Spray method, system and computer device based on crop prescription map

Abstract

The application relates to a spraying method, system and computer device based on a crop prescription map. The method comprises the following steps: acquiring crop prescription map information and real-time positioning information of a first point in a movement process; when the vertical distance between a target point and a connecting line of the first point and a second point, or the vertical distance between the target point and a connecting line of the first point and a third point is less than half of the corresponding crop canopy of the target point, acquiring a prescription value of the corresponding crop of the target point; calculating sixth and seventh points of a delay correction operation distance according to second and third points, fourth and fifth points of the farthest distance covered by single nozzle spraying; when the vertical distance between the target point and a connecting line of the first point and the sixth point, or the vertical distance between the target point and a connecting line of the first point and the seventh point is less than half of the corresponding crop canopy of the target point, and the spraying machine is in a non-turning state, sending a signal to the nozzle of the spraying machine to spray according to the prescription value. The method can provide precision of pesticide spraying of the spraying machine.

Description

Technical Field

[0001] The present application relates to the field of agricultural spraying technology, and in particular to a spraying method, system and computer equipment based on crop prescription maps. Background Art

[0002] The pesticide application method for agricultural crops generally adopts extensive continuous spray measurement, which uses spraying machinery and drones to spray continuously manually or automatically. However, this spraying method effectively deposits less than 30% of pesticides on the target agricultural crops, resulting in low pesticide utilization rate, serious droplet drift residue, and easily causing environmental pollution, crop quality decline, and ecosystem imbalance.

[0003] To address these issues and achieve precise pesticide application in orchards, variable-rate spraying technology is currently widely used, with variable-rate spray systems based on crop prescription maps. This implementation can be broadly divided into three steps: utilizing "3S" technology or real-time sensor technology to capture various differential information within the crop field and generate a variable-rate prescription map. Positioning technology is then used to interpret the variable-rate prescription map and obtain the target crop's prescription value. This prescription value then guides the spray actuator to adjust the spray volume, completing the variable-rate spray operation. Existing variable-rate spray technology based on crop prescription maps is primarily used in open fields. However, the fertilization and pesticide spraying methods used for orchard fruit trees fail to account for the gaps between trees and the delays inherent in the spray system, resulting in low spray accuracy. Summary of the Invention

[0004] Based on this, it is necessary to provide a spraying method, system and computer equipment based on crop prescription maps that can improve spraying accuracy in response to the above technical problems.

[0005] A spraying method based on a crop prescription map, the method comprising:

[0006] Obtain crop prescription map information and real-time positioning information of the first point during movement;

[0007] Traverse the crop prescription map information and calculate the vertical distance between each target point and the line connecting the first and second points, and the vertical distance between each target point and the line connecting the first and third points; the second point is the left boundary point of the farthest distance that the nozzle spray can cover, and the third point is the right boundary point of the farthest distance that the nozzle spray can cover;

[0008] When the vertical distance between the target point and the line connecting the first point and the second point, or the vertical distance between the target point and the line connecting the first point and the third point is less than half of the crown width of the crop corresponding to the target point, the prescription value of the crop corresponding to the target point is obtained;

[0009] Calculate the sixth and seventh points of the delayed correction operating distance based on the second and third points of the maximum distance that a single nozzle spray can cover, and the fourth and fifth points of the maximum distance that a single nozzle spray can reach the operating standard; the fourth and fifth points are respectively the left and right boundary points of the maximum distance that the nozzle spray can reach the operating standard, and the sixth and seventh points are respectively the left and right boundary points of the delayed correction operating distance;

[0010] When the vertical distance between the target point and the line connecting the first and sixth points, or the vertical distance between the target point and the line connecting the first and seventh points is less than half the crop canopy width corresponding to the target point, and the sprayer is in a non-turning state, a signal is sent to the nozzle of the sprayer to spray according to the prescribed value;

[0011] When the vertical distance between the target point and the line connecting the first and seventh points, or the vertical distance between the target point and the line connecting the first and sixth points is not less than half of the crop crown width corresponding to the target point, a signal to end spraying is sent to the nozzle of the sprayer.

