CN116501092A

CN116501092A - Aviation pesticide application control method and system

Info

Publication number: CN116501092A
Application number: CN202310765139.4A
Authority: CN
Inventors: 陈立平; 徐刚; 张瑞瑞; 伊铜川; 孔祥宁
Original assignee: Intelligent Equipment Technology Research Center of Beijing Academy of Agricultural and Forestry Sciences
Current assignee: Intelligent Equipment Technology Research Center of Beijing Academy of Agricultural and Forestry Sciences
Priority date: 2023-06-27
Filing date: 2023-06-27
Publication date: 2023-07-28
Anticipated expiration: 2043-06-27
Also published as: CN116501092B

Abstract

The invention provides an aviation pesticide application control method and system, which belong to the technical field of agricultural information and comprise the following steps: controlling an aircraft to perform single pesticide application in a pesticide application area, and determining a reference route; the starting point and the ending point of the reference route are the positions of the airplane when the drug application is started and the drug application is ended respectively; determining a first boundary and a second boundary based on the reference course; the first boundary and the second boundary are straight lines perpendicular to the reference route and passing through the starting point and the ending point respectively; and acquiring flight parameters, and generating a guiding route for controlling the operation of the aircraft. According to the invention, the aircraft is controlled to perform single-time pesticide application to determine the reference route so as to divide a group of opposite boundaries in the pesticide application area, and the guide route is generated in real time by combining the current flight parameters of the aircraft so as to guide the aircraft to perform aviation pesticide application, so that specific position information of the pesticide application area does not need to be acquired in advance, and a fixed pesticide application route does not need to be generated in advance.

Description

Aviation pesticide application control method and system

Technical Field

The invention relates to the technical field of agricultural information, in particular to an aviation pesticide application control method and system.

Background

The aviation pesticide application becomes an important means in the current crop plant protection management link due to the characteristics of high efficiency, strong water and pesticide saving capability, wide terrain adaptation and the like.

At present, in the operation process of aviation pesticide application, a pesticide application area needs to be acquired in advance, and then a generation mode of a pesticide application route is selected, so that a fixed pesticide application route is generated, and the defect of complicated operation exists. Moreover, because the aviation application area is wide and the time is urgent, the application area is difficult to quickly and accurately obtain, and because the application route is relatively fixed once generated, the operation difficulty in the actual application operation process is often increased.

In view of the foregoing, there is a need in the art for an aviation administration control method that overcomes the above-mentioned drawbacks of the prior art.

Disclosure of Invention

The invention provides an aviation drug administration control method and an aviation drug administration control system, which are used for solving the defects of complex operation and relatively fixed pre-generated drug administration route in the prior art.

In a first aspect, the present invention provides an aerial delivery control method comprising: controlling the aircraft to perform single application in the rectangular application area so as to determine a reference route; the single application is vertical to any boundary of the rectangular application area and is performed through the rectangular application area; the starting point and the ending point of the reference route are the positions of the airplane when the single application starts and ends; determining a first boundary and a second boundary of the rectangular application area based on the reference course; the first boundary is a straight line perpendicular to the reference course and passing through the starting point of the reference course; the second boundary is a straight line perpendicular to the reference course and passing through the end point of the reference course; and acquiring the current flight parameters of the aircraft to generate a guiding route in the rectangular pesticide application area according to the current flight parameters so as to control the aircraft to execute aviation pesticide application operation.

According to the aviation administration control method provided by the invention, the position of the aircraft when the single administration starts to administer the medicine is the position when the slope of a spray flow change curve is a positive value and the spray flow of the aircraft is a first preset flow in the process of executing the single administration by the aircraft; correspondingly, the position of the aircraft when the single application is finished is the position when the slope of the spray flow rate change curve is a negative value and the spray flow rate of the aircraft is a second preset flow rate in the process of executing the single application by the aircraft; the first preset flow rate is the same as or different from the second preset flow rate.

According to the method for controlling aviation administration provided by the invention, the current flight parameters of the aircraft are obtained, so that a guiding route is generated in the rectangular administration area according to the current flight parameters, and the method comprises the following steps: acquiring current flight parameters of the aircraft; acquiring a first distance between the aircraft and the reference course if the aircraft is determined to be outside the rectangular application area; acquiring a first characteristic value, wherein the first characteristic value is determined based on the multiplying power between the first distance and the spraying breadth of the aircraft; correcting the first characteristic value based on the flight direction information of the aircraft to obtain a second characteristic value; generating a lead pattern parallel to the reference pattern within the rectangular application area if it is determined that the second characteristic value is not present within the marker array; wherein a distance between the pilot pattern and the reference pattern is determined by the second characteristic value and the spray breadth; the mark array is used for recording characteristic values corresponding to different airlines.

According to the method for controlling aviation administration provided by the invention, the first characteristic value is corrected based on the flight direction information of the aircraft, and a second characteristic value is obtained, and the method comprises the following steps: when the flight direction information is determined to be far away from the reference route, adding one to the absolute value of the first characteristic value to be used as the second characteristic value; and when the flight direction information is determined to be close to the reference route, the first characteristic value is taken as the second characteristic value.

The aviation administration control method provided by the invention further comprises the following steps: under the condition that the second characteristic value exists in the mark array, correcting the second characteristic value according to the flight direction information to obtain a third characteristic value; and re-determining whether the third characteristic value exists in the mark array or not until determining that the third characteristic value does not exist in the mark array.

According to the aviation administration control method provided by the invention, the second characteristic value is corrected according to the flight direction information, and a third characteristic value is obtained, and the aviation administration control method comprises the following steps: when the flight direction information is determined to be far away from the reference route, adding one to the absolute value of the second characteristic value to be used as the third characteristic value; and when the flight direction information is determined to be close to the reference route, subtracting one from the absolute value of the second characteristic value as the third characteristic value.

According to the aviation administration control method provided by the invention, under the condition that the second characteristic value does not exist in the mark array, after generating a guiding route parallel to the reference route in the rectangular administration area, the aviation administration control method comprises the following steps: if the flight direction information of the aircraft is determined to be close to any one of the first boundary and the second boundary again, determining a first characteristic point; the first characteristic point is determined based on an intersection closest to the aircraft among two intersections of the guide route with the first boundary and the second boundary; acquiring a second distance between the aircraft and the first characteristic point; determining a spraying preparation time according to the flight speed of the aircraft and the second distance; and starting the spraying device of the aircraft under the condition that the spraying preparation time is not more than a preset spraying starting delay.

The aviation administration control method provided by the invention further comprises the following steps: determining a first timing moment and a second timing moment; starting a spraying device of the aircraft at the first timing moment, wherein the slope of a spraying flow rate change curve at the second timing moment is a positive value, and the spraying flow rate of the aircraft is a third preset flow rate; updating the spraying start delay according to the duration between the first timing moment and the second timing moment; the third preset flow is calculated based on the flight speed, the spraying breadth and the preset unit area application rate of the airplane.

