A spray device and a spray control method

Abstract

The present application relates to a kind of spray device and spray control method, spray device includes: monitoring system, processing system, spraying system, control system and the walking frame of carrying above each system, the monitoring system is used to obtain the image information of target object, and the image information of target object is sent to the processing system;The processing system is used to determine the target spraying position of circulating stereoscopic spraying unit in the spraying system according to the image information of target object, preset sprayable coverage;The control system is used to control the circulating stereoscopic spraying unit to reach the target spraying position and execute spray to target object.This application spray device adopts circulating stereoscopic spraying unit, can form annular airflow around target object when working to make mist drop cycle penetration operation, enhance the degree of blade rolling, and the effect and uniformity of good pesticide application, and pesticide can be recycled, prevent the waste of liquid medicine.

Description

Technical Field

[0001] This invention relates to the field of spray machinery, specifically a spray device and spray control method. Background Technology

[0002] Currently, crops and fruit trees often require pesticide spraying during their growth to prevent pests and diseases. Existing mechanical spraying devices typically consist of a horizontally arranged spray bar at the rear of the vehicle frame, with downward-facing nozzles below the spray bar. During spraying, the nozzles blow pesticide droplets downwards onto the crops. Due to the poor penetration of individual nozzles, most of the pesticide droplets are sprayed onto the upper branches and leaves of the crops, and mostly land on the upper surface of the branches and leaves. However, the lower branches and leaves, as well as the lower surfaces of the branches and leaves, are not sprayed, resulting in some branches and leaves being missed. This leads to poor spraying efficiency and an inability to effectively control pests and diseases. Furthermore, much of the pesticide sprayed through the crops ends up on the field surface, resulting in pesticide waste. Summary of the Invention

[0003] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a spraying device, comprising: a monitoring system, a processing system, a spraying system, a control system, and a mobile frame supporting the above systems; The monitoring system is used to acquire image information of the target and send the image information of the target to the processing system; The processing system is used to determine the target spraying position of the circulating three-dimensional spraying unit in the spraying system based on the image information of the target and the preset sprayable coverage area. The control system is used to control the circulating three-dimensional spraying unit to reach the target spraying position and perform spraying on the target.

[0004] Furthermore, the circulating three-dimensional spraying unit includes a first spraying unit and a first circulating windshield on the left, and a second spraying unit and a second circulating windshield on the right. The first spraying unit and the second spraying unit are arranged in a centrally symmetrical manner. During spraying operations, the first spraying unit, the second circulating windshield, the second spraying unit, and the first circulating windshield can form an annular airflow around the target, allowing the mist droplets to circulate and penetrate the target.

[0005] Furthermore, the first spraying unit includes a first three-dimensional cross-flow fan and a plurality of vertically arranged first nozzles located at its air outlet, and the second spraying unit includes a second three-dimensional cross-flow fan and a plurality of vertically arranged second nozzles located at its air outlet.

[0006] Furthermore, each of the first and second nozzles is independently controlled.

[0007] Furthermore, the processing system includes an image processing unit and a calculation and determination unit. The image processing unit is used to project the image information of the target in the lateral direction to generate a target lateral projection. The calculation and determination unit is used to determine the maximum effective spraying area in the target lateral projection that can be covered by the preset sprayable coverage area, and to determine the target spraying position of the cyclic three-dimensional spraying unit based on the maximum effective spraying area.

[0008] Furthermore, the control system connects and controls the circulating three-dimensional spraying unit to reach the target spraying position via a moving adjustment mechanism, which is mounted on the walking frame.

[0009] Furthermore, the movable adjustment mechanism is a robotic arm.

[0010] In a second aspect, the present invention provides a spray control method, which utilizes the spray device described above, comprising: S1: The monitoring system acquires image information of the target and sends the image information of the target to the processing system; S2: The processing system determines the target spraying position of the circulating three-dimensional spraying unit in the spraying system based on the image information of the target and the preset sprayable coverage area; S3: The control system controls the circulating three-dimensional spraying unit to reach the target spraying position and perform spraying on the target.