[0012] In one embodiment, under the same spray pressure and the same operating environment, the relationship between the effective spray radiation w and the spray radiation W of the same nozzle is:

[0013] w=k×W, where k is the scaling factor;

[0014] Under the same spray pressure and the same working environment, the relationship between the delayed correction working distance L and the effective spray radiation w of the same nozzle is:

[0015]

[0016] Among them, t s The delay time for opening the spray system is in seconds; t e is the delay time for the spray system to end, in seconds; v is the operating speed of the sprayer, in m / s; a, b, c, d, and e are proportional factors; t1 is the delay time for GPS and IMU signal acquisition and analysis, in seconds; t2 is the delay time for flow sensor speed measurement, in seconds; t3 is the time for the variable spray control module to process the start signal and the spray component to respond, in seconds; t4 is the control signal transmission delay time, in seconds; t5 is the spray component's response time to end spraying, in seconds;

[0017] Among them, the first point represents the nozzle position, W is the spray radiation, which indicates the maximum distance in the width direction that a single nozzle can cover, and the second and third points are the left and right boundary points respectively; w is the effective spray radiation, which indicates the maximum distance in the width direction that a single nozzle can reach the operating standard, and the fourth and fifth points are the left and right boundary points respectively; L is the delay-corrected operating distance in meters, which indicates the actual effective operating distance considering the delay of the spray system, and the sixth and seventh points are the left and right boundary points respectively.

[0018] In one embodiment, the latitude and longitude coordinates of the second point are calculated as follows:

[0019]

[0020] Among them, latA is the latitude of the first point, in degrees; lonA is the longitude of the first point, in degrees; latA rad The latitude of the first point is expressed in radians, in rad; r A is the radius of the earth's surface corresponding to the latitude of the first point, in meters; C A is the circumference of the latitude circle where the first point is located, in meters; l lm Indicates the metric distance corresponding to each degree on the longitude circle, in meters; 2α is the spray angle, in degrees; H is the spray distance between the sprayer and the fruit tree row, in meters; latB is the latitude of the second point, in degrees; lonB is the longitude of the second point, in degrees;

[0021] The latitude and longitude coordinates of the third point are calculated as follows:

[0022]

[0023] Where, latC is the latitude of the third point, and lonC is the longitude of the third point, both in degrees;

[0024] Calculate the vertical distance between the target point and the line connecting the first and second points as follows:

[0025] Convert the latitude and longitude coordinates of the first point, the second point, and the target point into radians:

[0026]

[0027] Among them, lonA rad The longitude lonA of the first point is expressed in rad; latA rad The latitude of the first point latA is expressed in radians, in rad; lonB rad The longitude lonB of the second point is expressed in radians, in rad; latB radThe latitude of the second point latB is expressed in radians, in rad; lonO rad The longitude lonO of the target point is expressed in radians, with the unit being rad; latO rad The latitude latO of the target point is expressed in radians, with the unit being rad. The longitude and latitude of the target point are obtained from the crop prescription map information.

[0028] Calculate the geodetic distance between the first and second points using the following formula:

[0029]

[0030] Where dlat is the difference in latitude between the first and second points, in rad; dlon is the difference in longitude between the first and second points, in rad; ρ is an intermediate variable that facilitates calculation, in rad; c rad The arc length of the spherical distance between the first point and the second point is in rad; R is the radius of the earth in meters; D AB Indicates the geodetic distance between the first and second points in meters;

[0031] Calculate the angle between the target point and the line connecting the first and second points using the following formula:

[0032]

[0033] Where alpha represents the angle between the line connecting the target point and the first point and the line connecting the first point and the second point, and beta represents the angle between the line connecting the target point and the second point and the line connecting the first point and the second point;

[0034] Calculate the perpendicular distance between the target point and the line connecting the first and second points:

[0035] d AB =|D AB ×sin(alpha-beta)|

[0036] Among them, d AB It represents the vertical distance from the target point to the connecting line between the first point and the second point, in meters.

[0037] In one embodiment, when the vertical distance between the target point and the line connecting the first point and the sixth point, or the vertical distance between the target point and the line connecting the first point and the seventh point is less than half of the crop crown width corresponding to the target point, and the sprayer is in a non-turning state, a signal to spray according to the prescription value is sent to the nozzle of the sprayer, including: when the sixth point is within the prescription circle of the target fruit tree, or the seventh point is within the prescription circle of the target fruit tree, and the sprayer is in a non-turning state, a signal to spray according to the prescription value is sent to the nozzle of the sprayer.

