A spray drive system and a spray device

Abstract

The present invention relates to the field of intelligent scheduling control, and in particular to a spray drive system and a spray device. The spray drive system comprises a data analysis unit, which is used to determine a type I device or a type II device according to each power value and a power loss reference value, and to determine a charging scheduling instruction according to a power distribution state; a scheduling unit, which is used to execute the charging scheduling instruction; a central control unit, which is used to determine a target determination method according to an available device state, and to determine a spray parameter adjustment method according to a regional spray interval reference value and an available device state, and to determine a moving interval corresponding to a controllable target according to the production uniformity of a target area to be worked and the production use time of the equipment; a data storage unit, which is used to store historical use data, the historical use data including the historical spray times of the target area to be worked and the spray time corresponding to each historical spray operation; and a display unit. The present invention improves the scheduling and use efficiency of the spray device.

Description

Technical Field

[0001] The present invention relates to the field of intelligent dispatching control, and in particular to a spray drive system and a spray device. Background Art

[0002] With the development of science and technology, more and more multifunctional robots are used in industrial production. Spray machines, as a trend of intelligent control technology, are used in many scenarios, such as disinfection of public places, pesticide spraying in orchards, and drug spraying in food processing plants. However, for larger scenarios, a single spray machine is often difficult to meet the usage needs, so it is necessary to schedule and control multiple spray machines. However, in actual use, the uncertainty of the robot's power and environmental factors in the working area often leads to poor scheduling efficiency of multiple spray machines. Therefore, how to effectively schedule and control multiple spray machines is a problem that technical personnel in this field need to solve urgently.

[0003] Chinese patent publication number CN113592173B discloses a system and method for dispatching multiple disinfection robots for large public places, including a disinfection robot workstation, a disinfection robot and a background dispatching system; the disinfection robot workstation includes multiple charging piles and disinfectant replenishing devices to realize automatic charging and automatic refilling of the disinfection robot; the same workstation contains multiple disinfection robots, each of which includes an obstacle avoidance navigation system, a spray system and a charging device, which can realize autonomous obstacle avoidance, path planning and automatic refilling in different scenarios; the background dispatching system counts the spatial area and status information of the area to be disinfected, collects the status information of the disinfection robot, and dispatches the optimal disinfection robot to perform the task according to the task information issued. It can be seen that the above technical solution has the following problems: it is impossible to schedule charging according to the power of each disinfection robot, and the single charging mode will result in the number of robots failing to effectively meet the actual work needs when the user needs the robot to perform disinfection work. Summary of the invention

[0004] To this end, the present invention provides a spray drive system and a spray device to overcome the problem in the prior art that the disinfection robot has a single charging mode, resulting in the number of robots failing to effectively meet actual work needs when users need robots to perform disinfection work.

[0005] To achieve the above object, the present invention provides a spray drive system, comprising:

[0006] A data analysis unit, for determining whether each target device is a Class I device or a Class II device according to each power value and the power loss reference value, and determining a charging scheduling instruction according to a power distribution state;

[0007] A scheduling unit, configured to execute the charging scheduling instruction, including determining the charging ratio of the second type of device according to the performance evaluation parameter of the first type of device, or determining the charging ratio of the second type of device according to the environmental disturbance coefficient;

[0008] A central control unit is used to determine a target determination method according to the state of the available device, determine a spray parameter adjustment method according to a regional spray interval reference value and the state of the available device, and determine a moving interval corresponding to a controllable target according to the production uniformity of the target area to be worked and the production use time of the equipment;

[0009] A data storage unit for storing historical usage data, the historical usage data including the historical number of spraying of the target area to be worked and the spraying time corresponding to each historical spraying work;

[0010] Display unit for remotely displaying the location of the target device and the spray parameters.

[0011] Furthermore, the data analysis unit is preset with a device classification strategy, including determining whether the target device is a Class I device or a Class II device according to the power value of each target device and a power consumption reference value.

[0012] Further, the data analysis unit is preset with charging scheduling instructions corresponding to different power distribution states, and the charging scheduling instructions include determining the charging ratio of the second type of device according to the performance evaluation parameters of the first type of device, or determining the charging ratio of the second type of device according to the environmental disturbance coefficient;

[0013] The power distribution state is related to the number of a type of devices.

