard, scan and photograph the orchard to be operated through the lidar and three-dimensional camera of the image acquisition system 511, so as to acquire the remote sensing images and three-dimensional point cloud images of the orchard to be operated; the remote sensing images include an area, a topography, a fruit tree density, and orchard boundary information of the orchard to be operated and the three-dimensional point cloud images include a shape, a size, contour, a volume of the fruit tree, and a height difference between the canopy top of the fruit tree and the pesticide-spraying arm of the pesticide application unmanned ground vehicle.

[00129] The control station 521 is configured to share the remote sensing images and three-dimensional point cloud images of the plant protection unmanned aerial vehicle. After feature points of each image are extracted using the image splicing method based on SURF algorithm, image registration is performed according to the matching of the feature points, the images are copied to a specific position of a corresponding image, and a crack removal treatment is performed on overlapping boundaries so as to fuse the remote sensing images and three-dimensional point cloud images, and the target information is then extracted.

[00130] For the acquired target information, the control station 521 is configured to perform three-dimensional reconstruction on the orchard to be operated by programming with C++ language and writing functions with Opencv Opengl library based on the principle of three-dimensional modeling and reconstruct the canopy structure using an algorithm, so as to construct the three-dimensional model of the orchard to be operate, including geographic feature information such as information about an area, a topography, a fruit tree density, and orchard boundary of the orchard, and the fruit tree feature information such as a shape, a size, contour, a volume of the fruit tree, and a height difference between the height of the canopy top of the fruit tree and the height of the pesticide-spraying arm of the pesticide application unmanned ground vehicle, thereby providing complete coverage of orchard target information.

[00131] According to the actual situation, the synchronous operation path or asynchronous operation path of the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle are planned by a microprocessor in the control station of the pesticide application unmanned ground vehicle control station by using a visibility graph method. In an embodiment, the visibility graph method is a path planning algorithm based on environmental modeling.

[00132] In the case of synchronous operation, the control station 521 is configured to share the synchronous operation path with the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle, and control the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform pesticide-spraying operations on the same target simultaneously according to the synchronous operation path. The plant protection unmanned aerial vehicle is configured to operate the upper part of the canopy of the target fruit tree and operate the lower part of the canopy of the target fruit tree (which is an operating blind area of the plant protection unmanned aerial vehicle) by adjusting an angle of the pesticide-spraying arm of the collaborative operation pesticide-spraying control system 522 of the pesticide application unmanned ground vehicle to supplement pesticide-spraying, thereby providing complete coverage of the fruit trees with the liquid pesticide. Whether crosswind compensation is needed is set according to the weather conditions. Wind in the external environment will cause the pesticide drift. The wind speed and direction sensor 514 will transmit the wind speed information and wind direction information to the control station 521. After processing these wind speed information and wind direction information, the control station 521 issues instructions to perform crosswind compensation by adjusting an angle of the pesticide-spraying arm of the collaborative operation pesticide-spraying control system 522 of the pesticide application unmanned ground vehicle to complete pesticide-spraying and preventing-controlling tasks of the fruit tree.

[00133] In the case of asynchronous operation, the control station 521 is configured to share the asynchronous operation path with the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle. The plant protection unmanned aerial vehicle first operates quickly the upper part of the canopy of fruit tree of the orchard to be operated according to the asynchronous operation path as needed. The pesticide application unmanned ground vehicle receives the information and makes the next response, adjusts an angle of the pesticide-spraying arm of the collaborative operation pesticide-spraying control system 522 of the pesticide application unmanned ground vehicle according to the average value of the conventional down-wash airflow intensity of the plant protection unmanned aerial vehicle in the orchard, and operate the lower part of the canopy of the fruit tree (which is an operating blind area of the plant protection unmanned aerial vehicle) to supplement pesticide-spraying, thereby providing complete coverage of the fruit trees with the liquid pesticide and completing pesticide-spraying and preventing-controlling tasks of the fruit tree.

[00134] According to the feature information of the orchard and the fruit tree, through this embodiment, the collaborative operation path according to the actual situation may be flexibly planned, with a wider application range.

[00135] FIG. 7 is a schematic structural diagram of a pesticide application system based on air-ground collaboration provided by the present application. As shown in FIG. 7, the system mainly includes but not limited to the following units:

[00136] a target information acquirer 701 configured to acquire target information of an orchard to be operated;

[00137] a path planner 702 configured to determine a collaborative operation path between a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle based on the target information; and

[00138] a controller 703 configured to control the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path.