[0038] In one embodiment, the latitude and longitude coordinates of the sixth and seventh points are:

[0039]

[0040] Among them, latD f Indicates the latitude coordinate of the sixth point in the first walking state of the sprayer, in degrees; lonD f Indicates the longitude coordinate of the sixth point in the first walking state of the sprayer, in degrees; latE f Indicates the latitude coordinate of the seventh point in the first walking state of the sprayer, in degrees; lonE f Indicates the longitude coordinate of the seventh point in the first walking state of the sprayer, in degrees; latD b Indicates the latitude coordinate of the sixth point in the second walking state of the sprayer, in degrees; lonD b Indicates the longitude coordinate of the sixth point in the second travel state of the sprayer, in degrees; latE b Indicates the latitude coordinate of the seventh point in the second walking state of the sprayer, in degrees; lonE b Indicates the longitude coordinate of the seventh point in the second walking state of the sprayer, in degrees; latA is the latitude of the first point (the nozzle position), in degrees; H is the spray distance between the sprayer and the fruit tree row, in meters; l lm Indicates the metric distance corresponding to each degree on the longitude circle, in m; lonA is the longitude of the first point (nozzle position), in degrees; 2α is the spray angle, in degrees; t s is the delay time for the spray system to start, in seconds; v is the sprayer operating speed, in m / s; t e It is the delay time for the spray system to end, in seconds.

[0041] In one embodiment, when the vertical distance between the target point and the line connecting the first point and the sixth point, or the vertical distance between the target point and the line connecting the first point and the seventh point is less than half of the crop canopy width corresponding to the target point, and the sprayer is in a non-turning state, before sending a signal to the nozzle of the sprayer to spray according to the prescription value, the method further includes: determining whether the sprayer is in a state where the cumulative deviation in the Y-axis direction is greater than 30° and the yaw angle rotation speed around the Z-axis is greater than 5° / s; if the sprayer is in a state where the cumulative deviation in the Y-axis direction is greater than 30° and the yaw angle rotation speed around the Z-axis is greater than 5° / s, the sprayer is in a turning state; otherwise, the sprayer is in a non-turning state.

[0042] In one embodiment, when the sprayer moves along a preset working route, the prescription circle of each target fruit tree is coded in rows and columns according to the direction of travel of the sprayer, and an odd number in the row code of the prescription circle indicates that the sprayer is moving forward, and an even number indicates that the sprayer is moving backward; when the vertical distance between the target point and the connecting line between the first point and the sixth point, or the vertical distance between the target point and the connecting line between the first point and the seventh point is less than half of the crop crown width corresponding to the target point, and the sprayer is in a non-turning state, a signal is sent to the nozzle of the sprayer to spray according to the prescription value, including: when the sprayer is in a forward state, when the sixth point enters the prescription circle corresponding to the acquired target point, a signal is sent to the nozzle of the sprayer to spray according to the prescription value; When the sprayer is in a reverse state, when the seventh point enters the prescription circle corresponding to the acquired target point, a signal is sent to the nozzle of the sprayer to spray according to the prescription value; when the vertical distance between the target point and the connecting line between the first point and the seventh point, or the vertical distance between the target point and the connecting line between the first point and the sixth point is not less than half of the crop crown width corresponding to the target point, a signal is sent to the nozzle of the sprayer to end the spraying, including: when the sprayer is in a forward state, when the seventh point leaves the prescription circle corresponding to the acquired target point, a signal is sent to the nozzle of the sprayer to end the spraying; when the sprayer is in a reverse state, when the sixth point leaves the prescription circle corresponding to the acquired target point, a signal is sent to the nozzle of the sprayer to end the spraying.

[0043] In one embodiment, the spraying method based on the crop prescription map further includes: when sending a signal to the nozzle of the sprayer to spray according to the prescription value, collecting the system instantaneous flow and the spraying amount for the crop; calculating the ideal flow according to the delay-corrected operating distance, the crown width of the fruit tree, the moving speed of the spray device, and the prescription value; calculating the deviation between the instantaneous flow and the ideal flow as the input of the PID algorithm, and outputting the ratio of the opening and closing time of the control solenoid valve to accurately adjust the spray flow.