According to the aviation administration control method provided by the invention, after the spraying device of the aircraft is started under the condition that the spraying preparation time is not longer than the preset spraying starting delay, the method comprises the following steps: determining a third distance between the aircraft and the first feature point when the aircraft enters the rectangular application area; the second characteristic value is added to the tag array in the event that the third distance is determined to be less than half the spray width.

According to the aviation administration control method provided by the invention, when the third distance is determined to be less than half of the spraying width, the second characteristic value is added to the mark array, and then the aviation administration control method comprises the following steps: after determining that the aircraft enters the rectangular application area, determining a target boundary from the first boundary and the second boundary according to the flight direction information of the aircraft; the target boundary is the boundary closest to the aircraft when the aircraft leaves the rectangular application area; acquiring the distance between the aircraft and the target boundary as a fourth distance; determining a spraying stopping time according to the flight speed of the aircraft and the fourth distance; and stopping the spraying device of the aircraft under the condition that the spraying stopping time is not longer than a preset spraying stopping delay.

According to the aviation administration control method provided by the invention, the third timing moment and the fourth timing moment are determined; stopping the spraying device of the aircraft at the third timing moment, wherein the slope of the spraying flow rate change curve at the fourth timing moment is a negative value and the spraying flow rate of the aircraft is a fourth preset flow rate; updating the spraying stopping delay according to the duration between the third timing moment and the fourth timing moment; the fourth preset flow is calculated based on the flight speed of the airplane, the spraying breadth and the preset unit area application amount.

According to the aviation administration control method provided by the invention, under the condition that the aircraft is determined to be outside the rectangular administration area and the flight direction information of the aircraft is far away from any one of the first boundary and the second boundary, the spraying device of the aircraft is stopped again, and the current flight parameters of the aircraft are acquired again until the aircraft finishes executing aviation administration operation in the rectangular administration area.

In a second aspect, the present invention also provides an aerial delivery control system comprising: the system comprises a processor, a flow sensor for acquiring the spraying flow of the aircraft, and a navigation module for acquiring the current flight parameters of the aircraft; the processor is used for executing the following steps: controlling the aircraft to perform single application in a rectangular application area so as to determine a reference route; the single application is vertical to any boundary of the rectangular application area and is performed through the rectangular application area; the starting point and the ending point of the reference route are the positions of the airplane when the single application starts and ends; determining a first boundary and a second boundary of the rectangular application area based on the reference course; the first boundary is a straight line perpendicular to the reference course and passing through the starting point of the reference course; the second boundary is a straight line perpendicular to the reference course and passing through the end point of the reference course; and acquiring the current flight parameters of the aircraft to generate a guiding route in the rectangular pesticide application area according to the current flight parameters so as to control the aircraft to execute aviation pesticide application operation.

The invention provides an aviation administration control system, which further comprises a flow control unit; the flow control unit comprises a controller, a three-way flow control valve and a return pipeline; the processor controls the aircraft to perform aerial pesticide delivery operations, including: when the controller receives a start spraying instruction sent by the processor, responding to the start spraying instruction, and setting the opening of the three-way flow control valve; the start spraying instruction carries flight speed information of the aircraft; and when the controller receives a spraying stopping instruction sent by the processor, responding to the spraying stopping instruction, and controlling the three-way flow control valve to completely turn to the return pipeline.

According to the aviation pesticide application control method and system, the aircraft is controlled to perform single pesticide application to determine the reference route so as to divide a group of opposite boundaries in the pesticide application area, and the guide route is generated in real time by combining the current flight parameters of the aircraft so as to guide the aircraft to perform aviation pesticide application, so that specific position information of the pesticide application area does not need to be acquired in advance, and a fixed pesticide application route does not need to be generated in advance, the operation is simple and convenient, and the pesticide application route in the operation process is more flexible.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of an aerial delivery control method provided by the invention;

FIG. 2 is a schematic illustration of a single application operation provided by the present invention;

FIG. 3 is a schematic representation of the generation of a pilot pattern provided by the present invention;

FIG. 4 is a schematic structural view of an aeronautical application control system provided by the present invention;

fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that in the description of embodiments of the present invention, 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. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The terms "first," "second," and the like in this application are used for distinguishing between similar objects and not for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more.

The following describes an aviation administration control method and system provided by the embodiment of the invention with reference to fig. 1 to 5.

Fig. 1 is a schematic flow chart of the aerial pesticide application control method provided by the invention, as shown in fig. 1, including but not limited to the following steps:

step 101: the aircraft is controlled to perform single application in a rectangular application area to determine a reference course.

Wherein, the single application refers to a mode of starting from any boundary of a vertical rectangular application area and applying the medicine through the rectangular application area; the starting point and the ending point of the reference route are the positions of the airplane when the single administration starts and ends.

Specifically, when the aircraft starts to start aviation application operation to the rectangular application area in any land block, the aircraft can be controlled to enter at any one of four boundaries of the rectangular application area, and single application is performed through the rectangular application area in a direction perpendicular to any one boundary.

Further, by controlling the aircraft to perform a single application, a reference route may be determined, and the start and end points of the reference route may be determined by the location of the aircraft when the aircraft begins and ends the application during the single application.

Alternatively, the aircraft may be any one of a helicopter, a manned fixed wing aircraft, or the like, for piloted agricultural aircraft.

Fig. 2 is a schematic diagram of a single-application operation provided by the invention, and as shown in fig. 2, when an aircraft is controlled to start aviation application operation to a rectangular application area in any land, the aircraft is controlled to perform single-application in a direction perpendicular to any boundary of the rectangular application area, and a reference route is determined according to the aircraft position when the application is started and finished.

Step 102: a first boundary and a second boundary of the rectangular application area are determined based on the reference course.

Wherein the first boundary may be a straight line perpendicular to the reference course and passing through the start point of the reference course; the second boundary may be a straight line perpendicular to the reference course and passing through the end of the reference course.

Specifically, after the reference route is determined, the first boundary and the second boundary of the rectangular pesticide application area can be further determined based on the starting point and the ending point of the reference route, and then the aircraft aviation pesticide application operation area is determined. As shown in fig. 2, the first boundary is determined to be the lower side of the rectangular application area and the second boundary is determined to be the upper side of the rectangular application area.

Step 103: the method comprises the steps of obtaining current flight parameters of an aircraft to generate a guiding route in a rectangular pesticide application area according to the current flight parameters so as to control the aircraft to execute aviation pesticide application operation.