[0011] Furthermore, S2 specifically includes: S201: Project the image information of the target in the lateral direction to generate a target lateral projection; S202: Place the target side projection and the preset sprayable coverage surface on the same plane. The preset sprayable coverage surface is rectangular. Move the target side projection until it is aligned with the bottom of the preset sprayable coverage surface. Translate the preset sprayable coverage surface to determine whether it can completely cover the target side projection. S203: If possible, the interface between the vertical center line of the target side projection and the target target shall be used as the reference interface between the front and rear center positions of the circulating three-dimensional spraying unit; the highest point of the target target shall be used as the reference point for the vertical highest position of the circulating three-dimensional spraying unit. S204: If not, divide the target side projection into multiple grid units, each grid unit being rectangular, with its length and width being 1 / n of the length and width of the preset sprayable coverage area, respectively; determine the number of blades corresponding to the target in each grid unit along the projection line of sight based on the image information of the target, and record this as the number of blade layers corresponding to each grid unit; translate the preset sprayable coverage area onto the target side projection surface to maximize the total number of blade layers corresponding to the grid units it can cover; record the area formed by the grid unit corresponding to the maximum number of blade layers as the maximum effective spraying area of ​​the target side projection; use the vertical center line of the maximum effective spraying area corresponding to the target interface as the reference interface for the front and rear center positions of the cyclic three-dimensional spraying unit; use the horizontal center line of the maximum effective spraying area corresponding to the target interface as the reference interface for the vertical center position of the cyclic three-dimensional spraying unit; S205: Determine the farthest point position of the target on the left and right sides in the horizontal direction based on the image information of the target, and take the farthest point of the target on the left and right sides in the horizontal direction as the farthest reference position point in the horizontal direction of the cyclic three-dimensional spraying unit. S206: Determine the target spraying position of the circulating three-dimensional spraying unit based on the positional references determined in the front-back, vertical, and horizontal directions of the circulating three-dimensional spraying unit.

[0012] Furthermore, S3 specifically includes: S301: The control system controls the circulating three-dimensional spraying unit to reach the target spraying position; S302: Determine the pre-spraying target area corresponding to each nozzle of the circulating three-dimensional spraying unit and the maximum thickness of the pre-spraying target area based on the image information of the target and the target spraying position of the circulating three-dimensional spraying unit. S303: Determine the spray parameters of each nozzle based on the maximum thickness of the pre-spray target area corresponding to each nozzle and the preset parameter setting rules. The spray parameters include spray flow rate and / or spray duration.

[0013] The beneficial effects of this invention compared to the prior art are: 1. The spraying device of the present invention employs a circulating three-dimensional spraying unit. In this unit, the first spraying unit, the second circulating windshield, the second spraying unit, and the first circulating windshield can form a ring-shaped airflow around the target during spraying operations, allowing the droplets to circulate and penetrate the target. The first and second spraying units respectively include a first three-dimensional cross-flow fan and a second three-dimensional cross-flow fan. Using cross-flow fans for air delivery improves the penetration of the spray. Furthermore, the first and second three-dimensional cross-flow fans spray the target from both sides, cooperating with the first and second circulating windshields. The device can form a ring-shaped airflow that drives droplets to penetrate the target for pesticide application. Specifically, the pesticide solution blown to the other side of the target by the first three-dimensional cross-flow fan can be redirected to the target for spraying by the suction force of the second three-dimensional cross-flow fan through the action of the second circulating wind deflector, thus achieving recycling. Similarly, the pesticide solution blown to the other side of the target by the second three-dimensional cross-flow fan can be redirected to the target for spraying by the suction force of the first three-dimensional cross-flow fan through the action of the first circulating wind deflector, thus achieving recycling. The pesticide solution of this invention can be recycled, preventing pesticide waste; at the same time, it improves the utilization rate of pesticide solution and improves the uniformity of spraying.

[0014] 2. The spraying device of the present invention includes a monitoring system and a processing system. It can determine the position of the circulating three-dimensional spraying unit relative to the target target when spraying according to the shape of the target crop or fruit tree. During spraying, the spraying operation is carried out around the target target. The circulating three-dimensional spraying unit can achieve efficient coverage and penetration of the target target without moving its position during the spraying of a single target, thereby improving the spraying efficiency and spraying effect. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the spraying device in Embodiment 1 of the present invention; Figure 2 This is a top view of the cyclic three-dimensional spraying unit in Embodiment 1 of the present invention; Figure 3 This is a schematic diagram of the independent control principle of each nozzle in Embodiment 1 of the present invention; Figure 4 This is a flowchart of the spray control method in Embodiment 2 of the present invention; Figure 5 This is a schematic diagram of the blade markings corresponding to the grid cells of the target's side projection in Embodiment 2 of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Example 1

[0017] This invention provides a spraying device, such as... Figure 1 , Figure 2 As shown, it includes: a monitoring system 2, a processing system 3, a spraying system 6, a control system 4, and a walking frame 1 that carries the above systems; in this embodiment of the invention, the walking frame 1 can be a three-wheeled or four-wheeled walking frame, or it can be a tracked walking frame. The present invention does not specifically limit the shape and structure of the walking frame 1, as long as it can carry the walking of each system. In this embodiment of the invention, the walking frame 1 is the prior art, and its structure is not shown in the accompanying drawings.

