A spraying device and method

Abstract

The present application provides a spraying device and method. The device includes: a processor, configured to determine the driving distances of the spraying device in each coordinate direction at the current time according to the acquired driving information of the spraying device at the current time; determine the coordinates of each nozzle at the current time according to the relative distances of each nozzle from the geometric center and the coordinates of the geometric center at the current time; and send an instruction to the target nozzle to spray the target to be sprayed if there is a target nozzle among the nozzles at the current time that meets the spraying conditions; a first sensor, configured to acquire the position information of the target to be sprayed; and a rangefinder, configured to measure the relative distances of the nozzles from the geometric center of the spraying device. With the above spraying device, on the basis of achieving precise spraying, problems such as high cost, resource waste, limited load, and environmental pollution are avoided.

Description

Technical Field

[0001] This application relates to the technical field of agricultural and forestry equipment control, and particularly relates to a spraying device and method. Background Art

[0002] In the field of agricultural and forestry technology, pesticides are mainly sprayed mechanically in a large area without difference. In order to achieve precise spraying, in the prior art, drones are used for spraying. However, the flight altitude of drones is relatively high, and they are greatly affected by the environment. Moreover, the spraying method is costly and very wasteful of resources. In addition, a large amount of pesticides diffusing in the air during spraying will also cause environmental pollution. Summary of the Invention

[0003] This application provides a spraying device and method, which can avoid the problems of high cost, resource waste and environmental pollution while ensuring precise spraying.

[0004] In a first aspect, an embodiment of this application provides a spraying device, and the device includes:

[0005] A processor, which determines the driving distance corresponding to each coordinate direction of the spraying device at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the driving information of the spraying device obtained at the current time;

[0006] According to the relative distances between each nozzle and the geometric center measured in advance by a rangefinder and the coordinates of the geometric center at the current time, determines the coordinates of each nozzle at the current time, and the coordinates of the geometric center at the current time are determined based on the driving distance corresponding to each coordinate direction;

[0007] When it is determined that there are target nozzles that meet the spraying conditions among the nozzles at the current time according to the coordinates of each nozzle at the current time and the position information of the target to be sprayed obtained by the first sensor, issues an instruction to the target nozzles to spray the target to be sprayed;

[0008] A first sensor, which is used to obtain the position information of the target to be sprayed;

[0009] A rangefinder, which is used to measure the relative distances between each nozzle and the geometric center of the spraying device.

[0010] In a possible implementation manner, the device further includes a second sensor or a real-time kinematic global positioning system. Among them, the first sensor is used to collect the pixel speed of the spraying device, and the real-time kinematic global positioning system is used to collect the coordinates of the geometric center of the spraying device. The processor is further used to determine the driving distance corresponding to each coordinate direction of the spraying device at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the driving information of the spraying device obtained at the current time, including:

[0011] Determine the actual driving speed of the spraying device in different coordinate directions at the current time according to the pixel speed collected by the second sensor, and determine the driving distance of the spraying device in each coordinate direction at the current time relative to the geometric center at the previous acquisition time of the spraying device according to the actual driving speed in each coordinate direction; or

[0012] Determine the driving distance of the spraying device in each coordinate direction at the current time relative to the geometric center at the previous acquisition time of the spraying device according to the coordinates of the geometric center collected by the real-time kinematic global positioning system.

[0013] In a possible implementation manner, the device further includes a third sensor, configured to collect the attitude angular velocity corresponding to different coordinate directions of the spraying device and the angles corresponding to different coordinate directions;

[0014] The processor is further configured to determine the actual driving speed of the spraying device in different coordinate directions at the current time according to the pixel speed collected by the second sensor, including:

[0015] Convert the pixel speed into a first linear speed in different coordinate directions;

[0016] Convert the attitude angular velocity collected by the third sensor into a second linear speed in different coordinate directions;

[0017] For each coordinate direction, use the difference between the first linear speed in the direction and the second linear speed in the direction as the actual driving speed in the coordinate direction at the current time.

[0018] In a possible implementation manner, the processor is further configured to determine the driving distance of the spraying device in each coordinate direction at the current time relative to the geometric center at the previous acquisition time of the spraying device according to the coordinates of the geometric center collected by the real-time kinematic global positioning system, including:

[0019] Determine the driving distance to be corrected of the spraying device in each coordinate direction at the current time relative to the geometric center at the previous acquisition time of the spraying device according to the coordinates of the geometric center collected by the real-time kinematic global positioning system;

[0020] Determine the driving speed to be corrected corresponding to each coordinate direction according to the driving distance to be corrected corresponding to each coordinate direction;

[0021] Convert the attitude angular velocity collected by the third sensor into a second linear speed in different coordinate directions;

[0022] For each coordinate direction, the difference between the speed to be corrected in the direction and the second linear speed in the direction is used as the actual driving speed in the coordinate direction at the current time, and the driving distance corresponding to the coordinate direction of the spraying device at the current time relative to the geometric center at the previous acquisition time of the spraying device is determined using the actual driving speed.

[0023] In a possible implementation manner, the processor is further configured to determine the coordinates of each nozzle at the current time according to the relative distances between each nozzle and the geometric center pre-measured by the rangefinder and the coordinates of the geometric center at the current time, including:

[0024] For each coordinate direction corresponding to each nozzle, the difference between the coordinate value of the geometric center in the coordinate direction and the distance from the nozzle to the geometric center pre-measured by the rangefinder is used as the coordinate value of the nozzle in the coordinate direction at the current time.

[0025] In a possible implementation manner, the processor is further configured to determine target nozzles that meet the spraying conditions among the nozzles at the current time, including:

[0026] Among the nozzles, the nozzles with a distance less than the preset distance from the current time to the target to be sprayed are used as the target nozzles that meet the spraying conditions.

[0027] In a possible implementation manner, the processor is further configured to send an instruction to the target nozzle to spray the target to be sprayed, and further includes:

[0028] According to the coordinates of the target nozzle at the current time, the second linear speeds in each coordinate direction at the current time, the time difference Δt between the time when the spraying instruction is sent and the time when the target nozzle actually sprays the target to be sprayed, and the angles corresponding to different coordinate directions collected by the third sensor, predict the coordinates of the target nozzle after Δt;

[0029] If it is determined that the target nozzle meets the spraying conditions after Δt according to the coordinates of the target nozzle, an instruction to spray the target to be sprayed is sent to the target nozzle.