[00139] The target information acquirer 701 is configured to acquire target information of the orchard to be operated, the target information including geographic feature information and fruit tree feature information; the path planner 702 is configured to determine a collaborative operation path between a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle based on the target information; and the controller 703 is configured to control the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path.

[00140] Specifically, in practical applications, first, a positioning system on the plant protection unmanned aerial vehicle is adopted to position the orchard to be operated, and the image acquisition system 511 is adopted to scan and photograph the orchard to be operated to acquire remote sensing images and three-dimensional point cloud images of the orchard to be operated. Wherein, the geographic feature information of the orchard to be operated may be extracted from the remote sensing images, and the fruit tree feature information of the orchard to be operated may be extracted from the three-dimensional point cloud images.

[00141] The geographic feature information may include information such as information about an area, a topography, a fruit tree density, and orchard boundary of the orchard to be operated. The fruit tree feature information may include: a shape, a size, contour, a volume of the fruit tree, and a height difference ho between the canopy top of the fruit tree and the pesticide-spraying arm of the pesticide application unmanned ground vehicle.

[00142] Specifically, the plant protection unmanned aerial vehicle is small in size and strong in load capacity. When the plant protection unmanned aerial vehicle is used for aerial spraying of pesticide liquid, it has high working efficiency, and the down-wash airflow generated by its rotor helps enhance the penetration of liquid pesticide mist to fruit trees and a good control effect is provided.

[00143] In an embodiment, the positioning system may be one of the GPS positioning system, Beidou system, GLONASS system, or Galileo satellite navigation system. In the subsequent embodiments of the present application, the positioning using the GPS positioning system is taken as an example for description, which is not regarded as a limitation to the protection scope of the present application.

[00144] In an embodiment, the image acquisition device may be one of an infrared scanner, a line-scan camera, a depth camera, or a hyperspectral camera.

[00145] Further, a control station is configured to splice and fuse the remote sensing images, acquire the fusion information image, and the target information acquirer 701 is configured to extract the target information including geographic feature information and fruit tree feature information.

[00146] In an embodiment, after feature points of each image are extracted using the image splicing method based on SURF algorithm, image registration is performed according to the matching of the feature points, the images are copied to a specific position of a corresponding image, and a crack removal treatment is performed on overlapping boundaries so as to fuse the remote sensing images and three-dimensional point cloud images.

[00147] Further, according to the target information, first three-dimensional modeling of the orchard to be operated is performed, and then the path planner 702 is configured to perform a path search based on a path search algorithm to determine a walking path along which the predetermined performance function has optimal values, and the collaborative operation path between the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle is determined.

[00148] Wherein, the three-dimensional modeling of the orchard to be operated is intended to establish an environment model that is convenient for the computer to perform path planning, abstract the actual physical space into an abstract space that may be processed by the algorithm, and provide mutual mapping.

[00149] The searched path is not necessarily a feasible path that may be walked by the pesticide application unmanned ground vehicle, and is further processing and smoothing are required to make the searched path be a practical and feasible path.

[00150] In an embodiment, the path search algorithm may be one of Dijkstra algorithm, SPFA algorithm, Bellman-Ford algorithm, Floyd-Warshall algorithm, or Johnson algorithm.

[00151] In an embodiment, the path planning method may be one of a geometric method, a unit division method, an artificial potential field method, a grid method, and a digital analysis method.

[00152] Wherein, for the optimal values acquired by the performance function, the optimal value means that the shortest operation path between the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle is ensured while ensuring that the orchard to be operated is fully operated and there is no repeated operation or omitted operation.

[00153] Wherein, a down-wash airflow sensor 524 of the pesticide application unmanned ground vehicle is installed at the same level as the pesticide-spraying arm of the pesticide application unmanned ground vehicle.

[00154] Further, the controller 703 is configured to control the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path, and the plant protection unmanned aerial vehicle applies pesticides to the upper part of the fruit tree canopy of the orchard to be operated. According to the current intensity of the down-wash airflow, a part to which the plant protection unmanned aerial vehicle does not apply pesticide is determined, an angle to be adjusted for pesticide-spraying arm of the pesticide application unmanned ground vehicle is calculated to supplement spraying on the lower part of the fruit tree canopy to achieve a complete coverage of fruit trees with liquid pesticide.