[0018] The monitoring system 2 is used to acquire image information of the target and send the image information of the target to the processing system 3. In this embodiment of the invention, the monitoring system 2 includes multiple cameras to collect three-dimensional images of the target. The cameras can be set on the walking frame 1 near the nozzle of the spraying system 6, and the position of the cameras is not limited. In this embodiment of the invention, the target can be a single target such as a crop or fruit tree, with a certain distance between each target, such as a wolfberry tree or cotton. The spraying device can perform spraying operations around a single target.

[0019] The processing system 3 is used to determine the target spraying position of the circulating three-dimensional spraying unit in the spraying system 6 based on the image information of the target and the preset sprayable coverage area. In this embodiment of the invention, the preset sprayable coverage area is pre-set and stored in the storage unit of the processing system. The circulating three-dimensional spraying unit includes a first spraying unit and a first circulating windshield 603 on the left, and a second spraying unit and a second circulating windshield 604 on the right. The first spraying unit and the second spraying unit are centrally symmetrically arranged. During spraying operations, the first spraying unit, the second circulating windshield 604, the second spraying unit, and the first circulating windshield 603 can form an annular airflow around the target, allowing the droplets to circulate and penetrate the target. The first spraying unit includes a first three-dimensional cross-flow fan 601 and a plurality of vertically arranged first nozzles 605 located at its air outlet. The second spraying unit includes a second three-dimensional cross-flow fan 602 and a plurality of vertically arranged second nozzles 606 located at its air outlet. In this embodiment of the invention, both the first three-dimensional cross-flow fan 601 and the second three-dimensional cross-flow fan 602 are vertically arranged. The air outlet of the first three-dimensional cross-flow fan 601 faces the target and the inner air inlet of the second circulating wind deflector 604; the air outlet of the second three-dimensional cross-flow fan 602 faces the target and the inner air inlet of the first circulating wind deflector 603; the inner air outlet of the first circulating wind deflector 603 faces the air inlet of the first three-dimensional cross-flow fan 601, and the inner air outlet of the second circulating wind deflector 604 faces the air inlet of the second three-dimensional cross-flow fan 602, so as to achieve airflow circulation. Preferably, in this embodiment of the invention, each of the first nozzles 605 and the second nozzles 606 is independently controlled, specifically, as shown in... Figure 3 As shown, the spraying system also includes a pesticide tank 607, a first pump body 608, and a second pump body 609. The first pump body 608 draws pesticide from the pesticide tank 607 and delivers it to each first nozzle 605 through multiple branch pipes and solenoid valves 610. The second pump body 609 draws pesticide from the pesticide tank and delivers it to each second nozzle 606 through multiple branch pipes and solenoid valves 610. The solenoid valves 610 of this invention can be pulse modulation control (PWM) to achieve opening adjustment, engagement control, etc. Each nozzle is controlled by an independent solenoid valve, enabling each nozzle to spray under its individually set spray parameters. Since different target objects have different shapes, the shape and thickness of the target objects sprayed by different nozzles will vary during the specific operation of the nozzles. By adopting an independent nozzle control method, the spray parameters of each nozzle can be independently controlled according to the shape and thickness of the target object. The spray parameters include spray flow rate and duration, etc., to achieve more reasonable spray penetration and pesticide volume, resulting in better spray effect and no pesticide waste.

[0020] In this embodiment of the invention, the processing system 3 includes an image processing unit and a calculation and determination unit. The image processing unit is used to project the image information of the target in the side direction to generate a target side projection. The calculation and determination unit is used to determine the maximum effective spraying area in the target side projection that can be covered by the preset sprayable coverage area, and determine the target spraying position of the cyclic three-dimensional spraying unit based on the maximum effective spraying area.