[0030] In a possible implementation manner, the processor is further configured to predict the coordinates of the target nozzle after Δt according to the coordinates of the target nozzle at the current time, the second linear speeds in each coordinate direction at the current time, the time difference Δt between the time when the spraying instruction is sent and the time when the target nozzle actually sprays the target to be sprayed, and the angles corresponding to different coordinate directions collected by the third sensor, including:

[0031] For the coordinate values of each coordinate direction of the target nozzle at the current time, the following operations are taken:

[0032] xs wn ' = xs wn + Δt × v + h × tan(r), where xs wn ’ is the coordinate value of the target nozzle in the coordinate direction after Δt, and xs wn is the coordinate value of the target nozzle in the coordinate direction at the current time, Δt is the time difference between the time when the instruction is issued and the time when the target nozzle actually sprays the target to be sprayed, v is the second linear velocity in the coordinate direction at the current time, h is the distance from the geometric center to the ground, and r is the angle corresponding to the coordinate direction.

[0033] In a second aspect, an embodiment of the present application provides a spraying method, and the method includes:

[0034] According to the obtained driving information of the spraying device at the current time, determine the driving distances of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time;

[0035] According to the relative distances between each nozzle and the geometric center measured in advance by the rangefinder and the coordinates of the geometric center at the current time, determine the coordinates of each nozzle at the current time, and the coordinates of the geometric center at the current time are determined based on the driving distances corresponding to each coordinate direction;

[0036] According to the coordinates of each nozzle at the current time and the position information of the target to be sprayed obtained by the first sensor, when it is determined that there is a target nozzle that meets the spraying conditions among the nozzles at the current time, issue an instruction to the target nozzle to spray the target to be sprayed.

[0037] In a possible implementation manner, the determining the driving distances of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the obtained driving information of the spraying device at the current time includes:

[0038] According to the pixel velocity collected by the second sensor, determine the actual driving speeds of the spraying device in different coordinate directions, and according to the actual driving speeds in each coordinate direction, determine the driving distances of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time; or

[0039] According to the coordinates of the geometric center collected by the real-time kinematic global positioning system, determine the driving distances of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time.

[0040] In a possible implementation manner, determining the actual driving speeds of the spraying device in different coordinate directions at the current time according to the pixel speeds collected by the second sensor includes:

[0041] Converting the pixel speeds into first linear speeds in different coordinate directions;

[0042] Converting the attitude angular velocities collected by the third sensor into second linear speeds in different coordinate directions;

[0043] For each coordinate direction, taking the difference between the first linear speed in the direction and the second linear speed in the direction as the actual driving speed of the coordinate direction at the current time.

[0044] In a possible implementation manner, determining the driving distances of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the coordinates of the geometric center collected by the real-time kinematic global positioning system includes:

[0045] Determining the to-be-corrected driving distances of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the coordinates of the geometric center collected by the real-time kinematic global positioning system;

[0046] Determining the to-be-corrected driving speeds corresponding to each coordinate direction according to the to-be-corrected driving distances corresponding to each coordinate direction;

[0047] Converting the attitude angular velocities collected by the third sensor into second linear speeds in different coordinate directions;

[0048] For each coordinate direction, taking the difference between the to-be-corrected speed in the direction and the second linear speed in the direction as the actual driving speed of the coordinate direction at the current time, and determining the driving distance of the spraying device in the coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time by using the actual driving speed.

[0049] In a possible implementation manner, determining the coordinates of each nozzle at the current time according to the relative distances between each nozzle and the geometric center pre-measured by the rangefinder and the coordinates of the geometric center at the current time includes:

[0050] For each coordinate direction corresponding to each nozzle, taking the difference between the coordinate value of the geometric center in the coordinate direction and the distance from the nozzle to the geometric center pre-measured by the rangefinder as the coordinate value of the nozzle in the coordinate direction at the current time.

[0051] In a possible implementation manner, determining the target nozzles that meet the spraying conditions among the nozzles at the current time includes:

[0052] Among each nozzle, the nozzle with the distance between the current time and the target to be sprayed less than a preset distance is used as the target nozzle that meets the spraying condition.

[0053] In a possible implementation manner, issuing an instruction to the target nozzle to spray the target to be sprayed further includes:

[0054] According to the coordinates of the target nozzle at the current time, the second linear velocity in each coordinate direction at the current time, the time difference Δt between the time when the spraying instruction is issued and the time when the target nozzle actually sprays the target to be sprayed, and the angles corresponding to different coordinate directions collected by the third sensor, predict the coordinates of the target nozzle after Δt;

[0055] If it is determined that the target nozzle meets the spraying condition after Δt according to the coordinates of the target nozzle, issue an instruction to the target nozzle to spray the target to be sprayed.

[0056] In a possible implementation manner, the predicting the coordinates of the target nozzle after Δt according to the coordinates of the target nozzle at the current time, the second linear velocity in each coordinate direction at the current time, the time difference Δt between the time when the spraying instruction is issued and the time when the target nozzle actually sprays the target to be sprayed, and the angles corresponding to different coordinate directions collected by the third sensor includes:

[0057] For the coordinate value of each coordinate direction of the target nozzle at the current time, perform the following operations:

[0058] xs wn ' = xs wn + Δt × v + h × tan(r), where xs wn ’ is the coordinate value of the target nozzle in the coordinate direction after Δt, xs wn is the coordinate value of the target nozzle in the coordinate direction at the current time, Δt is the time difference between the time when the instruction is issued and the time when the target nozzle actually sprays the target to be sprayed, v is the second linear velocity in the coordinate direction at the current time, h is the distance from the geometric center to the ground, and r is the angle corresponding to the coordinate direction.