[0044] A spray system based on a crop prescription map, the system comprising:

[0045] An information acquisition module is used to obtain crop prescription map information and obtain real-time positioning information of the first point during the movement;

[0046] A distance calculation module is used to traverse the crop prescription map information and calculate the vertical distance between each target point and the line connecting the first and second points, and the vertical distance between each target point and the line connecting the first and third points; the second point is the left boundary point of the farthest distance that the nozzle spray can cover, and the third point is the right boundary point of the farthest distance that the nozzle spray can cover;

[0047] a prescription value acquisition module, configured to acquire the prescription value of the crop corresponding to the target point when the vertical distance between the target point and the line connecting the first point and the second point, or the vertical distance between the target point and the line connecting the first point and the third point, is less than half the crown width of the crop corresponding to the target point;

[0048] The module for calculating the boundary points of the delayed correction operation distance is used to calculate the sixth and seventh points of the delayed correction operation distance based on the second and third points of the maximum distance that can be covered by the spray of a single nozzle, and the fourth and fifth points of the maximum distance that can be achieved by the spray of a single nozzle; wherein the fourth and fifth points are respectively the left and right boundary points of the maximum distance that the spray of the nozzle can achieve the operation standard, and the sixth and seventh points are respectively the left and right boundary points of the delayed correction operation distance;

[0049] a spray start module, configured to send a signal to the nozzle of the sprayer to spray according to the prescribed value when the vertical distance between the target point and the connecting line between the first point and the sixth point, or the vertical distance between the target point and the connecting line between the first point and the seventh point is less than half the canopy width of the crop corresponding to the target point, and the sprayer is in a non-turning state;

[0050] The spray closing module is used to send a signal to the nozzle of the sprayer to end spraying when the vertical distance between the target point and the connecting line of the first point and the seventh point, or the vertical distance between the target point and the connecting line of the first point and the sixth point is not less than half of the crown width of the crop corresponding to the target point.

[0051] A computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0052] Obtain crop prescription map information and real-time positioning information of the first point during movement;

[0053] Traverse the crop prescription map information and calculate the vertical distance between each target point and the line connecting the first and second points, and the vertical distance between each target point and the line connecting the first and third points; the second point is the left boundary point of the farthest distance that the nozzle spray can cover, and the third point is the right boundary point of the farthest distance that the nozzle spray can cover;

[0054] When the vertical distance between the target point and the line connecting the first point and the second point, or the vertical distance between the target point and the line connecting the first point and the third point is less than half of the crown width of the crop corresponding to the target point, the prescription value of the crop corresponding to the target point is obtained;

[0055] Calculate the sixth and seventh points of the delayed correction operating distance based on the second and third points of the maximum distance that a single nozzle spray can cover, and the fourth and fifth points of the maximum distance that a single nozzle spray can reach the operating standard; the fourth and fifth points are respectively the left and right boundary points of the maximum distance that the nozzle spray can reach the operating standard, and the sixth and seventh points are respectively the left and right boundary points of the delayed correction operating distance;

[0056] When the vertical distance between the target point and the line connecting the first and sixth points, or the vertical distance between the target point and the line connecting the first and seventh points is less than half the crop canopy width corresponding to the target point, and the sprayer is in a non-turning state, a signal is sent to the nozzle of the sprayer to spray according to the prescribed value;

[0057] When the vertical distance between the target point and the line connecting the first and seventh points, or the vertical distance between the target point and the line connecting the first and sixth points is not less than half of the crop crown width corresponding to the target point, a signal to end spraying is sent to the nozzle of the sprayer.