Specifically, after the first boundary and the second boundary of the rectangular application area are determined, the current flight parameters of the aircraft can be obtained according to a preset sampling frequency. The current flight parameters of the aircraft may include current geographic location information and flight direction information of the aircraft.

Further, a pilot route is generated in real time in the rectangular application area according to the current flight parameters of the aircraft, and is provided for a pilot for controlling the aircraft to execute aviation application operation according to the pilot route.

Alternatively, the flight parameters may include the geographic location of the aircraft, the speed of flight, and the direction of flight.

Whether the aircraft is in the rectangular pesticide application area can be judged according to the geographical position of the aircraft, whether the aircraft is far away from or close to the rectangular pesticide application area can be judged according to the flight direction of the aircraft, the spraying flow of the aircraft can be controlled according to the flight speed of the aircraft, the distance of the aircraft reaching any boundary can be judged by combining the geographical position and the flight direction of the aircraft, and the time required for the aircraft to reach any boundary can be calculated by combining the geographical position, the flight speed and the flight direction of the aircraft.

FIG. 3 is a schematic representation of the generation of a pilot pattern provided by the present invention, as shown in FIG. 3, wherein after a reference pattern is determined, the aircraft begins to perform an aircraft application operation following the pilot pattern generated in real time, wherein the distance between each generated pilot pattern and the reference pattern is determined by the spray breadth of the aircraft.

Further, as shown in fig. 3, after the aircraft has completed the aviation administration task of the two historical guiding routes, after the current geographical position information and the flight direction information of the aircraft are obtained, the next guiding route can be generated in real time and provided for the pilot, so that the pilot can go to the guiding route and execute aviation administration operation.

Therefore, compared with the prior art in which the aerial delivery work is performed, the delivery area needs to be acquired in advance, and a fixed delivery route needs to be generated in advance, the delivery route cannot be changed in the actual working process, and a driver needs to work according to the fixed delivery route. According to the aviation pesticide application control method provided by the invention, a pesticide application area is not required to be acquired in advance, and the aircraft can be controlled to enter the rectangular pesticide application area of any land block and then perform single pesticide application so as to determine a reference route, determine a first boundary and a second boundary according to the starting point and the ending point of the reference route, and finally determine an operation area.

Furthermore, the guiding route can be generated in real time according to the current flight parameters of the aircraft, for example, when the wind direction of a certain area in the rectangular pesticide application area is not suitable for aviation pesticide application, a pilot can temporarily not perform aviation pesticide application operation on the area and go to other areas, and by identifying the current geographic position information and the current flight direction information of the aircraft, a proper guiding route can be flexibly generated so as to control the aircraft to execute aviation pesticide application operation, and the operation is not required to be performed according to a fixed pesticide application route, so that the flexibility of the whole aviation pesticide application operation is improved.

According to the aviation pesticide application control method provided by the invention, the aircraft is controlled to perform single pesticide application to determine the reference route so as to divide a group of opposite boundaries in the pesticide application area, and the guiding route is generated in real time by combining the current flight parameters of the aircraft so as to guide the aircraft to perform aviation pesticide application, so that specific position information of the pesticide application area does not need to be acquired in advance, and a fixed pesticide application route does not need to be generated in advance, the operation is simple and convenient, and the pesticide application route in the operation process is more flexible.

Based on the foregoing embodiments, as an alternative embodiment, the position of the aircraft when the single application begins is a position when the slope of the spray flow rate change curve is a positive value and the spray flow rate of the aircraft is a first preset flow rate during the execution of the single application by the aircraft.

Correspondingly, the position of the airplane when the single application is finished is the position when the slope of the spray flow change curve is a negative value and the spray flow of the airplane is a second preset flow in the single application process of the airplane.

Wherein the first preset flow rate is the same as or different from the second preset flow rate.

Specifically, when the aircraft is controlled to perform single application in a rectangular application area to determine a reference route, the slope of the spray flow change curve is determined to be a positive value, and the position of the aircraft when the spray flow is a first preset flow is used as the position of the aircraft where the application of the pesticide is started, so that the starting point of the reference route can be determined.

The slope of the spray flow change curve is a positive value, which indicates that the spray flow of the current aircraft is continuously increased, and the first preset flow can be preset according to the use requirement of a specific scene, for example, can be preset to be 50% of the maximum spray flow of the aircraft.

Further, the position when the slope of the spray flow rate change curve is negative and the spray flow rate of the aircraft is the second preset flow rate can be determined to be the position when the aircraft finishes the application of the pesticide, so that the end point of the reference route can be determined.

The slope of the spray flow rate change curve is a negative value, which indicates that the spray flow rate of the current aircraft is continuously reduced, and the second preset flow rate may be preset according to the use requirement of a specific scene, for example, may be preset to be 60% of the maximum spray flow rate of the aircraft.

It should be noted that the first preset flow rate and the second preset flow rate may be set to be the same or different, for example, both set to be 50%.

According to the aviation pesticide application control method provided by the invention, the moment of starting pesticide application and finishing pesticide application is determined through the spraying flow change trend and the spraying flow of the airplane, so that the position of the airplane is determined, the reference route is determined, a group of opposite boundaries in a rectangular pesticide application area are determined later, and support is provided for generating the guiding route.

Based on the foregoing embodiment, as an alternative embodiment, obtaining a current flight parameter of the aircraft to generate a guidance route within the rectangular application area according to the current flight parameter includes:

the current flight parameters of the aircraft are obtained.

In the event that the aircraft is determined to be outside of the rectangular application area, a first distance between the aircraft and the reference course is obtained.

A first characteristic value is obtained, the first characteristic value being determined based on a multiplying power between the first distance and a spray breadth of the aircraft.

And correcting the first characteristic value based on the flight direction information of the airplane, and acquiring a second characteristic value.

In the event that it is determined that the second characteristic value is not present within the marker array, a guiding course is generated within the rectangular application area that is parallel to the reference course.

Wherein the distance between the pilot pattern and the reference pattern is determined by the second characteristic value and the spray width.

The mark array is used for recording the characteristic values corresponding to different airlines.

Specifically, when generating a guiding route in a rectangular application area according to the current flight parameters of the aircraft, if the aircraft is determined to be out of the rectangular area, namely, if the aircraft is determined not to start aviation application operation, a first distance between the aircraft and a reference route is acquired.

Further, a first characteristic value is obtained, wherein the first characteristic value is determined based on the multiplying power between the first distance and the spraying breadth of the airplane, and specifically comprises the following steps: and dividing the first distance by the spraying breadth of the airplane, and rounding down the calculated quotient to obtain a first characteristic value.

For example, when the first distance between the aircraft and the reference route is 80m and the spraying breadth of the aircraft is 15m, the quotient calculated by dividing the first distance and the spraying breadth of the aircraft is 5.33, and the quotient is rounded down to obtain 5 as the first characteristic value.