[0014] Further, the scheduling unit determines the charging ratio of the second type of devices according to the performance evaluation parameters of the first type of devices;

[0015] The charging ratio of the second type of device is negatively correlated with the performance evaluation parameter of the first type of device;

[0016] Wherein, in response to the power distribution state being in the first preset power distribution state, the scheduling unit has the performance evaluation parameters of the one type of devices being related to the current power value of each of the one type of devices.

[0017] Further, the scheduling unit determines the charging ratio of the second type of devices according to the environmental disturbance coefficient;

[0018] The charging ratio of the second type of device is positively correlated with the environmental disturbance coefficient;

[0019] Wherein, the scheduling unit responds to the power distribution state being in the second preset power distribution state, and the environmental disturbance coefficient is related to the wind speed, the number of mobile personnel and the ambient temperature of the target working area.

[0020] Furthermore, the central control unit is provided with different target determination methods according to the states of the available devices, including selecting a combination of a type one device and a type two device as a controllable target according to the power compensation value, and also recording the type one device that has not been successfully combined as a controllable target, or recording each type one device as a controllable target;

[0021] The usable device status is related to the number of the first category devices and the second category devices.

[0022] Furthermore, the central control unit determines the spray parameter adjustment method according to the regional spray interval reference value and the status of the available devices, including reducing the moving speed of a type of device, or increasing the water pump pressure of a type of device and reducing the moving speed of a type of device.

[0023] Furthermore, the central control unit determines the reference coefficient to be sprayed corresponding to the controllable target according to the production uniformity of the target area to be worked and the production use time of the equipment;

[0024] The reference coefficient to be sprayed is positively correlated with the moving interval.

[0025] Furthermore, the controllable target moves along a preset path. If the movable target includes a type 1 device and a type 2 device, the spray angle and water pump pressure of the type 1 device are greater than those of the type 2 device.

[0026] The present invention also provides a spray device using the spray drive system, comprising:

[0027] case;

[0028] A mobile module, comprising a battery disposed inside the housing for providing power to the spray device and a pulley disposed at the bottom of the housing and connected to the power supply battery;

[0029] An infrared detection module, which is arranged on the side wall of the housing and is used to detect the position of obstacles;

[0030] The spray module is located at the top of the shell, and includes a medicine storage box disposed inside the shell for storing liquid medicine, a spray head disposed at the top of the shell for spraying, and a liquid infusion pipeline connected to the medicine storage box and the spray head respectively;

[0031] The communication module is connected with the moving module, the infrared detection module and the injection module, and is arranged inside the shell for remote communication.

[0032] Compared with the prior art, the beneficial effect of the present invention lies in that the data analysis unit described in the technical solution of the present invention determines whether the target device is a Class I device or a Class II device according to the power value and the power loss reference value of each target device, and effectively evaluates the usable performance of the target device through the power value and the power loss reference value, thereby making the device classification more accurate, and the data analysis unit is preset with charging scheduling instructions corresponding to different power distribution states separately, and the usable capacity of all current devices is reflected through the power distribution state, so that the corresponding selected charging scheduling instructions are more in line with the actual working scenario, thereby improving the scheduling and use efficiency of the spray device of the present invention.

[0033] Furthermore, the scheduling unit in the present invention determines the charging ratio of the second type of device according to the performance evaluation parameters of the first type of device, thereby avoiding the problem that the first type of device cannot meet the actual working requirements and thus leads to poor scheduling efficiency, making the determination of the charging ratio more accurate.

[0034] Furthermore, when determining the charging ratio of the second type of device according to the environmental disturbance coefficient in the present invention, the wind speed in the target working area, the number of mobile personnel and the influence of the ambient temperature on the working efficiency of the spray device are taken into account, and then the charging ratio of the second type of device is determined to avoid the problem of poor scheduling efficiency caused by the inability of the first type of device to meet the actual work needs.

[0035] Furthermore, the central control unit in the present invention determines the reference coefficient to be sprayed corresponding to the controllable target according to the production uniformity of the target area to be worked and the production use time of the equipment, and reflects the probability of occurrence of pests such as mosquitoes and flies in the target area to be worked through the production uniformity and the production use time of the equipment, and then determines the reference coefficient to be sprayed accordingly, so that the determination of the moving interval is more accurate, wherein the smaller the moving interval, the better the centralized spraying insecticide effect of the spray device.