[0059] In a third aspect, an embodiment of the present application provides a spraying device, and the device includes:

[0060] A travel distance determination module, configured to determine the travel distances corresponding to each coordinate direction of the spraying device at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the acquired travel information of the spraying device at the current time;

[0061] The nozzle coordinate determination module is configured to determine the coordinates of each nozzle at the current time according to the relative distances between each nozzle and the geometric center pre-measured by the rangefinder and the coordinates of the geometric center at the current time, where the coordinates of the geometric center at the current time are determined based on the travel distances corresponding to each coordinate direction;

[0062] The instruction issuing module is configured to, according to the coordinates of each nozzle at the current time and the position information of the target to be sprayed obtained by the first sensor, when it is determined that there are target nozzles that meet the spraying conditions among the nozzles at the current time, issue an instruction to the target nozzles to spray the target to be sprayed.

[0063] In a fourth aspect, an embodiment of the present application provides a computer storage medium, where the computer storage medium stores a computer program, and the computer program is used to cause a computer to execute the method in the second aspect above.

[0064] The spraying device improved in the embodiments of the present application can, through the cooperation of each sensor and the rangefinder, determine the position of the target to be sprayed and the coordinates of each nozzle, and use the nozzle whose distance from the target to be sprayed at the current time is less than the preset distance as the target nozzle that meets the spraying conditions, thereby realizing precise spraying and avoiding problems such as high cost, resource waste, limited load, and environmental pollution. Description of the Drawings

[0065] Figure 1 A schematic diagram of a spraying device provided by an embodiment of the present application;

[0066] Figure 2 A schematic flow chart of a spraying method provided by an embodiment of the present application;

[0067] Figure 3 A schematic diagram of a nozzle spraying a target to be sprayed provided by an embodiment of the present application;

[0068] Figure 4 Another schematic diagram of a nozzle spraying a target to be sprayed provided by an embodiment of the present application;

[0069] Figure 5 A schematic specific flow chart of a spraying method provided by an embodiment of the present application;

[0070] Figure 6 Another schematic specific flow chart of a spraying method provided by an embodiment of the present application;

[0071] Figure 7 A schematic diagram of a spraying device provided by an embodiment of the present application;

[0072] Figure 8 An intention diagram of an electronic device provided by an embodiment of the present application. Detailed implementation mode

[0073] To make the objectives, technical solutions and advantages of this application clearer and more understandable, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of this application. Without conflict, the embodiments in this application and the features in the embodiments can be arbitrarily combined with each other. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0074] In order to solve the following problems existing in the existing method of precise spraying using drones in the agricultural field:

[0075] The flight altitude of the drone is relatively high, and it is greatly affected by the environment; moreover, the load is limited and it cannot operate for a long time; the spraying method of the drone has a high cost and is very wasteful of resources; a large amount of pesticides will diffuse in the air during spraying, causing environmental pollution. At the same time, the toxicity of the pesticides will cause physical harm to the operators. The embodiments of this application provide a spraying device, as Figure 1 shown, the device includes:

[0076] A first sensor for obtaining the position information of the target to be sprayed. Among them, the first sensor can be a camera or a camera, and the embodiments of this application do not make specific limitations;

[0077] A second sensor for collecting the pixel speed of the spraying device, or a real-time kinematic global positioning system for collecting the coordinates of the geometric center of the spraying device;

[0078] A third sensor for collecting the attitude angular velocity corresponding to different coordinate directions of the spraying device and the angles corresponding to different coordinate directions. Among them, the third sensor can be an inertial sensor, and no specific limitations are made here;

[0079] A rangefinder for measuring the relative distance between each nozzle and the geometric center of the spraying device;

[0080] Nozzles for spraying the target to be sprayed.

[0081] In addition to the components shown in Figure 1 in the spraying device, it also includes a processor embedded inside the spraying device for executing the following method, and the specific process is as Figure 2 shown.

[0082] S201: Determine the driving distances corresponding to the coordinate directions of the spraying device at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the acquired driving information of the spraying device at the current time.

[0083] The driving distances can be determined through at least one of the following implementation manners:

[0084] (1) Collect the driving information of the spraying device at the current time through a second sensor to determine the driving distance.

[0085] The second sensor is a simple and practical expression of image motion, usually defined as the apparent motion of the image brightness pattern in an image sequence. The second sensor can obtain speed data in different coordinate directions (x and y coordinate directions) by taking two different photos within a certain period of time, such as V pix =(Vx pix , Vy pix ), where V pix is the pixel speed, Vx pix is the pixel speed in the x coordinate direction, and Vy pix is the pixel speed in the y coordinate direction.

[0086] Since the photos taken by the second sensor are images, and the pixel speed represents the speed of the spraying device in the coordinate system of the second sensor, it is necessary to convert the pixel speed into the actual driving speed in the coordinate system where the spraying device is located, such as:

[0087] Vx flow =Vx pix *S*h Formula 1

[0088] Vy flow =Vy pix *S*h Formula 2

[0089] Where, Vx flow is the first linear speed in the x coordinate direction; Vy flow is the first linear speed in the y coordinate direction; S is the scale factor, which is related to the specifications and installation methods of the second sensor; h is the height of the geometric center of the spraying device from the ground, which can be measured in advance by a rangefinder. The present application embodiment does not specifically limit the measurement method of h.

[0090] In a possible implementation manner, the first linear speeds in each coordinate direction obtained by the above method can be used as the actual driving speeds in each coordinate direction, such as (v x , v y )=(Vx flow , Vy flow ).

[0091] After obtaining the actual driving speeds of the spraying device in each coordinate direction according to the above embodiments, the driving distances of the spraying device in each direction can be further calculated.

[0092] Specifically, the sampling time of each sampling period of the second sensor can be multiplied by the first linear speed to obtain the driving distance, as shown in the following formulas 3 and 4:

[0093] Dx = ∑ i Vx i *period Formula 3

[0094] Dy = ∑ i Vy i *period Formula 4

[0095] Where, Dx is the actual driving distance in the x coordinate direction, Dy is the actual driving distance in the y coordinate direction, Vx i is the first linear speed in the i-th sampling period in the x coordinate direction, Vy i is the first linear speed in the i-th sampling period in the y coordinate direction, period is the sampling time of each sampling period, and the sampling time of each sampling period can be set to be the same or different; multiplying the first linear speed and the sampling time of each sampling period to obtain the driving distance of the spraying device in each sampling period, and adding up the driving distances of each sampling period can obtain the driving distance of the spraying device at the current time. Among them, the position of the geometric center when the spraying device is started is set as the origin of the coordinate system.