It should be noted that the first eigenvalue may have ±symbol for representing the direction, and when the first eigenvalue is positive, i.e. the symbol is +a, it may represent that the aircraft is located on the right side of the reference route; when the first characteristic value is negative, i.e. the sign is-it may be characterized that the aircraft is to the left of the reference course.

Further, the first characteristic value is corrected based on the acquired flight direction information of the aircraft, so that a second characteristic value is acquired.

As an alternative embodiment, when it is determined that the flight direction information of the aircraft is far from the reference course, the absolute value of the first characteristic value is increased by one as the second characteristic value.

For example, when the calculated first characteristic value is-7 and the flight direction information of the aircraft is determined to be far away from the reference route, the absolute value of the first characteristic value is added by one, and the obtained-8 is taken as the second characteristic value.

Optionally, a global navigation satellite system (Global Navigation Satellite System, GNSS) module may be installed on the aircraft, and according to the flight direction information acquired by the GNSS module and the position information of the reference route, it may be determined whether the flight direction information of the aircraft is far from the reference route.

As another alternative embodiment, when the flight direction information of the aircraft is determined to be close to the reference course, the first characteristic value is kept unchanged as the second characteristic value. Wherein the flight direction information is determined to be near the reference course as the distance between the aircraft and the reference course continues to decrease.

For example, when the calculated first characteristic value is +6, and the flight direction information of the aircraft is determined to be close to the reference route, +6 is kept unchanged and is used as the second characteristic value.

Further, after the second characteristic value is obtained, whether the second characteristic value exists is queried in the tag array. The mark array is used for recording characteristic values corresponding to different airlines.

It should be noted that, each characteristic value recorded in the tag array corresponds to each route on which spraying is completed, for example, the characteristic value of the reference route corresponds to 0.

Alternatively, after the reference course is determined, a marker array may be created and the characteristic value 0 recorded therein. Wherein the tag array may be set as an integer array hash table.

Further, in the case that it is determined that the second characteristic value does not exist in the marker array, that is, it is determined that the guiding route corresponding to the second characteristic value has not performed the aerial pesticide application operation, the guiding route parallel to the reference route is generated in the rectangular pesticide application area. Wherein the distance between the generated pilot pattern and the reference pattern is determined by the second characteristic value and the spray breadth.

It should be noted that the spraying width of the aircraft may be preset before the aviation administration operation is started, so that the spraying width of each aircraft is kept unchanged when the aircraft carries out aviation administration spraying, and the distance between two adjacent guiding routes is a single spraying width.

Optionally, the distance between the generated pilot pattern and the reference pattern is obtained by multiplying the absolute value of the second characteristic value by the spray width, the sign of the second characteristic value then representing the specific direction of the generated pilot pattern. For example, when the second characteristic value is 0, the corresponding route is the reference route; when the second characteristic value is +4, the corresponding guiding route is positioned on the right side of the reference route, and the distance between the guiding route and the reference route is 4 times of the spraying breadth; when the second characteristic value is-2, the corresponding guiding route is positioned at the left side of the reference route, and the distance between the guiding route and the reference route is 2 times of the spraying breadth.

As an alternative embodiment, in case it is determined that the second eigenvalue exists in the marker array, the second eigenvalue is corrected according to the flight direction information, and the third eigenvalue is obtained.

And re-determining whether the third characteristic value exists in the mark array until it is determined that the third characteristic value does not exist in the mark array.

Specifically, if it is determined that the second characteristic value exists in the marker array, that is, if the guiding route corresponding to the second characteristic value is sprayed, the second characteristic value is corrected according to the flight direction information of the aircraft, so as to obtain a third characteristic value.

Further, when it is determined that the route corresponding to the second characteristic value is already sprayed, a third characteristic value is obtained by correcting the second characteristic value, whether the third characteristic value exists in the marker array is determined again, and the route is found out that the spraying is not completed until the third characteristic value does not exist in the marker array.

As an alternative embodiment, the absolute value of the second characteristic value is increased by one as the third characteristic value when the flight direction information is determined to be far from the reference course.

Since the flight direction information of the aircraft is far from the reference route, the distance between the guide route to be generated and the reference route is increased, the absolute value of the corresponding second characteristic value is increased, and by setting the absolute value of the second characteristic value to be increased by one, whether the guide route closest to the aircraft is sprayed or not can be sequentially determined until the nearest non-sprayed guide route is found.

As another alternative embodiment, the absolute value of the second characteristic value is subtracted by one as the third characteristic value when the flight direction information is determined to be close to the reference course.

Since the flight direction information of the aircraft is close to the reference route, the distance between the guide route to be generated and the reference route is reduced, the absolute value of the corresponding second characteristic value is also reduced, and by setting the absolute value of the second characteristic value to be reduced, whether the guide route closest to the aircraft is sprayed or not can be sequentially determined until the nearest non-sprayed guide route is found.

Further, in the case where it is determined that the third characteristic value does not exist in the tag array, a distance between the generated pilot pattern and the reference pattern may be determined based on a product between the third characteristic value and the spray width.

For example, the obtained second characteristic value is +4, the flight direction information of the aircraft is far from the reference route, and +4, +5, +6 are already present in the marker array, then the second characteristic value is corrected to +7 and used as a third characteristic value to generate a guiding route corresponding to the characteristic value of +7, and the guiding route is provided to a driver so as to guide and control the aircraft to go to the most suitable guiding route to execute aviation administration operation.

According to the aviation pesticide application control method provided by the invention, the first distance between the aircraft and the reference route is obtained, the multiplying power between the first distance and the spraying breadth is calculated to be used as a first characteristic value, the first characteristic value is corrected through the flight direction to be used as a second characteristic value, whether the second characteristic value exists or not is inquired in the mark array, the guide route corresponding to the second characteristic value is generated if the second characteristic value does not exist, and the correction is continued until the finally obtained third characteristic value is not recorded in the mark array, so that the most suitable guide route closest to the aircraft is generated in real time based on the geographical position information of the aircraft, and the flexibility of aviation pesticide application operation is improved.

Based on the foregoing embodiment, as an alternative embodiment, after determining that the second characteristic value does not exist in the marker array, generating a guiding route parallel to the reference route in the rectangular application area includes:

if the flight direction information of the aircraft is determined to be close to any one of the first boundary and the second boundary again, determining a first characteristic point; the first feature point is determined based on an intersection closest to the aircraft among two intersections of the pilot route with the first boundary and the second boundary.

And acquiring a second distance between the aircraft and the first characteristic point.

And determining the spraying preparation time according to the flight speed of the airplane and the second distance.

And starting the spraying device of the aircraft under the condition that the spraying preparation time is not more than the preset spraying starting delay.