[0058] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0059] Obtain crop prescription map information and real-time positioning information of the first point during movement;

[0060] Traverse the crop prescription map information and calculate the vertical distance between each target point and the line connecting the first and second points, and the vertical distance between each target point and the line connecting the first and third points; the second point is the left boundary point of the farthest distance that the nozzle spray can cover, and the third point is the right boundary point of the farthest distance that the nozzle spray can cover;

[0061] When the vertical distance between the target point and the line connecting the first point and the second point, or the vertical distance between the target point and the line connecting the first point and the third point is less than half of the crown width of the crop corresponding to the target point, the prescription value of the crop corresponding to the target point is obtained;

[0062] Calculate the sixth and seventh points of the delayed correction operating distance based on the second and third points of the maximum distance that a single nozzle spray can cover, and the fourth and fifth points of the maximum distance that a single nozzle spray can reach the operating standard; the fourth and fifth points are respectively the left and right boundary points of the maximum distance that the nozzle spray can reach the operating standard, and the sixth and seventh points are respectively the left and right boundary points of the delayed correction operating distance;

[0063] When the vertical distance between the target point and the line connecting the first and sixth points, or the vertical distance between the target point and the line connecting the first and seventh points is less than half the crop canopy width corresponding to the target point, and the sprayer is in a non-turning state, a signal is sent to the nozzle of the sprayer to spray according to the prescribed value;

[0064] When the vertical distance between the target point and the line connecting the first and seventh points, or the vertical distance between the target point and the line connecting the first and sixth points is not less than half of the crop crown width corresponding to the target point, a signal to end spraying is sent to the nozzle of the sprayer.

[0065] The above-mentioned spraying method, system and computer equipment based on crop prescription map introduce delayed correction of working distance, that is, correcting the effective spray radius of spray by the delay time of spray system start and the delay time of spray system end to obtain the actual effective spray distance, which can calibrate the hysteresis of the system and ensure that the effective spray radius of spray can be fully operated on the canopy of fruit trees. This correction enables the spray to cover the target area more accurately, avoid waste and missed spraying, thereby improving the quality and efficiency of spraying operation, and through efficient spray control algorithm, innovatively judges the positional relationship between the target point and the delayed correction working distance and the status of the sprayer, and issues corresponding control signals to achieve precise spraying operation on fruit trees. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 1 is a schematic flow chart of a spraying method based on a crop prescription map in one embodiment;

[0067] Figure 2 A schematic diagram of the spray range and boundary points of a sprayer in a spray method based on a crop prescription map in one embodiment;

[0068] Figure 3 1 is a schematic flow chart of a spraying method based on a crop prescription map in a specific embodiment;

[0069] Figure 4 Schematic diagram of sprayer operation of a spraying method based on a crop prescription map in another embodiment;

[0070] Figure 5 A hardware design diagram of a spray system based on a crop prescription map in one embodiment;

[0071] Figure 6 is a structural block diagram of a spray system based on a crop prescription map in one embodiment;

[0072] Figure 7 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0073] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0074] In one embodiment, Figure 1 As shown, a spraying method based on a crop prescription map is provided, the method comprising:

[0075] S110, obtaining crop prescription map information and real-time positioning information at a first point (nozzle position) during movement.

[0076] The crop prescription map information includes the target latitude and longitude information, the crown width of the target fruit tree, and the variable spraying prescription value of the fruit tree. The variable spraying prescription value of the fruit tree is the crop prescription value, which is the ideal spraying amount of the sprayer. The nozzle position is the first point, such as Figure 2 Point A in the middle. The nozzle will continue to move during the spraying process, and the positioning information of the first point needs to be obtained in real time.

[0077] S120, traverse the crop prescription map information, calculate the vertical distance between each target point and the line connecting the first point and the second point, and the vertical distance between each target point and the line connecting the first point and the third point; the second point is the left boundary point of the farthest distance that the nozzle spray can cover, and the third point is the right boundary point of the farthest distance that the nozzle spray can cover.

[0078] Among them, the second point is the left boundary point of the farthest distance that the nozzle spray can cover, such as Figure 2 Point B in the middle, the third point is the right boundary point of the farthest distance that the nozzle spray can cover, such as Figure 3 Point C in the middle. In the obtained variable spray prescription map for fruit trees, the operation area is formed by dividing the fruit trees into groups with the target fruit tree's centroid as the center and the crown width as the diameter. This circle is called the prescription circle, and the center of the circle is called the target point.

[0079] S130, when the vertical distance between the target point and the connecting line between the first point and the second point, or the vertical distance between the target point and the connecting line between the first point and the third point is less than half of the crown width of the crop corresponding to the target point, obtain the prescription value of the crop corresponding to the target point.