[0021] The control system 4 is used to control the circulating three-dimensional spraying unit to reach the target spraying position and perform spraying on the target. In this embodiment of the invention, the control system 4 is connected to and controls the circulating three-dimensional spraying unit to reach the target spraying position through a moving adjustment mechanism 5, which is mounted on the walking frame 1. Preferably, the moving adjustment mechanism 5 is a robotic arm. The robotic arm of this invention is existing technology and has the same function as the robotic arm of an industrial robot. This embodiment of the invention does not limit the structural shape of the robotic arm, as long as it can achieve the position adjustment function. In this embodiment of the invention, the control system 4 can control the robotic arm to adjust the position of the circulating three-dimensional spraying unit in three-dimensional space so that it reaches the target spraying position.

[0022] The spraying device of this invention, comprising a first spraying unit, a second circulating windshield, and a second spraying unit, forms an annular airflow around the target during spraying operations, allowing droplets to circulate and penetrate the target. Since some of the pesticide sprayed by the first and second spraying units penetrates the target, this invention, by setting up the first and second circulating windshields, changes the drift direction of the pesticide that has penetrated the target, thus achieving pesticide recycling and avoiding waste and ground pollution. Furthermore, in traditional spraying operations, pesticide often falls mostly on the side of the target closer to the nozzle, while the side farther from the nozzle receives less pesticide, resulting in uneven spraying. This invention, through pesticide recycling, allows for a secondary spraying of the side of the target farther from the nozzle, improving the uniformity and effectiveness of the spraying.

[0023] Furthermore, the first spraying unit of the spraying device of the present invention includes a first three-dimensional cross-flow fan, and the second spraying unit includes a second three-dimensional cross-flow fan. By using cross-flow fans to deliver air, the penetration of the spraying operation is better, which can enhance the degree of leaf tumbling and further improve the application effect. Example 2

[0024] This invention provides a spray control method that utilizes the spray device described in Embodiment 1 above, such as... Figure 4 As shown, it includes: S1: The monitoring system acquires image information of the target and sends the image information of the target to the processing system; S2: The processing system determines the target spraying position of the circulating three-dimensional spraying unit in the spraying system based on the image information of the target and the preset sprayable coverage area; S2 specifically includes: S201: Project the image information of the target in the lateral direction to generate a target lateral projection; S202: Place the target side projection and the preset sprayable coverage surface on the same plane. The preset sprayable coverage surface is rectangular. Move the target side projection until it is aligned with the bottom of the preset sprayable coverage surface. Translate the preset sprayable coverage surface to determine whether it can completely cover the target side projection. In this embodiment of the invention, the spray coverage range of each nozzle on the first and second spraying units of the cyclic three-dimensional spraying unit on the side is a fixed value and is set as the preset sprayable coverage surface.

[0025] S203: If possible, the interface between the vertical center line of the target side projection and the target target shall be used as the reference interface between the front and rear center positions of the circulating three-dimensional spraying unit; the highest point of the target target shall be used as the reference point for the vertical highest position of the circulating three-dimensional spraying unit. S204: If not, the target side projection is divided into multiple mesh elements, such as... Figure 5 As shown, the grid unit is rectangular, and the length and width of the grid unit are 1 / n of the length and width of the preset sprayable coverage area, respectively. Based on the image information of the target, the number of blades corresponding to the target in each grid unit along the projection line of sight is determined and denoted as the number of blade layers corresponding to each grid unit. The preset sprayable coverage area is translated on the side projection surface of the target to maximize the total number of blade layers corresponding to the grid units it can cover. The area formed by the grid unit corresponding to the maximum number of blade layers is denoted as the maximum effective spraying area of ​​the target side projection. The interface between the vertical center line of the maximum effective spraying area and the target is used as the reference interface for the front and rear center positions of the cyclic three-dimensional spraying unit. The interface between the horizontal center line of the maximum effective spraying area and the target is used as the reference interface for the vertical center position of the cyclic three-dimensional spraying unit. It should be noted that when dividing the target side projection into grids, incomplete grid cells may exist. In this embodiment of the invention, when marking the corresponding blade layer number for each grid cell, only complete grid cells can be marked. The preset sprayable coverage area is shifted to maximize the total number of blade layers corresponding to the grid cells it can cover, and only the total number of blade layers corresponding to complete grid cells is recorded. Of course, the integrity of the grid cells can also be analyzed. When the ratio of the area of ​​an incomplete grid cell to the area of ​​a complete grid cell exceeds a preset ratio, the corresponding blade layer number can be marked for that incomplete grid cell. In this embodiment of the invention, the length and width dimensions of the grid cells are set to be small during grid division. Incomplete grid cells often only exist at the boundary of the area of ​​the target side projection, and the number of incomplete grid cells is small. When the number of blades corresponding to incomplete grid cells is not calculated, this embodiment of the invention can default to ignoring the blades of the target corresponding to the incomplete grid cells, which will not affect the determination of the maximum effective spraying area.