Specifically, after a guiding route is generated in a rectangular pesticide application area, current flight parameters of the aircraft are acquired again according to a preset sampling frequency, and if the flight direction information of the aircraft is determined to be close to any one of a first boundary and a second boundary, a first characteristic point is determined. The first characteristic point is determined based on the intersection point closest to the aircraft among two intersection points of the generated guide route and the first boundary and the second boundary.

For example, when the aircraft is closest to the first boundary, the intersection of the generated lead line and the first boundary is determined to be the first feature point.

Further, a second distance between the aircraft and the first feature point is obtained, so that the spraying preparation time is determined according to the second distance and the flight speed of the aircraft. Wherein the spraying preparation time can be obtained by a quotient between the second distance and the flight speed of the aircraft.

For example, if the acquired second distance is 60m and the flying speed of the aircraft is 10m/s, the spraying preparation time period can be calculated to be 6s.

And starting the spraying device of the aircraft under the condition that the spraying preparation time is not more than the preset spraying starting delay. Because the spraying device of the aircraft often receives the start spraying instruction, the spraying can be started not at the first time, but the pesticide in the pesticide box needs to be circulated to the spraying device, and then the spraying is started by pressurizing a spraying pump.

Therefore, by presetting the spraying start delay and comparing the spraying preparation time with the spraying start delay, when the aircraft approaches any boundary, the spraying preparation time is continuously reduced until the spraying preparation time is not longer than the preset spraying start delay, the spraying device of the aircraft can be started, and when the spraying start delay (for example, 3 seconds) is reached, the spraying device of the aircraft is started, and spraying is started.

According to the aviation pesticide application control method, the spraying preparation time is obtained, and the spraying device of the aircraft is started in advance under the condition that the spraying preparation time is not longer than the preset spraying start delay, so that when the aircraft enters the operation area, the spraying device can start spraying just after the start, the situation that other pesticide application areas are subjected to pesticide damage due to early start is avoided, the situation that pest and disease damage cannot be effectively prevented and controlled due to late start is avoided, and the aviation pesticide application operation effect is improved.

Based on the content of the above embodiment, as an alternative embodiment, further includes:

determining a first timing moment and a second timing moment; and starting the spraying device of the aircraft at the first timing moment, wherein the slope of the spraying flow change curve is positive value and the spraying flow is a third preset flow at the second timing moment.

And updating the spraying start delay according to the duration between the first timing moment and the second timing moment.

The third preset flow is calculated based on the flight speed of the airplane, the spraying breadth and the preset unit area application rate.

Specifically, when it is determined that the spraying preparation time is not longer than a preset spraying start delay and the spraying device of the aircraft is started, the current time is recorded as a first timing time. And when the slope of the spray flow rate change curve of the airplane is a positive value and the spray flow rate is a third preset flow rate, recording the current moment as a second timing moment.

The slope of the spray flow change curve is a positive value to indicate that the spray flow of the aircraft is continuously increased, and the third preset flow is calculated based on the preset percentage of the product result among the flight speed of the aircraft, the spray breadth and the preset application amount per unit area. For example, when the preset percentage is set to 50%, the third preset flow rate is 50% of the product of the flying speed, the spray width and the application amount per unit area.

Further, the spray initiation delay is updated based on a duration between the first timing instant and the second timing instant. For example, the preset spraying start delay is 3 seconds, but the calculated time is 5 seconds according to the duration between the first timing moment and the second timing moment, which indicates that the start time required by the current spraying device of the aircraft is 5 seconds, the spraying start delay can be updated to be 5 seconds according to the duration result, and then the start time of the spraying device of the aircraft can be better controlled when the aviation pesticide application operation process is executed next time, so that the situation that the spraying device is started too early or too late is avoided.

Because the aviation pesticide application operation of the aircraft is continuously executed, the pesticide liquid level in the aircraft pesticide box gradually decreases, correspondingly, when the spraying is started, the required pumping pressure is also larger and larger, the required starting time is longer and longer, and if the preset spraying starting delay is still kept unchanged, the aviation pesticide application operation effect of the aircraft is seriously affected.

According to the aviation pesticide application control method provided by the invention, the spraying start delay is continuously updated according to the current time required by starting the spraying device of the aircraft by calculating the time between the first timing time and the second timing time, so that the actual operation condition of the aircraft and the starting time of the spraying device are effectively matched, and the aviation pesticide application operation effect of the aircraft can be ensured.

Based on the foregoing embodiments, as an alternative embodiment, after the sprinkler of the aircraft is started in a case where it is determined that the spraying preparation time period is not greater than the preset spraying start delay, the method includes:

and determining a third distance between the aircraft and the first characteristic point when the aircraft enters the rectangular application area.

In the event that the third distance is determined to be less than half the spray width, the second characteristic value is added to the array of indicia.

In particular, after actuation of the spraying device of the aircraft, the aircraft will continue to approach either boundary and determine a third distance between the aircraft and the first characteristic point when the aircraft enters the rectangular application area.

Further, under the condition that the third distance is determined to be smaller than half of the spraying breadth of the aircraft, the generated second characteristic value corresponding to the guiding route is added to the mark array, and the fact that the current guiding route is about to finish executing the aviation application operation is indicated.

And if the third distance is not less than half of the spraying width of the aircraft, the second characteristic value corresponding to the generated guide route is not added to the mark array, and the fact that the current aircraft does not execute the aviation pesticide application operation according to the expected guide route is indicated, wherein the aviation pesticide application operation is not completed by the guide route.

According to the aviation administration control method provided by the invention, whether the second characteristic value corresponding to the guiding route is added to the mark array is determined by comparing the third distance with half of the spraying width of the airplane, so that the guiding route which is completed to execute aviation administration operation can not be generated again when the guiding route is generated every time later, and the aviation administration operation efficiency is improved.

Based on the foregoing embodiment, as an alternative embodiment, after determining that the third distance is less than half of the spray width, adding the second feature value to the tag array includes:

after the aircraft is determined to enter the rectangular application area, determining a target boundary from the first boundary and the second boundary according to the flight direction information of the aircraft; the target boundary is the boundary closest to the aircraft when the aircraft leaves the rectangular application area.

And acquiring the distance between the aircraft and the boundary of the target as a fourth distance.

And determining the spraying stopping time according to the flight speed of the airplane and the fourth distance.

And stopping the spraying device of the aircraft under the condition that the spraying stopping time is not longer than the preset spraying stopping delay.

Specifically, under the condition that the third distance is smaller than half of the spraying width, adding the second characteristic value to the mark array, acquiring the current flight parameter of the aircraft again according to the preset sampling frequency, and determining the target boundary from the first boundary and the second boundary according to the flight direction information of the aircraft after determining that the aircraft enters the rectangular application area. The target boundary is the boundary closest to the aircraft when the aircraft leaves the rectangular application area, namely the boundary facing the aircraft after the aircraft enters the rectangular application area.