[0080] S140, calculate the sixth and seventh points of the delayed correction operating distance based on the second and third points of the farthest distance that a single nozzle spray can cover, and the fourth and fifth points of the farthest distance that a single nozzle spray can reach the operating standard; wherein the fourth point and the fifth point are respectively the left boundary point and the right boundary point of the farthest distance that the nozzle spray can reach the operating standard, and the sixth point and the seventh point are respectively the left boundary point and the right boundary point of the delayed correction operating distance.

[0081] Among them, the fourth point and the fifth point are the left boundary point and the right boundary point of the farthest distance that the nozzle spray can reach the operating standard, respectively. Figure 2 Points F and G in the middle; the sixth and seventh points are the left and right boundary points of the delayed correction operation distance, respectively. Figure 2Points D and E are included. Point D is between points B and F, and point E is between points G and C. The calculations for points 6 and 7 take into account the spray system's start delay, spray system end delay, sprayer operating speed, signal acquisition and analysis delay, flow sensor speed measurement delay, variable spray control module processing start signal and spray component response time, control signal transmission delay, and spray component end spray response time.

[0082] S150: When the vertical distance between the target point and the line connecting the first point and the sixth point, or the vertical distance between the target point and the line connecting the first point and the seventh point is less than half of the crop canopy width corresponding to the target point, and the sprayer is in a non-turning state, a signal is sent to the nozzle of the sprayer to spray according to the prescribed value.

[0083] Among them, when the vertical distance between the target point and the connecting line of the first point and the sixth point, or the vertical distance between the target point and the connecting line of the first point and the seventh point is less than half of the crop crown width corresponding to the target point, it means that it is already in the preparatory spray range, and a spray signal is sent to the sprayer.

[0084] S160: When the vertical distance between the target point and the line connecting the first point and the seventh point, or the vertical distance between the target point and the line connecting the first point and the sixth point is not less than half of the crop canopy width corresponding to the target point, a signal to end spraying is sent to the nozzle of the sprayer.

[0085] In the above-mentioned spraying method based on the crop prescription map, by introducing the delayed correction working distance, that is, correcting the effective spray radius of the spray by the spray system start delay time and the spray system end delay time, the actual effective spray distance is obtained, and the hysteresis of the system can be calibrated to ensure that the effective spray radius of the spray can be completely operated on the canopy of the fruit tree. This correction enables the spray to cover the target area more accurately, avoid waste and omissions, thereby improving the quality and efficiency of the spraying operation, and through an efficient spray control algorithm, innovatively judges the positional relationship between the target point and the delayed correction working distance and the status of the sprayer, and issues corresponding control signals to achieve precise spraying operations on fruit trees.

[0086] In one embodiment, under the same spray pressure and the same operating environment, the relationship between the effective spray radiation w and the spray radiation W of the same nozzle is:

[0087] w=k×W

[0088] Where k is the scaling factor;

[0089] Under the same spray pressure and the same working environment, the relationship between the delayed correction working distance L and the effective spray radiation w of the same nozzle is:

[0090]

[0091] Among them, t s The delay time for opening the spray system is in seconds; t e is the delay time for the spray system to end, in seconds; v is the operating speed of the sprayer, in meters per second; a, b, c, d, and e are proportional factors; t1 is the delay time for GPS and IMU signal acquisition and analysis, in seconds; t2 is the delay time for flow sensor speed measurement, in seconds; t3 is the time for the variable spray control module to process the start signal and the spray component to respond, in seconds; t4 is the delay time for control signal transmission, in seconds; t5 is the response time for the spray component to end spraying, in seconds; among them, the first point represents the nozzle position, W is the spray radius, which represents the maximum distance in the width direction that a single nozzle can cover, and the second and third points are the left and right boundary points respectively; w is the effective spray radius, which represents the maximum distance in the width direction that a single nozzle can reach the operating standard, and the fourth and fifth points are the left and right boundary points respectively; L is the delay-corrected operating distance, in meters, which represents the actual effective operating distance considering the delay of the spray system, and the sixth and seventh points are the left and right boundary points respectively.