[0036] Furthermore, the display unit can detect the position of the target device in real time to record the walking path of the target device, and the user can uniformly display the spray paths of multiple target devices to monitor and determine whether to spray the entire target working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a unit connection diagram of the spray drive system of the present invention;

[0038] Figure 2 This is a flow chart of determining a charging scheduling instruction according to a power distribution state of the present invention;

[0039] Figure 3 A flow chart of a method for determining a target according to the state of an available device according to the present invention;

[0040] Figure 4 is a schematic diagram of a spray device of the present invention;

[0041] In the figure: housing 1, pulley 2, medicine storage box 3, nozzle 4, infusion pipeline 5. DETAILED DESCRIPTION

[0042] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0043] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0044] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0045] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] See also Figures 1 to 3 As shown, the present invention provides a spray drive system, comprising:

[0047] A data analysis unit connected to the spray device is used to determine whether each target device is a Class I device or a Class II device according to each power value and the power loss reference value, and to determine a charging scheduling instruction according to the power distribution state;

[0048] a scheduling unit connected to the data analysis unit and configured to execute the charging scheduling instruction, including determining the charging ratio of the second type of device according to the performance evaluation parameters of the first type of device, or determining the charging ratio of the second type of device according to the environmental disturbance coefficient;

[0049] A central control unit connected to the data analysis unit and the scheduling unit, for determining a target determination method according to the state of the available device, and for determining a spray parameter adjustment method according to a regional spray interval reference value and the state of the available device, and for determining a movement interval corresponding to a controllable target according to a production uniformity of a target area to be worked and a production use time of the equipment;

[0050] A data storage unit connected to the central control unit for storing historical usage data, the historical usage data including the historical number of spraying times of the target area to be worked and the spraying time corresponding to each historical spraying work;

[0051] A display unit connected to the central control unit and each target device to remotely display the location of the target device and spray parameters, the spray parameters including the spray angle, water pump pressure and moving speed corresponding to each type 1 device and type 2 device respectively;

[0052] The display unit can detect the position of the target device in real time to record the walking path of the target device. The user can monitor and determine whether to spray the full coverage of the target working area by uniformly displaying the spray paths of multiple target devices.

[0053] The present invention is applied to the spraying of insecticides in food processing workshops, but is not limited to this scenario. The routes in the workshop where spraying can be carried out are recorded as allowed moving paths. A charging device for charging the spray device is provided by default in the workshop, and each spray device is recorded as a target device. The charging method of the vehicle is not specifically limited in the present invention.

[0054] Specifically, the data analysis unit is preset with a device classification strategy, including determining whether the target device is a Class I device or a Class II device according to the power value of each target device and a power consumption reference value.

[0055] Among them, for a single target device, its power value is the power of the current power supply battery of the target device, and its power loss reference value is the power value used by the target device in a single monitoring cycle. The duration of a single monitoring cycle can be set by the user according to the actual working scenario. The power value of the target device is recorded as G, and the power loss value is recorded as K. If G≤G1, or G1<G≤G2 and K<K0, the target device is a Class I device. If G1<G≤G2 and K≥K0, or G>G2, the target device is a Class II device; wherein G1 is a first preset power value, and G2 is a second preset power value. K0 is the preset power loss value. The user can set the preset power value and the preset power loss value according to the actual working scenario. The greater the user's demand for the working performance and work efficiency of the spray device, the larger the first preset power value and the second preset power value, and the smaller the preset power loss value. A preset power value and a preset power loss value are provided. The first preset power value is 35% of the full power of a single target device, the second preset power value is 70% of the full power of a single target device, and the preset loss value is the average of the sum of the power loss values ​​of all target devices.

[0056] Specifically, the data analysis unit is preset with charging scheduling instructions corresponding to different power distribution states, and the charging scheduling instructions include determining the charging ratio of the second type of device according to the performance evaluation parameters of the first type of device, or determining the charging ratio of the second type of device according to the environmental disturbance coefficient;

[0057] The power distribution state is related to the number of a type of devices.