[00155] In the pesticide application system based on air-ground collaboration, the collaborative operation path is planned according to the feature information of the orchard and fruit trees, and on this basis, the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle are controlled to perform collaborative operations according to the collaborative operation path. The pesticide application unmanned ground vehicle is employed, in an air-ground collaborative manner, to perform supplemental operation in the blind area of the plant protection unmanned aerial vehicle, and thus full coverage of the fruit trees with the liquid pesticide is provided, the utilization rate of the pesticides is maximized, negative effects due to unreasonable pesticide application are decreased, environmental pollution is reduced, pesticide spraying control methods and effects are optimized, fruit tree diseases and insect pests are effectively prevented, and stable fruit production and increase in yield are effectively ensured.

[00156] It should be noted that the pesticide application system based on air-ground collaboration provided by the embodiment of the present application can be implemented based on the pesticide application method based on air-ground collaboration of any of the foregoing embodiments during specific implementation, which is not described in detail in this embodiment.

[00157] Fig. 8 is a schematic structural diagram of an electronic apparatus according to the present application. As shown in FIG. 8, the electronic apparatus may include a processor 801, a communication interface 802, a memory 803, and a communication bus 804. The processor 801, the communication interface 802, and the memory 803 communicate with each other through the communication bus 804. The processor 801 may call the logic instructions in the memory 803 to perform the pesticide application method based on air-ground collaboration. The method includes:

[00158] acquiring target information of an orchard to be operated, the target information including geographic feature information and fruit tree feature information; determining a collaborative operation path between a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle based on the target information; and controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path.

[00159] In addition, the logic instructions in the memory 803 described above may be implemented in the form of a software functional unit and may be stored in a computer readable storage medium while being sold or used as a separate product. Based on such understanding, the technical solution of the present application or a part of the technical solution, which is essential or contributes to the prior art, may be embodied in the form of a software product, which is stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present application. The storage medium described above includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, a compact disk, and the like.

[00160] In another aspect, the present application further provides a computer program product, including: a computer program stored on a non-transient computer readable storage medium, the computer program includes program instructions causing the computer to perform the pesticide application method based on air-ground collaboration described above when the program instructions are executed by a computer. The method includes: acquiring target information of an orchard to be operated, the target information including geographic feature information and fruit tree feature information; determining a collaborative operation path between a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle based on the target information; and controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path.

[00161] In yet another aspect, the present application further provides a non-transient computer-readable storage medium, on which computer programs are stored, and the computer programs are executed by a processor to perform the pesticide application method based on air-ground collaboration described in various embodiments of the present application. The method includes:

[00162] acquiring target information of an orchard to be operated, the target information including geographic feature information and fruit tree feature information; determining a collaborative operation path between a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle based on the target information; and controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path.

[00163] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement the embodiments described above without paying creative labors.

[00164] Through the description of the embodiments above, those skilled in the art can clearly understand that the various embodiments can be implemented by means of software and a necessary general hardware platform, and of course, by hardware. Based on such understanding, the technical solution of the present application or a part of the technical solution, which is essential or contributes to the prior art, may be embodied in the form of a software product, which is stored in storage media such as

ROM/RAM, magnetic discs, compact discs, including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods in various embodiments or a part of the embodiments

[00165] Finally, it should be noted that the above embodiments are only used to explain the technical solutions of the present application, and are not limited thereto; although the present application is described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that they can still modify the technical solutions described in the foregoing embodiments and make equivalent substitutions to a part of the technical features, and these modifications and substitutions do not depart from the scope of the technical solutions of the embodiments of the present application.

Claims (11)

Claims:

1. A pesticide application method based on air-ground collaboration, comprising: acquiring target information of an orchard to be operated, the target information including geographic feature information and fruit tree feature information; determining a collaborative operation path between a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle based on the target information; and controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path.

2. The pesticide application method based on air-ground collaboration of claim 1, wherein the acquiring target information of an orchard to be operated comprises: acquiring remote sensing images containing the geographic feature information and three-dimensional point cloud images containing fruit tree feature information; and fusing the remote sensing images and the three-dimensional point cloud images based on a multi-sensor fusion technology to acquire fusion information images and extract the target information.