[0096] (2) Collect the driving information of the spraying device at the current time through the real-time kinematic global positioning system to determine the driving distance.

[0097] The real-time kinematic global positioning system can directly obtain the coordinate values of different coordinate directions of the geometric center of the spraying device. For example, the coordinates of the geometric center at time T1 are (x1, y1), and the coordinates of the geometric center at time T2 are (x2, y2). Then, the driving distance of the geometric center of the spraying device at time T2 in the x coordinate direction relative to time T1 is |x2 - x1|, and the driving distance in the y coordinate direction relative to time T1 is |y2 - y1|.

[0098] S202: Determine the coordinates of each nozzle at the current time according to the relative distances between each nozzle and the geometric center pre-measured by the rangefinder and the coordinates of the geometric center at the current time.

[0099] In a possible implementation manner, determining the coordinates of each nozzle at the current time includes:

[0100] For each coordinate direction corresponding to each nozzle, the difference between the coordinate value of the geometric center in the coordinate direction and the distance from the nozzle to the geometric center pre-measured by the rangefinder is used as the coordinate value of the nozzle in the coordinate direction at the current time.

[0101] First, determine the coordinates of the geometric center of the spraying device at the current time. Take the driving distance of the spraying device in the x coordinate direction during the preset time period as the abscissa value of the geometric center of the spraying device at the current time, and take the driving distance of the spraying device in the y coordinate direction during the preset time period as the ordinate value of the geometric center of the spraying device at the current time. For example, when using the second sensor, the coordinates (0, 0, h) of the geometric center are obtained when the spraying device starts. If the spraying device travels 2 in the x coordinate direction and 3 in the y coordinate direction within a period of time, the coordinates of the geometric center of the spraying device change from (0, 0, h) to (2, 3, h), where h is the distance from the geometric center of the spraying device to the ground. If the spraying device continues to travel 2 in the x coordinate direction at the position of (2, 3, h) in the next period of time, the coordinates of the geometric center of the spraying device are (4, 3, h). When using the real-time kinematic global positioning system, there is no need to determine the origin of the coordinate system, and the coordinates of the geometric center can be directly read.

[0102] After obtaining the geometric center (x cw , y cw , h) of the spraying device through the above implementation manner, then use the following formula 5 to determine the coordinates of the nozzle.

[0103]

[0104] Since the nozzle is fixedly connected to the spraying device, the positional relationship between all nozzles and the geometric center of the spraying device can be measured by the rangefinder. Taking any one of the nozzles as an example, xs wn , ys wn are respectively the abscissa value and the ordinate value of the nozzle, △xs wn is the distance between the nozzle and the geometric center in the x coordinate direction of the nozzle, △ys wn is the distance between the nozzle and the geometric center in the y coordinate direction of the nozzle, △xs wn and △ys wn can be measured by the rangefinder, and h is the height of the geometric center of the spraying device from the ground.

[0105] S203: When it is determined that there are target nozzles that meet the spraying conditions among the current nozzles according to the coordinates of each nozzle at the current time and the position information of the target to be sprayed obtained by the first sensor, send an instruction to the target nozzles to spray the target to be sprayed.

[0106] The first sensor can be a device such as a camera or a camera. Through the first sensor, the coordinates of the target to be sprayed in the image can be directly read. In order to achieve precise spraying, it is necessary to convert the coordinates of the target to be sprayed into the coordinates in the coordinate system where the spraying device is located. The specific implementation is as follows:

[0107] Obtain the pixel coordinates (u, v) of the target to be sprayed through the sensor, and convert the position of the target to be sprayed into the coordinates in the coordinate system where the spraying device is located. The conversion formula is as follows:

[0108]

[0109] where x w , y w , z w are the coordinates in the coordinate system where the spraying device is located. K is the internal parameter of the sensor and is calibrated through a general calibration method. The external parameter of the sensor is obtained through measurement, and the rotation matrix R and translation matrix T of the sensor relative to the coordinate system where the spraying device is located can be obtained. Zc is the distance between the first sensor and the imaging target (i.e., the target to be sprayed), which is measured by a rangefinder.

[0110] In a possible implementation manner, the nozzle whose distance from the target to be sprayed at the current time is less than a preset distance is used as the target nozzle that meets the spraying conditions.

[0111] Specifically, the target to be sprayed obtained through the first sensor may be a regional range. As shown in Figure 3 , then calculate the distances from each nozzle to the edge of the regional range, and select the nozzle with the minimum distance (less than the preset distance) as the target nozzle. Since the spraying range of each nozzle is small, generally there will be no situation where two nozzles meet the spraying conditions at the same time. When the target to be sprayed is a regional range, a target position can also be selected within the regional range, and it is determined whether the target position is within the spraying range of each nozzle, that is, it is determined whether the distance from each nozzle to the target position is less than the preset distance, as shown in Figure 4 .

[0112] Through the spraying device provided by the embodiments of the present application, each component cooperates with each other to work, and on the basis of achieving precise spraying, problems such as high cost, resource waste, limited load, and environmental pollution are avoided.

[0113] Since the road surface on which the spraying device travels may be uneven, the spraying device may form a certain angle with the ground during the driving process. In order to make the driving distance more accurate, the output of the first sensor or the real-time kinematic global positioning system can be further compensated and corrected by using a third sensor. The specific implementation is as follows:

[0114] (1) Use the third sensor to compensate and correct the output of the first sensor.

[0115] Convert the pixel velocity into a first linear velocity in different coordinate directions;

[0116] Convert the attitude angular velocity collected by the third sensor into a second linear velocity in different coordinate directions;

[0117] For each coordinate direction, take the difference between the first linear velocity in the direction and the second linear velocity in the direction as the actual driving speed in the coordinate direction at the current time.

