Multilevel cooperation-based unmanned aerial vehicle spraying operation method and device

A multilevel cooperation-based unmanned aerial vehicle spraying operation device, comprising:

• a first sensing signal set acquisition circuit, configured to acquire a first sensing signal set transmitted by a touring robot on an overhead transmission line, wherein the first sensing signal set is acquired by performing signal acquisition on a preset specified space area by a preset first sensor array on the touring robot, to-be-treated plants are planted in the specified space area, and the minimum height of the touring robot on the overhead transmission line is greater than the maximum height of all the to-be-treated plants in the specified space area;
• a first prescription map acquisition circuit, configured to input the first sensing signal set into a preset prescription map generation model based on a convolutional neural network for processing so as to acquire a first prescription map output by the prescription map generation model, wherein an initial position is marked in the first prescription map, the prescription map generation model is formed by training first training data collected in advance, the first training data consists of a first sensing signal set for training, a manually marked prescription map corresponding to the first sensing signal set for training and a manually marked initial position, and the first sensing signal set for training is acquired by a sensor array on the touring robot on the overhead transmission line;
• a specified unmanned aerial vehicle selection circuit, configured to generate the types of liquid medicine and the corresponding quantity required by the to-be-treated plants according to the first prescription map, and selecting a specified unmanned aerial vehicle from a preset unmanned aerial vehicle group according to the types of liquid medicine and the corresponding quantity required by the to-be-treated plants, wherein the specified unmanned aerial vehicle is applied to aerial spraying operation and is provided with liquid medicine spraying equipment and a plurality of liquid medicine storage tanks, and the number of the plurality of liquid medicine storage tanks is as same as that of the liquid medicine types;
• a start instruction transmitting circuit, configured to transmit a start instruction to a preset unmanned aerial vehicle terminal, such that the unmanned aerial vehicle terminal controls the specified unmanned aerial vehicle to take off to an initial position in a real space corresponding to the initial position marked in the first prescription map;
• a second sensing signal set acquisition circuit, configured to start a preset second sensor array on the specified unmanned aerial vehicle to perform signal acquisition on the specified space area so as to acquire a second sensing signal set;
• a first spraying strategy acquisition circuit, configured to acquire a motion parameter and a position parameter of the specified unmanned aerial vehicle and the remaining liquid storage quantity of the plurality of liquid medicine storage tanks, and input the motion parameter, the position parameter, the remaining liquid storage quantity of the plurality of liquid medicine storage tanks and the second sensing signal set into a preset spraying strategy generation model based on a BP neural network for processing so as to acquire a first spraying strategy output by the spraying strategy generation model, wherein the spraying strategy generation model is formed by training second training data collected in advance, the second training data consists of a motion parameter and a position parameter of the unmanned aerial vehicle for training, the remaining liquid storage quantity of the plurality of preset liquid medicine storage tanks on the unmanned aerial vehicle for training, a second sensing signal set for training and a corresponding manually marked spraying strategy, the second sensing signal set for training is acquired by a preset sensor array on the unmanned aerial vehicle for training, the first spraying strategy comprises a first aerial spraying sub-strategy and a first ground vehicle spraying sub-strategy, the first aerial spraying sub-strategy at least comprises an unmanned aerial vehicle flight speed changing over time, a flight position changing over time, parameters of liquid medicine spraying equipment changing over time and opening control parameters of the plurality of liquid medicine storage tanks changing over time;
• an aerial spraying operation circuit, configured to control the specified unmanned aerial vehicle to perform aerial spraying operation on the specified space area according to the first aerial spraying sub-strategy, wherein the minimum height of the touring robot on the overhead transmission line is greater than the maximum height of the specified unmanned aerial vehicle during aerial spraying operation;
• and
• a ground spraying operation circuit, configured to control a preset spraying vehicle to perform cooperative ground spraying operation on the specified space area according to the first ground vehicle spraying sub-strategy so as to complete multilevel cooperative spraying operation.