For example, when the aircraft leaves the rectangular application area closest to the first boundary, the first boundary is determined to be the target boundary.

Further, a fourth distance between the aircraft and the target boundary is obtained, so that the spraying stopping time is determined according to the fourth distance and the flight speed of the aircraft. Wherein, the quotient between the fourth distance and the flying speed of the airplane can be used as the spraying stopping duration.

For example, the fourth distance is 50m, the flight speed of the aircraft is 10m/s, and the spraying stop time period is 5s.

And stopping the spraying device of the aircraft under the condition that the spraying stopping time is not longer than the preset spraying stopping delay. Because the spraying device of the aircraft often receives the spraying stopping instruction, the spraying can be stopped not immediately, but gradually the opening of the valve is required to be reduced, so that the pesticide in the pesticide tank stops flowing to the spraying device.

Therefore, by presetting the spraying stopping delay and comparing the spraying stopping time length with the spraying stopping delay, when the aircraft approaches the target boundary, the spraying stopping time length is continuously reduced until the spraying stopping time length is not more than the preset spraying stopping delay, the spraying device of the aircraft can be started to stop, and when the spraying stopping delay (for example, the spraying device of the aircraft can be set to 3 seconds) is reached, the aircraft stops spraying.

According to the aviation pesticide application control method, the spraying device of the aircraft is stopped in advance under the condition that the spraying stopping time is not longer than the preset spraying stopping delay, so that the spraying device is stopped just when the aircraft leaves an operation area, the situation that other pesticide application areas are subjected to pesticide damage caused by too-late stopping is avoided, the situation that the pesticide cannot be effectively prevented and controlled caused by too-early stopping is avoided, and the aviation pesticide application operation effect is improved.

determining a third timing moment and a fourth timing moment; and stopping the spraying device of the aircraft at the third timing moment, wherein the slope of the spraying flow rate change curve at the fourth timing moment is a negative value, and the spraying flow rate is a fourth preset flow rate.

And updating the spraying stopping delay according to the duration between the third timing moment and the fourth timing moment.

The fourth preset flow is calculated based on the flight speed of the airplane, the spraying breadth and the preset unit area application rate.

Specifically, when it is determined that the spraying stop duration is not greater than the preset spraying stop delay and the spraying device of the aircraft is stopped, the current time is recorded as the third timing time. And when the slope of the spray flow change curve of the airplane is a negative value and the spray flow is a fourth preset flow, recording the current moment as a fourth timing moment.

The slope of the spray flow rate change curve is a negative value, the spray flow rate of the aircraft is continuously reduced, and the fourth preset flow rate is calculated based on the preset percentage of the product result among the flight speed of the aircraft, the spray breadth and the preset application amount per unit area. For example, when the preset percentage is set to 60%, the fourth preset flow rate is 60% of the product of the flying speed, the spray width and the application amount per unit area.

Further, the spraying stop delay is updated according to the duration between the third timing instant and the fourth timing instant. For example, the preset spraying stopping delay is 3 seconds, but the calculated time is 5 seconds according to the duration between the third timing moment and the fourth timing moment, which indicates that the stopping time required by the spraying device of the current aircraft is 5 seconds, the spraying stopping delay can be updated to be 5 seconds according to the duration result, and further, when the aviation pesticide application operation process is executed next time, the stopping time of the spraying device of the aircraft can be better controlled, and the situation that the spraying device is stopped too early or too late is avoided.

Because the aviation pesticide application operation of the aircraft is continuously executed, the pesticide liquid level in the aircraft pesticide box is gradually reduced, correspondingly, when the spraying is stopped, the required valve opening adjusting pressure is also larger and larger, the required stopping time is longer and longer, and if the preset spraying stopping delay is still kept unchanged, the aviation pesticide application operation effect of the aircraft is seriously affected.

According to the aviation pesticide application control method provided by the invention, the spraying stopping delay is continuously updated according to the time required by the current stopping spraying device of the aircraft by calculating the time between the third timing time and the fourth timing time, so that the actual operation condition of the aircraft and the stopping time of the spraying device are effectively matched, and the aviation pesticide application operation effect of the aircraft can be ensured.

Based on the foregoing embodiments, as an alternative embodiment, in the case that it is determined that the aircraft is outside the rectangular dispensing area and the flight direction information of the aircraft is far from any one of the first boundary and the second boundary, the spraying device of the aircraft is stopped again, and the current flight parameters of the aircraft are obtained again, until the aircraft completes executing the aerial dispensing operation in the rectangular dispensing area.

Specifically, when the aircraft leaves the rectangular application area and the flight direction information of the aircraft is far from any one of the first boundary and the second boundary, the spraying device of the aircraft is stopped again, so that the spraying device of the aircraft is ensured to be normally closed, and the step of re-acquiring the current flight parameters of the aircraft is returned to be executed, so that the first distance between the aircraft and the reference route is determined later until the aviation application operation in the rectangular application area is completed.

As an alternative embodiment, the aircraft may be further provided with a main control unit of the man-machine interaction interface, and after the aviation administration operation of each guiding route is completed, a spraying track is drawn on the man-machine interaction interface according to the spraying breadth of the aircraft, so that an aircraft driver can know the administration condition of the current rectangular administration area.

As an alternative embodiment, the aircraft may be provided with an automatic mode and a manual mode, in which case only a pilot route is provided to the pilot, the spraying device of the aircraft being controlled manually by the pilot; when the spraying device is in the automatic mode, the spraying device of the aircraft can be controlled according to the flight speed of the aircraft, because the spraying flow of the aircraft can be determined by the product result among the flight speed, the spraying breadth and the unit area pesticide application amount, when the spraying breadth and the unit area pesticide application amount are constant, the spraying flow of the aircraft and the flight speed are in positive correlation, and further, under the condition of the automatic mode, the valve opening in the spraying device is controlled in real time according to the flight speed, and the corresponding spraying flow is matched, so that the unit area pesticide application amount in the aviation pesticide application operation process can be ensured to meet the requirements.

As an alternative embodiment, after the aircraft finishes the aviation application operation of any land, the aircraft can choose to go to the next land, and after the detected spraying flow of the aircraft is smaller than a preset threshold value, the spraying device is started, if the spraying flow of the aircraft changes, the spraying pump representing the aircraft is not closed, and a driver can be reminded of closing the spraying pump. The preset threshold may be preset according to the usage requirement of a specific scene, for example, may be preset to 0.1L/min.

According to the aviation pesticide application control method provided by the invention, after the airplane leaves the rectangular pesticide application area, the spraying device of the airplane is stopped again, so that the airplane is ensured to stop spraying, and the occurrence of the condition that other pesticide application areas generate phytotoxicity is avoided.