[0118] After obtaining the first linear velocity in each coordinate direction using the above formulas 1 and 2, further use the third sensor (inertial sensor) to collect the attitude angular velocity AngV=(AngV pitch , AngV yaw , AngV roll ), where AngV pitch , AngV yaw , AngV roll are the angular velocities in the pitch, yaw, and roll directions respectively; then calculate the second linear velocity corresponding to each coordinate direction according to the angular velocity in each direction, as shown in formulas 7 and 8:

[0119] Vx rotate = AngV roll * h Formula 7

[0120] Vy rotate = AngV pitch * h Formula 8

[0121] Vx rotate is the second linear velocity of the spraying device in the x coordinate direction, and Vy rotate is the second linear velocity of the spraying device in the y coordinate direction. Then subtract the first linear velocity and the second linear velocity in the same coordinate direction, as shown in the following formulas 9 and 10.

[0122] Vx = Vx flow - Vx rotate Formula 9

[0123] Vy = Vy flow - Vy rotate Formula 10

[0124] Vx flow is the first linear velocity in the x coordinate direction; Vy flow is the first linear velocity in the y coordinate direction, which can be specifically obtained through the implementation method in the above S201 and will not be elaborated here. Vx is the actual driving speed in the x coordinate direction, and Vy is the actual driving speed in the y coordinate direction. Substitute Vx and Vy into the above formulas 3 and 4 to obtain the driving distances in different coordinate directions.

[0125] (2) Compensate and correct the output of the real-time kinematic global positioning system using a third sensor.

[0126] Determine the distance to be corrected for the travel of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the coordinates of the geometric center collected by the real-time kinematic global positioning system.

[0127] For example, if the coordinates of the geometric center at time T1 are (x1, y1) and the coordinates of the geometric center at time T2 are (x2, y2), then the distance to be corrected for the travel of the geometric center of the spraying device at time T2 in the x coordinate direction relative to time T1 is |x2 - x1|, and the distance to be corrected for the travel in the y coordinate direction relative to time T1 is |y2 - y1|.

[0128] Determine the speed to be corrected for travel in each coordinate direction according to the distances to be corrected for travel in each coordinate direction.

[0129] The speed to be corrected for travel in the x coordinate direction relative to time T1 is V X1 = |x2 - x1 / (T2 - T1), and the speed to be corrected for travel in the y coordinate direction relative to time T1 is V y1 = |y2 - y1 / (T2 - T1).

[0130] Convert the attitude angular velocity collected by the third sensor into a second linear velocity in different coordinate directions;

[0131] For each coordinate direction, take the difference between the speed to be corrected for that direction and the second linear velocity in that direction as the actual travel speed in that coordinate direction at the current time, and use the actual travel speed to determine the travel distance of the spraying device in that coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time.

[0132] The second linear velocity is as shown in the above formulas 7 and 8 and will not be elaborated here. After obtaining the actual travel speed, for each coordinate direction, the product of the actual travel speed in that direction and the time difference (T2 - T1) can be calculated to obtain the finally corrected travel distance through the third sensor.

[0133] Since there is a certain time delay from when the processor issues an instruction until the nozzle makes a spraying action, during this time delay, the spraying device is still moving forward and may also have a deflection angle. As a result, the coordinates of each nozzle deviate from those obtained through the above embodiments. Due to this deviation, the nozzle may not be able to reach the target to be sprayed during actual spraying. Therefore, to avoid this situation, after obtaining the coordinates of each nozzle using formula 5, further judgment is carried out. The specific implementation method is as follows:

[0134] Issuing an instruction to the target nozzle to spray the target to be sprayed further includes:

[0135] Based on the coordinates of the target nozzle at the current time, the second linear velocities in each coordinate direction at the current time, the time difference Δt between the time when the spraying instruction is issued and the time when the target nozzle actually sprays the target to be sprayed, and the angles corresponding to different coordinate directions collected by the third sensor, predicting the coordinates of the target nozzle after Δt, which is achieved through the following Formulas 11 to 13.

[0136] xs wn ' = xs wn + Δt × vx + d × tan(r) Formula 11

[0137] ys wn ' = ys wn + Δt × vy + d × tan(p) Formula 12

[0138] zs wn ' = h Formula 13

[0139] Taking any one nozzle as an example, (xs wn ', ys wn ', zs wn ') are the predicted coordinates of the nozzle after Δt; Δt is the time difference between the time when the instruction is issued and the time when the target nozzle actually sprays the target to be sprayed, and Δt is a pre-measured value; v x is the actual traveling speed of the spraying device in the x direction, and the specific acquisition process is as described above and will not be elaborated here; v y is the actual traveling speed of the spraying device in the y direction, and the specific acquisition process is as described above and will not be elaborated here; r is the roll angle corresponding to the x coordinate direction obtained by the third sensor, p is the pitch angle corresponding to the y coordinate direction obtained by the third sensor; h is the height of the geometric center of the spraying device from the ground, which can be obtained by a rangefinder; d is the distance from the nozzle to the target to be sprayed, which can be measured by a rangefinder.

[0140] If it is determined that the target nozzle meets the spraying condition after Δt based on the coordinates of the target nozzle, then an instruction to spray the target to be sprayed is issued to the target nozzle.

[0141] The spraying condition is that the distance between the target nozzle and the target to be sprayed after Δt is still less than the preset distance, and then the target nozzle is instructed to issue an instruction to spray the target to be sprayed.

[0142] Next, according to Figure 5 and Figure 6A spraying method provided by an embodiment of the present application will be described in detail.

[0143] Figure 5 To determine the driving distance of the spraying device based on the driving information of the spraying device at the current time obtained by the second sensor.