[0058] If the power distribution state is in the first preset power distribution state, the charging scheduling instruction is to determine the charging ratio of the second type of device according to the performance evaluation parameters of the first type of device;

[0059] If the power distribution state is in the second preset power distribution state, the charging scheduling instruction is to determine the charging ratio of the second type of device according to the environmental disturbance coefficient;

[0060] The first preset power distribution state is that the number of devices of a class is less than the preset minimum required number, and the second preset power distribution state is that the number of devices of a class is greater than or equal to the preset minimum required number. The value of the preset minimum required number can be determined by the user through historical data and deep learning models. The minimum number of devices of a class that can meet the requirements of spraying the target working area is recorded as the preset minimum required number.

[0061] Specifically, the scheduling unit determines the charging ratio of the second type of devices according to the performance evaluation parameters of the first type of devices;

[0062] The charging ratio of the second type of device is negatively correlated with the performance evaluation parameter of the first type of device;

[0063] Wherein, in response to the power distribution state being in the first preset power distribution state, the scheduling unit has the performance evaluation parameters of the one type of devices being related to the current power value of each of the one type of devices.

[0064] The charging ratio of the second category device = the number of the second category devices selected for charging / the total number of the second category devices, the performance evaluation parameter of the first category device = the average value of the sum of the power values ​​of each first category device / (the number of first category devices × the reference full power), wherein the reference full power is the maximum storage power of a single power battery, and the power batteries used by each target device in the present invention are the same.

[0065] Specifically, the scheduling unit determines the charging ratio of the second type of devices according to the environmental disturbance coefficient;

[0066] The charging ratio of the second type of device is positively correlated with the environmental disturbance coefficient;

[0067] Wherein, the scheduling unit responds to the power distribution state being in the second preset power distribution state, and the environmental disturbance coefficient is related to the wind speed, the number of mobile personnel and the ambient temperature of the target working area.

[0068] Among them, the calculation formula of the environmental disturbance coefficient S is:

[0069] S=(L / L0)×α1+(M / M0)×α2+(T / T0)×α3

[0070] Wherein, L is the wind speed of the target area to be worked, L0 is the preset wind speed threshold, M is the number of mobile personnel, M0 is the preset threshold of the number of personnel, T is the ambient temperature, and T0 is the preset threshold of the ambient temperature. Wherein, L is detected by a wind speed detection device, and the maximum wind speed detected in a single monitoring cycle is recorded as L. T is detected by a temperature sensor, and the maximum temperature detected in a single monitoring cycle is recorded as T. The number of mobile personnel is detected by a visual sensor, and the number of personnel in the target area to be worked at the current moment is recorded as M. The values ​​of L0 and T0 can be selected by the user according to the historical spray work records. The corresponding maximum wind speed in the historical spray work records that meet the user's needs is recorded as L0, and the maximum temperature is recorded as T0. The value of M0 can be set by the user according to the working efficiency of the spray device. The greater the user's demand for the working efficiency of the spray device, the smaller the value of M0 is. A value of M0 is provided. The number of allowed moving paths in the target area to be worked is 5, and the total area of ​​the allowed moving paths is 200m 2, M0 is 15, α1 is the first weight coefficient, α2 is the second weight coefficient, and α3 is the third weight coefficient. The value of the weight coefficient can be determined by the user according to the degree of concern about the wind speed, the number of mobile personnel and the ambient temperature of the target working area during the actual working process, and a value is provided, α1=α2=α3=0.3.

[0071] Specifically, the central control unit is provided with different target determination methods according to the states of the usable devices, including selecting a combination of a type one device and a type two device as a controllable target according to the power compensation value, and also recording the type one device that has not been successfully combined as a controllable target, or recording each type one device as a controllable target. It is worth noting that the type two device is a type two device that can perform spraying, excluding the type two device that is selected for charging. If the number of type two devices that can perform spraying is less than the number of type one devices, the central control unit sends an alarm message to the user;

[0072] If the current target device includes a Class I device and a Class II device, for a single Class I device, its power compensation value with a Class II device is the absolute value of the difference between the current power values ​​of the Class I device and the Class II device. The combination of Class II devices is selected in the order of the power of the Class I device from the smallest to the largest, and the Class II device with the smallest power compensation value corresponding to the Class I device is detected. The combination of the Class I device and the corresponding Class II device with the smallest power compensation value is recorded as a controllable target.

[0073] The usable device status is related to the number of the first category devices and the second category devices.