Fig. 4 is a schematic structural diagram of an aerial delivery control system provided by the present invention, as shown in fig. 4, including: a processor 41, a flow sensor 42 for acquiring the spray flow of the aircraft, a navigation module 43 for acquiring the current flight parameters of the aircraft.

Wherein the processor 41 is configured to perform the steps of:

controlling the aircraft to perform single application in the rectangular application area so as to determine a reference route; the single application is performed at any boundary of the vertical rectangular application area and penetrates through the rectangular application area; the start point and the end point of the reference route are the positions of the airplane when the single application starts and ends respectively.

Determining a first boundary and a second boundary of the rectangular application area based on the reference course; the first boundary is a straight line perpendicular to the reference course and passing through the starting point of the reference course; the second boundary is a line perpendicular to the reference course and passing through the end of the reference course.

The method comprises the steps of obtaining current flight parameters of an aircraft to generate a guiding route in a rectangular pesticide application area according to the current flight parameters so as to control the aircraft to execute aviation pesticide application operation.

Alternatively, the navigation module 43 may be a global navigation satellite system (Global Navigation Satellite System, GNSS) module.

It should be noted that, in the specific operation of the aviation administration control system provided by the embodiment of the present invention, the aviation administration control method of any one of the above embodiments may be executed, which is not described in detail in this embodiment.

According to the aviation pesticide application control system provided by the invention, the aircraft is controlled to perform single pesticide application to determine the reference route so as to divide a group of opposite boundaries in the pesticide application area, and the guide route is generated in real time by combining the current flight parameters of the aircraft so as to guide the aircraft to perform aviation pesticide application, so that specific position information of the pesticide application area does not need to be acquired in advance, and a fixed pesticide application route does not need to be generated in advance, the operation is simple and convenient, and the pesticide application route in the operation process is more flexible.

Based on the content of the above embodiment, as an alternative embodiment, a flow control unit is further included; the flow control unit comprises a controller, a three-way flow control valve and a return pipeline.

A processor controls an aircraft to perform an aerial pesticide application job, comprising:

when the controller receives a start spraying instruction sent by the processor, responding to the start spraying instruction, and setting the opening of the three-way flow control valve; the start spray command carries flight speed information of the aircraft.

When the controller receives a spraying stopping instruction sent by the processor, the controller responds to the spraying stopping instruction to control the three-way flow control valve to completely turn to the return pipeline.

Specifically, the aerial delivery control system further comprises a flow control unit. The flow control unit comprises a controller, a three-way flow control valve and a return pipeline.

When a controller in the flow control unit receives a start-up spraying instruction sent by the processor, the opening of the three-way flow control valve is set in response to the start-up spraying instruction. The spraying instruction is started to carry flight speed information of the aircraft, and according to the relation among the flight speed, the spraying breadth and the unit area application amount of the spraying flow of the aircraft, the predicted spraying flow is calculated through the flight speed, and then the opening of the three-way flow control valve is controlled to be adjusted to the corresponding opening.

When the controller in the flow control unit receives the spraying stopping instruction sent by the processor, the controller responds to the spraying stopping instruction and completely turns the three-way flow control valve to the return pipeline, so that the pesticide in the pesticide tank cannot flow into the spraying device.

Further, after the three-way flow control valve is completely turned to the return pipeline, the spraying pump can be further started, so that pesticide in the pesticide box continuously flows in the return pipeline, layering, agglomeration and other phenomena of the pesticide can be prevented, and further the situation that the pesticide sprayed in the aviation pesticide application process cannot achieve the expected disease and pest control effect is avoided.

According to the aviation pesticide application control system provided by the invention, the controller receives the spraying starting instruction and the spraying stopping instruction, so that the opening of the three-way flow control valve is effectively controlled, the opening of the three-way flow control valve can be adjusted in real time according to the flying speed when spraying is started, and pesticide in the pesticide box can be kept to continuously flow in a return pipeline when spraying is finished, and the phenomena of layering, caking and the like of the pesticide liquid are prevented.

Fig. 5 is a schematic structural diagram of an electronic device according to the present invention, and as shown in fig. 5, the electronic device may include: processor 510, communication interface (Communications Interface) 520, memory 530, and communication bus 540, wherein processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform an aerial delivery control method comprising: controlling the aircraft to perform single application in the rectangular application area so as to determine a reference route; the single application is vertical to any boundary of the rectangular application area and is performed through the rectangular application area; the starting point and the ending point of the reference route are the positions of the airplane when the single application starts and ends; determining a first boundary and a second boundary of the rectangular application area based on the reference course; the first boundary is a straight line perpendicular to the reference course and passing through the starting point of the reference course; the second boundary is a straight line perpendicular to the reference course and passing through the end point of the reference course; and acquiring the current flight parameters of the aircraft to generate a guiding route in the rectangular pesticide application area according to the current flight parameters so as to control the aircraft to execute aviation pesticide application operation.

Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, are capable of performing the method of controlling aerial delivery provided by the above embodiments, the method comprising: controlling the aircraft to perform single application in the rectangular application area so as to determine a reference route; the single application is vertical to any boundary of the rectangular application area and is performed through the rectangular application area; the starting point and the ending point of the reference route are the positions of the airplane when the single application starts and ends; determining a first boundary and a second boundary of the rectangular application area based on the reference course; the first boundary is a straight line perpendicular to the reference course and passing through the starting point of the reference course; the second boundary is a straight line perpendicular to the reference course and passing through the end point of the reference course; and acquiring the current flight parameters of the aircraft to generate a guiding route in the rectangular pesticide application area according to the current flight parameters so as to control the aircraft to execute aviation pesticide application operation.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the aerial delivery control method provided by the above embodiments, the method comprising: controlling the aircraft to perform single application in the rectangular application area so as to determine a reference route; the single application is vertical to any boundary of the rectangular application area and is performed through the rectangular application area; the starting point and the ending point of the reference route are the positions of the airplane when the single application starts and ends; determining a first boundary and a second boundary of the rectangular application area based on the reference course; the first boundary is a straight line perpendicular to the reference course and passing through the starting point of the reference course; the second boundary is a straight line perpendicular to the reference course and passing through the end point of the reference course; and acquiring the current flight parameters of the aircraft to generate a guiding route in the rectangular pesticide application area according to the current flight parameters so as to control the aircraft to execute aviation pesticide application operation.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An aerial delivery control method, comprising:

controlling the aircraft to perform single application in the rectangular application area so as to determine a reference route; the single application is vertical to any boundary of the rectangular application area and is performed through the rectangular application area; the starting point and the ending point of the reference route are the positions of the airplane when the single application starts and ends;

determining a first boundary and a second boundary of the rectangular application area based on the reference course; the first boundary is a straight line perpendicular to the reference course and passing through the starting point of the reference course; the second boundary is a straight line perpendicular to the reference course and passing through the end point of the reference course;

and acquiring the current flight parameters of the aircraft to generate a guiding route in the rectangular pesticide application area according to the current flight parameters so as to control the aircraft to execute aviation pesticide application operation.