[0144] S501: Convert the pixel speed collected by the second sensor into the first linear speed in different coordinate directions; the first linear speed in each coordinate direction can be specifically determined according to Formula 1 and Formula 2;

[0145] S502: Convert the rotational angular velocity collected by the third sensor into the second linear speed in different coordinate directions; the second linear speed in each coordinate direction can be specifically determined according to Formula 7 and Formula 8;

[0146] S503: Take the difference between the first linear speed and the second linear speed in each coordinate direction as the actual driving speed in each coordinate direction; the driving distance in each coordinate direction can be specifically determined according to Formula 9 and Formula 10;

[0147] S504: Based on the actual driving speed and the sampling time of the second sensor, determine the driving distance of the spraying device in each coordinate direction at the current time; the driving distance in each coordinate direction can be specifically determined according to Formula 3 and Formula 4;

[0148] S505: According to the relative distance between each nozzle and the geometric center measured in advance by the rangefinder and the coordinates of the geometric center at the current time, determine the coordinates of each nozzle at the current time; the coordinates of each nozzle can be specifically determined by Formula 5, and the coordinates of the geometric center at the current time are obtained based on the driving distance, specifically as the implementation method in S202 above, which will not be elaborated here;

[0149] S506: When it is determined that there are target nozzles that meet the spraying conditions among the nozzles at the current time according to the coordinates of each nozzle at the current time and the position information of the target to be sprayed obtained by the first sensor, send an instruction to the target nozzle to spray the target to be sprayed; after obtaining the position information of the target to be sprayed by the first sensor, the position information of the target to be sprayed can be converted into the coordinates in the coordinate system where the spraying device is located according to Formula 6. Among the nozzles, the nozzles with a distance less than the preset distance between the current time and the target to be sprayed are used as the target nozzles that meet the spraying conditions; in addition, in order to ensure that the target nozzles can accurately spray the target to be sprayed, before sending the spraying instruction, it can be predicted whether the target nozzles after Δt still meet the spraying conditions through the above implementation method. If they meet, the spraying instruction is sent, otherwise the spraying instruction is not sent.

[0150] Figure 6To determine the driving distance of the spraying device based on the driving information of the spraying device at the current time obtained by the real-time kinematic global positioning system.

[0151] S601: Determine the driving speed to be corrected in each coordinate direction according to the coordinates of the geometric center collected by the real-time kinematic global positioning system. The specific implementation method is as described in the steps of S203 above and will not be elaborated here.

[0152] S602: Convert the rotational angular velocity collected by the third sensor into the second linear velocity in different coordinate directions; the second linear velocity in each coordinate direction can be specifically determined according to Formula 7 and Formula 8.

[0153] S603: Take the difference between the driving speed to be corrected and the second linear velocity in each coordinate direction as the actual driving speed in each coordinate direction.

[0154] S604: Determine the driving distance of the spraying device in each coordinate direction at the current time based on the actual driving speed and the sampling time of the real-time kinematic global positioning system. The specific implementation method is as described in the steps of S203 above and will not be elaborated here.

[0155] S605: Determine the coordinates of each nozzle at the current time according to the relative distance between each nozzle and the geometric center measured in advance by the rangefinder and the coordinates of the geometric center at the current time; the coordinates of each nozzle can be specifically determined by Formula 5, and the coordinates of the geometric center at the current time are obtained based on the driving distance, as described in the implementation method of S202 above and will not be elaborated here.

[0156] S606: When it is determined that there are target nozzles that meet the spraying conditions among the nozzles at the current time according to the coordinates of each nozzle at the current time and the position information of the target to be sprayed obtained by the first sensor, send an instruction to the target nozzle to spray the target to be sprayed; after obtaining the position information of the target to be sprayed by the first sensor, the position information of the target to be sprayed can be converted into the coordinates in the coordinate system where the spraying device is located according to Formula 6. Among the nozzles, the nozzle with the distance between the current time and the target to be sprayed less than the preset distance is used as the target nozzle that meets the spraying conditions; in addition, in order to ensure that the target nozzle can accurately spray the target to be sprayed, before sending the spraying instruction, it is possible to predict whether the target nozzle after Δt still meets the spraying conditions through the above implementation method. If it meets, send the spraying instruction; otherwise, do not send the spraying instruction.

[0157] Based on the same inventive concept, the embodiment of the present application also provides a spraying device 700, as Figure 7 shown, the device includes:

[0158] The driving distance determination module 701 is configured to determine the driving distances of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the acquired driving information of the spraying device at the current time;

[0159] The nozzle coordinate determination module 702 is configured to determine the coordinates of each nozzle at the current time according to the relative distances between each nozzle and the geometric center measured in advance by the rangefinder and the coordinates of the geometric center at the current time, and the coordinates of the geometric center at the current time are determined based on the driving distances corresponding to each coordinate direction;

[0160] The instruction sending module 703 is configured to, according to the coordinates of each nozzle at the current time and the position information of the target to be sprayed acquired by the first sensor, when it is determined that there are target nozzles meeting the spraying conditions among the nozzles at the current time, send an instruction to the target nozzles to spray the target to be sprayed.

[0161] In a possible implementation manner, the driving distance determination module 701 is configured to determine the driving distances of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the acquired driving information of the spraying device at the current time, and includes:

[0162] Determine the actual driving speeds of the spraying device in different coordinate directions at the current time according to the pixel speeds collected by the second sensor, and determine the driving distances of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the actual driving speeds in each coordinate direction; or

[0163] Determine the driving distances of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the coordinates of the geometric center collected by the real-time kinematic global positioning system.

[0164] In a possible implementation manner, the device 700 further includes a driving speed determination module configured to determine the actual driving speeds of the spraying device in different coordinate directions at the current time according to the pixel speeds collected by the second sensor, and includes:

[0165] Convert the pixel speed into a first linear speed in different coordinate directions;

[0166] Convert the attitude angular velocity collected by the third sensor into a second linear speed in different coordinate directions;

[0167] For each coordinate direction, use the difference between the first linear speed in the direction and the second linear speed in the direction as the actual driving speed of the coordinate direction at the current time.

[0168] In a possible implementation, the travel distance determination module 701 is configured to determine the travel distance of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the coordinates of the geometric center collected by the real-time kinematic global positioning system, including:

[0169] Determine the travel distance to be corrected of the spraying device in each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the coordinates of the geometric center collected by the real-time kinematic global positioning system;

[0170] Determine the travel speed to be corrected in each coordinate direction according to the travel distance to be corrected in each coordinate direction;

[0171] Convert the attitude angular velocity collected by the third sensor into the second linear velocity in different coordinate directions;

[0172] For each coordinate direction, use the difference between the travel speed to be corrected in the direction and the second linear velocity in the direction as the actual travel speed in the coordinate direction at the current time, and use the actual travel speed to determine the travel distance of the spraying device in the coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time.