[0092] The latitude and longitude coordinates of the second point are calculated as follows:

[0093]

[0094] Among them, latA is the latitude of the first point (nozzle location), unit is °; lonA is the longitude of the first point (nozzle location), unit is °; latA rad The latitude of the first point is expressed in radians, in rad; r A is the radius of the earth's surface corresponding to the latitude of the first point, in meters; C A is the circumference of the latitude circle where the first point is located, in meters; l lm Indicates the metric distance corresponding to each degree on the longitude circle, in meters; 2α is the spray angle, in degrees; H is the spray distance between the sprayer and the fruit tree row, in meters; latB is the latitude of the second point, in degrees; lonB is the longitude of the second point, in degrees;

[0095] The latitude and longitude coordinates of the third point are calculated as follows:

[0096]

[0097] Where latC is the latitude of the third point, and lonC is the longitude of the third point, both in degrees.

[0098] Calculate the vertical distance between the target point and the line connecting the first and second points as follows:

[0099] Convert the latitude and longitude coordinates of the first point, the second point, and the target point into radians:

[0100]

[0101] Among them, lonA rad The longitude lonA of the first point is expressed in rad; latA rad The latitude of the first point latA is expressed in radians, in rad; lonB rad The longitude lonB of the second point is expressed in radians, in rad; latB rad The latitude of the second point latB is expressed in radians, in rad; lonO rad The longitude lonO of the target point is expressed in radians, with the unit being rad; latO rad The latitude latO of the target point is expressed in radians, with the unit being rad. The longitude and latitude of the target point are obtained from the crop prescription map information.

[0102] Calculate the geodetic distance between the first and second points using the following formula:

[0103]

[0104] Where dlat is the difference in latitude between the first and second points, in rad; dlon is the difference in longitude between the first and second points, in rad; ρ is an intermediate variable that facilitates calculation, in rad; c rad The arc length of the spherical distance between the first point and the second point is in rad; R is the radius of the earth in meters; D AB Indicates the geodetic distance between the first and second points in meters;

[0105] Calculate the angle between the target point and the line connecting the first and second points using the following formula:

[0106]

[0107] Where alpha represents the angle between the line connecting the target point and the first point and the line connecting the first point and the second point, and beta represents the angle between the line connecting the target point and the second point and the line connecting the first point and the second point;

[0108] Calculate the perpendicular distance between the target point and the line connecting the first and second points:

[0109] d AB =|D AB ×sin(alpha-beta)|

[0110] Among them, d ABIt represents the vertical distance from the target point to the connecting line between the first point and the second point, in meters.

[0111] In this embodiment, prescription circle coding addressing is performed by judging whether the vertical distance between each target point and the line connecting the first point and the second point, and the vertical distance between each target point and the line connecting the first point and the third point is less than half of the crop crown width. Compared with the traditional coordinate conversion plus row and column scanning solution, this algorithm can effectively solve the problem of non-positive fruit tree addressing and improve the applicability of the system in various orchard environments; on the other hand, it can reduce data distortion and error accumulation problems and improve the accuracy of prescription map addressing.

[0112] In one embodiment, when the vertical distance between the target point and the line connecting the first and sixth points, or the vertical distance between the target point and the line connecting the first and seventh points, is less than half the crop canopy width corresponding to the target point, and the sprayer is in a non-turning state, a signal is issued to the nozzle of the sprayer to spray according to the prescribed value, including: when the sixth point is within the prescription circle of the target fruit tree, or when the seventh point is within the prescription circle of the target fruit tree, and the sprayer is in a non-turning state, a signal is issued to the nozzle of the sprayer to spray according to the prescribed value. The latitude and longitude coordinate calculation formulas for the sixth and seventh points are different in different travel states. In one embodiment, when the vertical distance between the target point and the line connecting the first and sixth points, or the vertical distance between the target point and the line connecting the first and seventh points, is not less than half the crop canopy width corresponding to the target point, and the sprayer is not turning, a signal to terminate spraying is sent to the sprayer's nozzle head. This includes: when the sixth point is within a prescription circle of the target fruit tree, or when the seventh point is within a prescription circle of the target fruit tree, and the sprayer is not turning. The latitude and longitude coordinates of the sixth and seventh points are calculated using different formulas in different travel states.