2. The aerial delivery control method of claim 1, wherein the position of the aircraft at which the single delivery of the drug begins is a position at which the slope of the spray flow rate change curve is positive and the spray flow rate of the aircraft is a first preset flow rate during the single delivery of the drug by the aircraft;

Correspondingly, the position of the aircraft when the single application is finished is the position when the slope of the spray flow rate change curve is a negative value and the spray flow rate of the aircraft is a second preset flow rate in the process of executing the single application by the aircraft;

the first preset flow rate is the same as or different from the second preset flow rate.

3. The method of claim 1, wherein the obtaining the current flight parameters of the aircraft to generate a pilot line within the rectangular application area based on the current flight parameters comprises:

acquiring current flight parameters of the aircraft;

acquiring a first distance between the aircraft and the reference course if the aircraft is determined to be outside the rectangular application area;

acquiring a first characteristic value, wherein the first characteristic value is determined based on the multiplying power between the first distance and the spraying breadth of the aircraft;

correcting the first characteristic value based on the flight direction information of the aircraft to obtain a second characteristic value;

generating a lead pattern parallel to the reference pattern within the rectangular application area if it is determined that the second characteristic value is not present within the marker array;

Wherein a distance between the pilot pattern and the reference pattern is determined by the second characteristic value and the spray breadth;

the mark array is used for recording characteristic values corresponding to different airlines.

4. The method of claim 3, wherein modifying the first characteristic value based on the aircraft direction of flight information to obtain a second characteristic value comprises:

when the flight direction information is determined to be far away from the reference route, adding one to the absolute value of the first characteristic value to be used as the second characteristic value;

and when the flight direction information is determined to be close to the reference route, the first characteristic value is taken as the second characteristic value.

5. The aerial delivery control method of claim 3, further comprising:

under the condition that the second characteristic value exists in the mark array, correcting the second characteristic value according to the flight direction information to obtain a third characteristic value;

and re-determining whether the third characteristic value exists in the mark array or not until determining that the third characteristic value does not exist in the mark array.

6. The method according to claim 5, wherein correcting the second characteristic value according to the flight direction information to obtain a third characteristic value comprises:

when the flight direction information is determined to be far away from the reference route, adding one to the absolute value of the second characteristic value to be used as the third characteristic value;

and when the flight direction information is determined to be close to the reference route, subtracting one from the absolute value of the second characteristic value as the third characteristic value.

7. The aerial delivery control method of claim 3, wherein upon determining that the second characteristic value is not present within the marker array, generating a lead pattern parallel to the reference pattern within the rectangular delivery area comprises:

if the flight direction information of the aircraft is determined to be close to any one of the first boundary and the second boundary again, determining a first characteristic point; the first characteristic point is determined based on an intersection closest to the aircraft among two intersections of the guide route with the first boundary and the second boundary;

acquiring a second distance between the aircraft and the first characteristic point;

Determining a spraying preparation time according to the flight speed of the aircraft and the second distance;

and starting the spraying device of the aircraft under the condition that the spraying preparation time is not more than a preset spraying starting delay.

8. The aerial delivery control method of claim 7, further comprising:

determining a first timing moment and a second timing moment; starting a spraying device of the aircraft at the first timing moment, wherein the slope of a spraying flow rate change curve at the second timing moment is a positive value, and the spraying flow rate of the aircraft is a third preset flow rate;

updating the spraying start delay according to the duration between the first timing moment and the second timing moment;

the third preset flow is calculated based on the flight speed, the spraying breadth and the preset unit area application rate of the airplane.

9. The aerial delivery control method of claim 7, wherein, after activating the spray device of the aircraft if the spray preparation duration is determined to be not greater than a preset spray activation delay, comprising:

determining a third distance between the aircraft and the first feature point when the aircraft enters the rectangular application area;

The second characteristic value is added to the tag array in the event that the third distance is determined to be less than half the spray width.

10. The aerial delivery control method of claim 9, wherein, upon determining that the third distance is less than half the spray width, adding the second characteristic value to the tag array comprises:

after determining that the aircraft enters the rectangular application area, determining a target boundary from the first boundary and the second boundary according to the flight direction information of the aircraft; the target boundary is the boundary closest to the aircraft when the aircraft leaves the rectangular application area;

acquiring the distance between the aircraft and the target boundary as a fourth distance;

determining a spraying stopping time according to the flight speed of the aircraft and the fourth distance;

and stopping the spraying device of the aircraft under the condition that the spraying stopping time is not longer than a preset spraying stopping delay.

11. The aerial delivery control method of claim 10, further comprising:

determining a third timing moment and a fourth timing moment; stopping the spraying device of the aircraft at the third timing moment, wherein the slope of the spraying flow rate change curve at the fourth timing moment is a negative value and the spraying flow rate of the aircraft is a fourth preset flow rate;

Updating the spraying stopping delay according to the duration between the third timing moment and the fourth timing moment;

the fourth preset flow is calculated based on the flight speed of the airplane, the spraying breadth and the preset unit area application amount.

12. The aerial delivery control method of claim 10, wherein, in the event that the aircraft is determined to be outside the rectangular delivery area and the direction of flight information of the aircraft is away from either of the first boundary and the second boundary, the sprinkler of the aircraft is stopped again and the current flight parameters of the aircraft are retrieved back until the aircraft completes execution of the aerial delivery operation within the rectangular delivery area.

13. An aerial delivery control system, comprising: the system comprises a processor, a flow sensor for acquiring the spraying flow of the aircraft, and a navigation module for acquiring the current flight parameters of the aircraft;

the processor is used for executing the following steps:

controlling the aircraft to perform single application in a rectangular application area so as to determine a reference route; the single application is vertical to any boundary of the rectangular application area and is performed through the rectangular application area; the starting point and the ending point of the reference route are the positions of the airplane when the single application starts and ends;

14. The aerial delivery control system of claim 13, further comprising a flow control unit; the flow control unit comprises a controller, a three-way flow control valve and a return pipeline;

the processor controls the aircraft to perform aerial pesticide delivery operations, including:

when the controller receives a start spraying instruction sent by the processor, responding to the start spraying instruction, and setting the opening of the three-way flow control valve; the start spraying instruction carries flight speed information of the aircraft;

and when the controller receives a spraying stopping instruction sent by the processor, responding to the spraying stopping instruction, and controlling the three-way flow control valve to completely turn to the return pipeline.