[0026] S205: Determine the farthest points of the target on both sides in the horizontal direction based on the image information of the target, and use the farthest points of the target on both sides in the horizontal direction as the farthest horizontal reference point of the circulating three-dimensional spraying unit; that is, the horizontal position of the first spraying unit and the first circulating windshield of the circulating three-dimensional spraying unit is based on the farthest point on the left side of the target as the farthest reference point. For example, during positioning, the first spraying unit and the first circulating windshield can be moved as a whole until the farthest reference point is on the same plane as the inner side of the first circulating windshield facing the target, thus completing the positioning; the same method is used to achieve the horizontal positioning of the second spraying unit and the second circulating windshield of the circulating three-dimensional spraying unit.

[0027] S206: Determine the target spraying position of the circulating three-dimensional spraying unit based on the positional references determined in the front-back, vertical, and horizontal directions of the circulating three-dimensional spraying unit.

[0028] S3: The control system controls the circulating three-dimensional spraying unit to reach the target spraying position and perform spraying on the target. Specifically, S3 includes: S301: The control system controls the circulating three-dimensional spraying unit to reach the target spraying position; In this embodiment of the invention, the first spraying unit and the first circulating windshield are integrally connected to a robotic arm, and the second spraying unit and the second circulating windshield are also integrally connected to a robotic arm. The control system controls the robotic arm to enable the circulating three-dimensional spraying unit to reach the target spraying position.

[0029] S302: Determine the pre-spraying target area corresponding to each nozzle of the circulating three-dimensional spraying unit and the maximum thickness of the pre-spraying target area based on the image information of the target and the target spraying position of the circulating three-dimensional spraying unit. S303: The spray parameters of each nozzle are determined based on the maximum thickness of the pre-spraying target area corresponding to each nozzle and the preset parameter setting rules. The spray parameters include spray flow rate and / or spray duration. In this embodiment of the invention, the preset parameter rules are pre-stored in the storage unit of the processing system. The preset parameter rules determine the spray duration of each nozzle based on the maximum thickness of the pre-spraying target area. For example, when the maximum thickness of the pre-spraying target area is 0.1m, 0.2m, 0.3m, 0.4m, and 0.5m, the spray durations of the corresponding nozzles are 2s, 5s, 8s, 10s, and 13s, respectively. Of course, the spray parameters can also include spray flow rate alone. The spraying device determines the spray flow rate of each nozzle based on the maximum thickness of the pre-spraying target area, which is the initial spray flow rate. The nozzles are controlled to spray according to the determined initial spray flow rate parameters. A flow sensor is provided at each nozzle position to detect the actual spray flow rate of the nozzle during the spraying process and feed it back to the processing system. The processing system adjusts the spray parameters of each nozzle again based on the actual spray flow rate to achieve precise flow spraying as much as possible.

[0030] The spray control method of the present invention can determine the target spraying position of the circulating three-dimensional spraying unit according to the shape of the target, so as to enable the circulating three-dimensional spraying unit to spray and cover more leaves of the target, thereby improving spraying efficiency; and the use of the circulating three-dimensional spraying unit for ring spraying greatly improves the penetration of droplets and the uniformity of coverage on crops or fruit trees, while preventing waste of pesticide solution.

[0031] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A spraying device, comprising: The system comprises a monitoring system, a processing system, a spraying system, a control system, and a mobile frame supporting all of the above systems; its characteristic is that... The monitoring system is used to acquire image information of the target and send the image information of the target to the processing system; The processing system is used to determine the target spraying position of the circulating three-dimensional spraying unit in the spraying system based on the image information of the target and the preset sprayable coverage area. The control system is used to control the circulating three-dimensional spraying unit to reach the target spraying position and perform spraying on the target; The circulating three-dimensional spraying unit includes a first spraying unit and a first circulating windshield on the left, and a second spraying unit and a second circulating windshield on the right. The first spraying unit and the second spraying unit are centrally symmetrically arranged. During spraying operations, the first spraying unit, the second circulating windshield, the second spraying unit, and the first circulating windshield can form an annular airflow around the target, allowing the droplets to circulate and penetrate the target.