[0173] In a possible implementation, the nozzle coordinate determination module 702 is configured to determine the coordinates of each nozzle at the current time according to the relative distance between each nozzle and the geometric center measured in advance by the rangefinder and the coordinates of the geometric center at the current time, including:

[0174] For each coordinate direction corresponding to each nozzle, use the difference between the coordinate value of the geometric center in the coordinate direction and the distance from the nozzle to the geometric center measured in advance by the rangefinder as the coordinate value of the nozzle in the coordinate direction at the current time.

[0175] In a possible implementation, the instruction issuing module 703 is configured to determine the target nozzles that meet the spraying conditions among the nozzles at the current time, including:

[0176] Among the nozzles, use the nozzles whose distance from the target to be sprayed at the current time is less than the preset distance as the target nozzles that meet the spraying conditions.

[0177] In a possible implementation, the instruction issuing module 703 is further configured to issue an instruction to spray the target to be sprayed to the target nozzles, including:

[0178] According to the coordinates of the target nozzle at the current time, the second linear velocity in each coordinate direction at the current time, the time difference Δt between the time when the spraying instruction is issued and the time when the target nozzle actually sprays the target to be sprayed, and the angles corresponding to different coordinate directions collected by the third sensor, predict the coordinates of the target nozzle after Δt;

[0179] If it is determined that the target nozzle meets the spraying condition after Δt according to the coordinates of the target nozzle, then issue an instruction to the target nozzle to spray the target to be sprayed.

[0180] In a possible implementation manner, the instruction issuing module 703 is configured to predict the coordinates of the target nozzle after Δt according to the coordinates of the target nozzle at the current time, the second linear velocity in each coordinate direction at the current time, the time difference Δt between the time when the spraying instruction is issued and the time when the target nozzle actually sprays the target to be sprayed, and the angles corresponding to different coordinate directions collected by the third sensor, including:

[0181] For the coordinate value of each coordinate direction of the target nozzle at the current time, the following operations are taken:

[0182] xs wn ' = xs wn + Δt × v + h × tan(r), where xswn’ is the coordinate value of the target nozzle in the coordinate direction after Δt, xswn is the coordinate value of the target nozzle in the coordinate direction at the current time, Δt is the time difference between the time when the instruction is issued and the time when the target nozzle actually sprays the target to be sprayed, v is the second linear velocity in the coordinate direction at the current time, h is the distance from the geometric center to the ground, and r is the angle corresponding to the coordinate direction.

[0183] Based on the same inventive concept, an embodiment of the present application further provides an electronic device, where the electronic device includes:

[0184] At least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any of the spraying methods in the above embodiments.

[0185] As Figure 8 shown, the electronic device 800 includes a processor 801, a memory 802, and a communication interface 803. Among them, the processor 801, the memory 802, and the communication interface 803 are interconnected through a bus 804.

[0186] The processor 801 is configured to read and execute instructions in the memory 802, so that the at least one processor can execute the spraying method provided in the foregoing embodiments.

[0187] The memory 802 is configured to store various instructions and programs of the spraying method provided in the foregoing embodiments.

[0188] The communication interface 803 is configured for data interaction between the first sensor, the second sensor, the third sensor, the rangefinder and the processor 801.

[0189] The bus 804 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0190] The processor 801 may be a central processing unit (CPU), a network processor (NP), a graphic processing unit (GPU), or any combination of CPU, NP, and GPU. It may also be a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0191] In addition, the present application further provides a computer-readable storage medium, and the computer storage medium stores a computer program, and the computer program is used to cause a computer to execute the method described in any one of the foregoing embodiments.

[0192] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to work in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more of the processes Figure 1 and / or boxes Figure 1 specified in one or more of the boxes.

[0193] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus, such that a series of operational steps are performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing steps for implementing the functions specified in one or more of the processes Figure 1 and / or boxes Figure 1 specified in one or more of the boxes.

[0194] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present application.

[0195] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

Claims

1. A spraying device, characterized in that, the device includes: a first sensor for obtaining the position information of the target to be sprayed; a second sensor for collecting the pixel speed of the spraying device; a third sensor for collecting the attitude angular velocity corresponding to different coordinate directions of the spraying device and the angles corresponding to different coordinate directions; a rangefinder for measuring the relative distance between each nozzle and the geometric center of the spraying device; a processor for converting the pixel speed collected by the second sensor into a first linear speed in different coordinate directions, converting the attitude angular velocity collected by the third sensor into a second linear speed in different coordinate directions, and for each coordinate direction, taking the difference between the first linear speed in the coordinate direction and the second linear speed in the direction as the actual driving speed of the coordinate direction at the current time; based on the obtained actual driving speeds of each coordinate direction, determining the driving distances of the spraying device corresponding to each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time; for each coordinate direction corresponding to each nozzle, taking the difference between the coordinate value of the geometric center at the current time in the coordinate direction and the distance from the nozzle to the geometric center pre-measured by the rangefinder as the coordinate value of the nozzle in the coordinate direction at the current time, and the coordinate of the geometric center at the current time is determined based on the driving distance corresponding to each coordinate direction; when it is determined that there are target nozzles that meet the spraying conditions among the current nozzles according to the coordinates of each nozzle at the current time and the position information of the target to be sprayed obtained by the first sensor, sending an instruction to the target nozzles to spray the target to be sprayed.

2. The device according to claim 1, characterized in that, the device further includes a real-time kinematic global positioning system, wherein the real-time kinematic global positioning system is used to collect the coordinates of the geometric center of the spraying device, and the processor is specifically used for: determining the to-be-corrected driving distances of the spraying device corresponding to each coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time according to the coordinates of the geometric center collected by the real-time kinematic global positioning system; determining the to-be-corrected driving speeds corresponding to each coordinate direction according to the to-be-corrected driving distances corresponding to each coordinate direction; converting the attitude angular velocity collected by the third sensor into a second linear speed in different coordinate directions; for each coordinate direction, taking the difference between the to-be-corrected speed in the coordinate direction and the second linear speed in the coordinate direction as the actual driving speed of the coordinate direction at the current time, and using the actual driving speed to determine the driving distance of the spraying device corresponding to the coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time.