[0074] If the current target devices are all first-class devices, the available device state is the second preset available device state, and the target determination method is to record each first-class device as a controllable target;

[0075] If the current target device includes a Class I device and a Class II device, the usable device state is the first preset usable device state, and the target determination method is to select a combination of a Class I device and a Class II device according to the power compensation value and record them as a controllable target, and the Class I device that has not been successfully combined is also recorded as a controllable target.

[0076] Specifically, the central control unit determines the spray parameter adjustment method according to the regional spray interval reference value and the status of the available devices, including reducing the moving speed of a type of device, or increasing the water pump pressure of a type of device and reducing the moving speed of a type of device.

[0077] If the regional spray interval reference value is greater than the preset regional spray interval reference value, the central control unit determines to adjust the spray parameters;

[0078] The spray interval reference value is the time interval between the current moment and the last spraying operation of the target area to be operated.

[0079] If the usable device state is the first preset usable device state, the spray parameter adjustment method is to increase the water pump pressure of the first type of device and decrease the moving speed of the second type of device;

[0080] The increase value of the water pump pressure of the first type of device is positively correlated with the reference value of the spray interval in the area, and the decrease value of the moving speed of the second type of device is positively correlated with the reference value of the spray interval in the area;

[0081] If the usable device state is the second preset usable device state, the spray parameter adjustment method is to reduce the moving speed of the first type of device;

[0082] The reduction value of the moving speed of the type of device is positively correlated with the reference value of the regional spray interval.

[0083] Specifically, when the regional spray interval reference value is less than or equal to the preset regional spray interval reference value, the central control unit determines the reference coefficient to be sprayed corresponding to the controllable target according to the production uniformity of the target area to be worked and the production use time of the equipment;

[0084] The reference coefficient to be sprayed is positively correlated with the moving interval.

[0085] Among them, the production uniformity is the number of types of production equipment in the target waiting area to be worked / the total number of production equipment, the equipment production use time is the maximum use time of a single production equipment in the target waiting area to be worked since the last spray work, and the spray reference coefficient = production uniformity + equipment production use time / preset equipment production use time. The preset equipment production use time is set by the user. The user sets the maximum equipment production use time corresponding to the user's use needs according to the target waiting area environment in the actual production process, which is recorded as the preset equipment production use time.

[0086] The moving interval is the distance between adjacent controllable targets on the same allowed moving path.

[0087] Specifically, the controllable target moves along a preset path. If the movable target includes a type 1 device and a type 2 device, the spray angle and water pump pressure of the type 1 device are greater than the spray angle and water pump pressure of the type 2 device.

[0088] The preset path is the allowed moving path of the movable target. The allowed moving path of the movable target during specific operation is set by the user and is not limited here. The target waiting working area is the area that needs to be sprayed.

[0089] The spray angle is the minimum angle between the spray direction of the nozzle and the horizontal ground when a type of device is performing spraying work.

[0090] See also Figure 4 As shown, it is a schematic diagram of the spray device of the present invention. The present invention also provides a spray device, including:

[0091] Shell 1;

[0092] The mobile module includes a battery disposed inside the housing 1 for providing power to the spray device and a pulley 2 disposed at the bottom of the housing and connected to the power supply battery;

[0093] An infrared detection module, which is arranged on the side wall of the housing 1 and is used to detect the position of obstacles;

[0094] The spray module is located at the top of the housing 1, and includes a medicine storage box 3 arranged inside the housing 1 for storing liquid medicine, a nozzle 4 arranged at the top of the housing 1 for spraying, and a liquid infusion pipeline 5 connected to the medicine storage box and the nozzle, respectively, and a water pump is arranged in the liquid infusion pipeline 5;

[0095] The communication module is connected with the mobile module, the infrared detection module and the injection module, and is arranged inside the housing 1 for remote communication.