2. The spraying device according to claim 1, characterized in that, The first spraying unit includes a first three-dimensional cross-flow fan and a plurality of vertically arranged first nozzles located at its air outlet, and the second spraying unit includes a second three-dimensional cross-flow fan and a plurality of vertically arranged second nozzles located at its air outlet.

3. A spraying device according to claim 2, characterized in that, Each of the first and second nozzles is independently controlled.

4. A spraying device according to claim 1, characterized in that, The processing system includes an image processing unit and a calculation and determination unit. The image processing unit is used to project the image information of the target in the side direction to generate a target side projection. The calculation and determination unit is used to determine the maximum effective spraying area in the target side projection that can be covered by the preset sprayable coverage area, and determine the target spraying position of the cyclic three-dimensional spraying unit based on the maximum effective spraying area.

5. A spraying device according to claim 1, characterized in that, The control system is connected to and controls the circulating three-dimensional spraying unit to reach the target spraying position through a moving adjustment mechanism, which is mounted on the walking frame.

6. A spraying device according to claim 5, characterized in that, The movable adjustment mechanism is a robotic arm.

7. A spray control method, using the spray device according to any one of claims 1-6, characterized in that, include: S1: The monitoring system acquires image information of the target and sends the image information of the target to the processing system; S2: The processing system determines the target spraying position of the circulating three-dimensional spraying unit in the spraying system based on the image information of the target and the preset sprayable coverage area; S3: The control system controls the circulating three-dimensional spraying unit to reach the target spraying position and perform spraying on the target.

8. The spray control method according to claim 7, characterized in that, S2 specifically includes: S201: Project the image information of the target in the lateral direction to generate a target lateral projection; S202: Place the target side projection and the preset sprayable coverage surface on the same plane. The preset sprayable coverage surface is rectangular. Move the target side projection until it is aligned with the bottom of the preset sprayable coverage surface. Translate the preset sprayable coverage surface to determine whether it can completely cover the target side projection. S203: If possible, the interface between the vertical center line of the target side projection and the target target shall be used as the reference interface between the front and rear center positions of the circulating three-dimensional spraying unit; the highest point of the target target shall be used as the reference point for the vertical highest position of the circulating three-dimensional spraying unit. S204: If not, divide the target side projection into multiple grid units, each grid unit being rectangular, with its length and width being 1 / n of the length and width of the preset sprayable coverage area, respectively; determine the number of blades corresponding to the target in each grid unit along the projection line of sight based on the image information of the target, and record this as the number of blade layers corresponding to each grid unit; translate the preset sprayable coverage area onto the target side projection surface to maximize the total number of blade layers corresponding to the grid units it can cover; record the area formed by the grid unit corresponding to the maximum number of blade layers as the maximum effective spraying area of ​​the target side projection; use the vertical center line of the maximum effective spraying area corresponding to the target interface as the reference interface for the front and rear center positions of the cyclic three-dimensional spraying unit; use the horizontal center line of the maximum effective spraying area corresponding to the target interface as the reference interface for the vertical center position of the cyclic three-dimensional spraying unit; S205: Determine the farthest point position of the target on the left and right sides in the horizontal direction based on the image information of the target, and take the farthest point of the target on the left and right sides in the horizontal direction as the farthest reference position point in the horizontal direction of the cyclic three-dimensional spraying unit. S206: Determine the target spraying position of the circulating three-dimensional spraying unit based on the positional references determined in the front-back, vertical, and horizontal directions of the circulating three-dimensional spraying unit.

9. A spray control method according to claim 7, characterized in that, Specifically, S3 includes: S301: The control system controls the circulating three-dimensional spraying unit to reach the target spraying position; S302: Determine the pre-spraying target area corresponding to each nozzle of the circulating three-dimensional spraying unit and the maximum thickness of the pre-spraying target area based on the image information of the target and the target spraying position of the circulating three-dimensional spraying unit. S303: Determine the spray parameters of each nozzle based on the maximum thickness of the pre-spray target area corresponding to each nozzle and the preset parameter setting rules. The spray parameters include spray flow rate and / or spray duration.

Images