3. The device according to claim 1, characterized in that, the processor is further used for determining that there are target nozzles that meet the spraying conditions among the current nozzles, including: among the nozzles, taking the nozzles with a distance less than a preset distance from the target to be sprayed at the current time as the target nozzles that meet the spraying conditions.

4. The device according to claim 1, It is characterized in that the processor is further configured to send an instruction to the target nozzle to spray the target to be sprayed, and further includes: predicting the coordinates of the target nozzle after Δt according to the coordinates of the target nozzle at the current time, the second linear velocities in each coordinate direction at the current time, the time difference Δt between the time when the spraying instruction is sent and the time when the target nozzle actually sprays the target to be sprayed, and the angles corresponding to different coordinate directions collected by the third sensor; determining that the target nozzle meets the spraying condition after Δt according to the coordinates of the target nozzle, and sending an instruction to the target nozzle to spray the target to be sprayed.

5. The device according to claim 4, It is characterized in that the processor is further configured to predict the coordinates of the target nozzle after Δt according to the coordinates of the target nozzle at the current time, the second linear velocities in each coordinate direction at the current time, the time difference Δt between the time when the spraying instruction is sent and the time when the target nozzle actually sprays the target to be sprayed, and the angles corresponding to different coordinate directions collected by the third sensor, including: performing the following operations on the coordinate value of each coordinate direction of the target nozzle at the current time: xs wn ' = xs wn + Δt × v + h × tan(r), where xs wn ’ is the coordinate value of the target nozzle in the coordinate direction after Δt, xs wn is the coordinate value of the target nozzle in the coordinate direction at the current time, Δt is the time difference between the time when the instruction is issued and the time when the target nozzle actually sprays the target to be sprayed, v is the second linear velocity in the coordinate direction at the current time, h is the distance from the geometric center to the ground, and r is the angle corresponding to the coordinate direction.

6. A spraying method It is characterized in that applied to a spraying device, the method includes: converting the pixel velocity collected by the second sensor into the first linear velocity in different coordinate directions, converting the attitude angular velocity collected by the third sensor into the second linear velocity in different coordinate directions, for each coordinate direction, taking the difference between the first linear velocity in the coordinate direction and the second linear velocity in the coordinate direction as the actual driving speed in the coordinate direction at the current time, and determining the driving distance corresponding to each coordinate direction of the spraying device at the current time relative to the geometric center at the previous acquisition time of the spraying device according to the obtained actual driving speeds in each coordinate direction; for each coordinate direction corresponding to each nozzle, taking the difference between the coordinate value of the geometric center at the current time in the coordinate direction and the distance from the nozzle to the geometric center measured in advance by the rangefinder as the coordinate value of the nozzle in the coordinate direction at the current time, and the coordinate of the geometric center at the current time is determined based on the driving distance corresponding to each coordinate direction; when it is determined that there is a target nozzle that meets the spraying condition among the current nozzles according to the coordinates of each nozzle at the current time and the position information of the target to be sprayed obtained by the first sensor, sending an instruction to the target nozzle to spray the target to be sprayed.

7. The method according to claim 6, It is characterized in that the determining the driving distance corresponding to each coordinate direction of the spraying device at the current time relative to the geometric center at the previous acquisition time of the spraying device includes: determining the driving distance to be corrected corresponding to each coordinate direction of the spraying device at the current time relative to the geometric center at the previous acquisition time of the spraying device according to the coordinates of the geometric center collected by the real-time kinematic global positioning system; Determine the to-be-corrected driving speeds corresponding to each coordinate direction according to the to-be-corrected driving distances corresponding to each coordinate direction. Convert the attitude angular velocity collected by the third sensor into second linear velocities in different coordinate directions. For each coordinate direction, use the difference between the to-be-corrected speed in the coordinate direction and the second linear velocity in the coordinate direction as the actual driving speed in the coordinate direction at the current time, and use the actual driving speed to determine the driving distance of the spraying device in the coordinate direction at the current time relative to the geometric center of the spraying device at the previous acquisition time.

8. The method according to claim 6, wherein, the determination of the target nozzles that meet the spraying conditions among the respective nozzles at the current time includes: Among the respective nozzles, use the nozzles with the distance between the current time and the to-be-sprayed target less than the preset distance as the target nozzles that meet the spraying conditions.

9. The method according to claim 6, wherein, issuing an instruction to the target nozzle to spray the to-be-sprayed target further includes: Predict the coordinates of the target nozzle after the time difference Δt according to the coordinates of the target nozzle at the current time, the second linear velocities in each coordinate direction at the current time, the time difference Δt between the time when the spraying instruction is issued and the time when the target nozzle actually sprays the to-be-sprayed target, and the angles corresponding to different coordinate directions collected by the third sensor; If it is determined that the target nozzle meets the spraying conditions after the time difference Δt according to the coordinates of the target nozzle, issue an instruction to the target nozzle to spray the to-be-sprayed target.

10. The method according to claim 9, wherein, the prediction of the coordinates of the target nozzle after the time difference Δt according to the coordinates of the target nozzle at the current time, the second linear velocities in each coordinate direction at the current time, the time difference Δt between the time when the spraying instruction is issued and the time when the target nozzle actually sprays the to-be-sprayed target, and the angles corresponding to different coordinate directions collected by the third sensor includes: For the coordinate value of each coordinate direction of the target nozzle at the current time, perform the following operations: xs wn ' = xs wn + Δt × v + h × tan(r), where xs wn ’ is the coordinate value of the target nozzle in the coordinate direction after Δt, xs wn is the coordinate value of the target nozzle in the coordinate direction at the current time, Δt is the time difference between the time when the instruction is issued and the time when the target nozzle actually sprays the target to be sprayed, v is the second linear velocity in the coordinate direction at the current time, h is the distance from the geometric center to the ground, and r is the angle corresponding to the coordinate direction.

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