[0096] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0097] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A spray drive system, characterized in that: include: A data analysis unit, for determining whether each target device is a Class I device or a Class II device according to each power value and the power loss reference value, and determining a charging scheduling instruction according to a power distribution state; A scheduling unit, configured to execute the charging scheduling instruction, including determining the charging ratio of the second type of device according to the performance evaluation parameter of the first type of device, or determining the charging ratio of the second type of device according to the environmental disturbance coefficient; A central control unit is used to determine a target determination method according to the state of the available device, determine a spray parameter adjustment method according to a regional spray interval reference value and the state of the available device, and determine a moving interval corresponding to a controllable target according to the production uniformity of the target area to be worked and the production use time of the equipment; A data storage unit for storing historical usage data, the historical usage data including the historical number of spraying of the target area to be worked and the spraying time corresponding to each historical spraying work; A display unit for remotely displaying the location of the target device and the spray parameters; For a single target device, its power value is the power of the power supply battery of the current target device, and its power loss reference value is the power value used by the target device in a single monitoring cycle. The power value of the target device is recorded as G, and the power loss value is recorded as K. If G≤G1, or G1<G≤G2 and K<K0, the target device is a Class I device. If G1<G≤G2 and K≥K0, or G>G2, the target device is a Class II device; wherein G1 is a first preset power value, G2 is a second preset power value, and K0 is a preset power loss value; The power distribution state is related to the number of a type of devices; The performance evaluation parameters of the first type of devices are related to the current power value of each first type of device; The environmental disturbance coefficient is related to the wind speed, the number of mobile personnel and the ambient temperature of the target work area; The usable device status is related to the number of first-category devices and second-category devices; The spray interval reference value is the time interval between the current moment and the last spraying operation of the target area to be worked; The degree of production uniformity is the number of types of production equipment in the target work area / the total number of production equipment; The moving interval is the distance between adjacent controllable targets on the same allowed moving path.

2. The spray drive system according to claim 1, characterized in that: The data analysis unit is preset with a device classification strategy, including determining whether the target device is a Class I device or a Class II device according to the power value and the power consumption reference value of each target device.

3. The spray drive system according to claim 2, characterized in that: The data analysis unit is preset with charging scheduling instructions corresponding to different power distribution states, and the charging scheduling instructions include determining the charging ratio of the second type of device according to the performance evaluation parameters of the first type of device, or determining the charging ratio of the second type of device according to the environmental disturbance coefficient.

4. The spray drive system according to claim 3, characterized in that: The scheduling unit determines the charging ratio of the second type of devices according to the performance evaluation parameters of the first type of devices; The charging ratio of the second type of device is negatively correlated with the performance evaluation parameter of the first type of device; The scheduling unit is in response to the power distribution state being in a first preset power distribution state.

5. The spray drive system according to claim 3, characterized in that: The scheduling unit determines the charging ratio of the second type of devices according to the environmental disturbance coefficient; The charging ratio of the second type of device is positively correlated with the environmental disturbance coefficient; The scheduling unit is in response to the power distribution state being in a second preset power distribution state.

6. The spray drive system according to claim 5, characterized in that: The central control unit is provided with different target determination methods according to the states of the available devices, including selecting a combination of a type one device and a type two device as a controllable target according to the power compensation value, and also recording the type one devices that have not been successfully combined as a controllable target, or recording each type one device as a controllable target.

7. The spray drive system according to claim 6, characterized in that: The central control unit determines the spray parameter adjustment method according to the regional spray interval reference value and the status of the available devices, including reducing the moving speed of the first type of device, or increasing the water pump pressure of the first type of device and reducing the moving speed of the second type of device.

8. The spray drive system according to claim 7, characterized in that: The central control unit determines the reference coefficient to be sprayed corresponding to the controllable target according to the production uniformity of the target area to be worked and the production use time of the equipment; The reference coefficient to be sprayed is positively correlated with the moving interval.

9. The spray drive system according to claim 8, characterized in that: The controllable target moves along a preset path. If the movable target includes a type one device and a type two device, the spray angle of the type one device in the movable target is greater than the spray angle of the type two device, and the water pump pressure of the type one device is greater than the water pump pressure of the type two device.

10. A spray device using the spray drive system according to any one of claims 1 to 9, characterized in that: include: case; A mobile module, comprising a battery disposed inside the housing for providing power to the spray device and a pulley disposed at the bottom of the housing and connected to the power supply battery; An infrared detection module, which is arranged on the side wall of the housing and is used to detect the position of obstacles; The spray module is located at the top of the shell, and includes a medicine storage box disposed inside the shell for storing liquid medicine, a spray head disposed at the top of the shell for spraying, and a liquid infusion pipeline connected to the medicine storage box and the spray head respectively; The communication module is connected with the moving module, the infrared detection module and the injection module, and is arranged inside the shell for remote communication.

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