3. The pesticide application method based on air-ground collaboration of claim 1, wherein in a case that the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle perform synchronous operation, the controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path comprises: acquiring a first height difference between a first threshold height and a height of a pesticide-spraying arm of the pesticide application unmanned ground vehicle, the first threshold height being the relative height between a position where a critical threshold of down-wash airflow during synchronous operation is located and the ground; according to the first height difference and a vehicle-tree distance, acquiring an elevation angle, as a first angle, between the pesticide application unmanned ground vehicle and the position where the critical threshold of down-wash airflow during the synchronous operation is located, the vehicle-tree distance being a distance between the pesticide-spraying arm of the pesticide application unmanned ground vehicle and a target fruit tree; and adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the first angle based on a theoretical angle of the pesticide-spraying arm, the theoretical angle of the pesticide-spraying arm being determined based on a library function.

4. The pesticide application method based on air-ground collaboration of claim 1, wherein in a case that the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle perform asynchronous operation, the controlling the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path further comprises: acquiring a second height difference between a second threshold height and a height of a pesticide-spraying arm of the pesticide application unmanned ground vehicle, the second threshold height being the relative height between a position where a critical threshold of down-wash airflow during asynchronous operation is located and the ground; according to the second height difference and a vehicle-tree distance, determining an elevation angle, as a second angle, between the pesticide application unmanned ground vehicle and the position where a critical threshold of down-wash airflow during collaborative operation is located; and adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the second angle based on a theoretical angle of the pesticide-spraying arm.

5. The pesticide application method based on air-ground collaboration of claim 3, wherein after adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the first angle based on a theoretical angle of the pesticide-spraying arm, the method further comprises: according to a third height difference between a height of the plant protection unmanned aerial vehicle and a height of a canopy top of the target fruit tree based on current information about a wind speed and a wind direction, acquiring a liquid pesticide deviation angle, and determining a liquid pesticide deviation area; according to the target information, acquiring a fourth height difference between a height of the canopy top of the target fruit tree and a height of the pesticide-spraying arm of the pesticide application unmanned ground vehicle; according to the liquid pesticide deviation angle, the vehicle-tree distance and the fourth height difference, acquiring a difference, as a third angle, between an elevation angle of the pesticide application unmanned ground vehicle with respect to the liquid pesticide deviation area and the first angle; and according to the current information about a wind speed and a wind direction, adjusting the pesticide-spraying arm of the pesticide application unmanned ground vehicle upward by the third angle in a direction against the wind.

6. The pesticide application method based on air-ground collaboration of claim 3, wherein the first angle is calculated by the following equation:

6 =arctan

where 0, is the first angle, hi is the first threshold height, and L is the vehicle-tree distance.

7. The pesticide application method based on air-ground collaboration of claim 4, wherein the second angle is calculated by the following equation:

02=arctan(h2l 2 AL)

where 02 is the second angle, h2 is the second threshold height, and L is the vehicle-tree distance.

8. The pesticide application method based on air-ground collaboration of claim 5, wherein the third angle is calculated by the following equation:

fvdt)] - arctan(h Kvdt) 03 = arctan[(ho + h - fvdt / tan a) / (L + / L),

d a= arctanJ h'

where a is the liquid pesticide deviation angle, h is the third height difference, 03 is the third angle, ho is the fourth height difference between the height of the canopy top of the target fruit tree in the fruit tree feature information and the height of the pesticide-spraying arm of the pesticide application unmanned ground vehicle, and v is a wind speed in the current information about a wind speed and a wind direction, L is the vehicle-tree distance, and hi is the first threshold height.

9. A pesticide application system based on air-ground collaboration, comprising: a target information acquirer configured to acquire target information of an orchard to be operated; a path planner configured to determine a collaborative operation path between a plant protection unmanned aerial vehicle and a pesticide application unmanned ground vehicle based on the target information; and a controller configured to control the plant protection unmanned aerial vehicle and the pesticide application unmanned ground vehicle to perform collaborative operations according to the collaborative operation path.

10. An electronic apparatus comprising a memory, a processor, and computer programs stored on the memory and executable on the processor, wherein the processor is configured to perform steps of the pesticide application method based on air-ground collaboration of any one of claims 1 to 8 when executing the computer programs.

11. A non-transient computer-readable storage medium, on which computer programs are stored, wherein steps of the pesticide application method based on air-ground collaboration of any one of claims 1 to 8 are implemented when the computer programs are executed by a processor.