[0113] In this example, the positional relationship between the target point and the delayed correction operating distance, as well as the status of the sprayer, is innovatively determined, and corresponding control signals are issued. An efficient spray control algorithm enables precise spraying of fruit trees.

[0114] The latitude and longitude coordinate formulas of the sixth and seventh points are:

[0115]

[0116] Among them, latD f Indicates the latitude coordinate of the sixth point in the first walking state of the sprayer, in degrees; lonD f Indicates the longitude coordinate of the sixth point in the first walking state of the sprayer, in degrees; latE f Indicates the latitude coordinate of the seventh point in the first walking state of the sprayer, in degrees; lonE fIndicates the longitude coordinate of the seventh point in the first walking state of the sprayer, in degrees; latD b Indicates the latitude coordinate of the sixth point in the second walking state of the sprayer, in degrees; lonD b Indicates the longitude coordinate of the sixth point in the second travel state of the sprayer, in degrees; latE b Indicates the latitude coordinate of the seventh point in the second walking state of the sprayer, in degrees; lonE b Indicates the longitude coordinate of the seventh point in the second walking state of the sprayer, in degrees; latA is the latitude of the first point (the nozzle position), in degrees; H is the spray distance between the sprayer and the fruit tree row, in meters; l lm Indicates the metric distance corresponding to each degree on the longitude circle, in m; lonA is the longitude of the first point (nozzle position), in degrees; 2α is the spray angle, in degrees; t s is the delay time for the spray system to start, in seconds; v is the sprayer operating speed, in m / s; t e The delay time for the spray system to end is in seconds. The first walking state can be the forward state of the sprayer, and the second walking state can be the reverse state of the sprayer. The first walking state can also be the rightward lateral state of the sprayer, and the second walking state can be the leftward lateral state of the sprayer. Of course, the present invention is not limited to this, and the first walking state and the second walking state can be in opposite directions.

[0117] In one embodiment, when the vertical distance between the target point and the line connecting the first point and the sixth point, or the vertical distance between the target point and the line connecting the first point and the seventh point is less than half of the crop canopy width corresponding to the target point, and the sprayer is in a non-turning state, before sending a signal to the nozzle of the sprayer to spray according to the prescription value, the method further includes: determining whether the sprayer is in a state where the cumulative deviation in the Y-axis direction is greater than 30° and the yaw angle rotation speed around the Z-axis is greater than 5° / s; if the sprayer is in a state where the cumulative deviation in the Y-axis direction is greater than 30° and the yaw angle rotation speed around the Z-axis is greater than 5° / s, the sprayer is in a turning state; otherwise, the sprayer is in a non-turning state.

[0118] The turning status flag can be set to 1 when the sprayer is turning, and to 1 when the sprayer is not turning. The turning status flag can be set as needed and is not limited to 1 or 0; other symbols can also be used. The Y-axis is directly in front of the sprayer, the X-axis points horizontally to the right along the sprayer, and the Z-axis points from the origin (IMU placement) to the top of the sprayer.

[0119] In one embodiment, when the sprayer moves along a preset working route, the prescription circle of each target fruit tree is coded in rows and columns according to the direction of travel of the sprayer, and the row code of the prescription circle is an odd number indicating that the sprayer is moving forward, and an even number indicating that the sprayer is moving backward; when the vertical distance between the target point and the connecting line between the first point and the sixth point, or the vertical distance between the target point and the connecting line between the first point and the seventh point is less than half of the crop crown width corresponding to the target point, and the sprayer is in a non-turning state, a signal is sent to the nozzle of the sprayer to spray according to the prescription value, including: when the sprayer is in a forward state, when the sixth point enters the prescription circle corresponding to the acquired target point, a signal is sent to the nozzle of the sprayer to spray according to the prescription value; when the sprayer is in a backward state, when the seventh point enters the prescription circle corresponding to the acquired target point, a signal is sent to the nozzle of the sprayer to spray according to the prescription value. The method of sending a signal to end spraying to the nozzle of the sprayer when the vertical distance between the target point and the connecting line between the first point and the seventh point, or the vertical distance between the target point and the connecting line between the first point and the sixth point, is not less than half of the crop crown width corresponding to the target point, includes: when the sprayer is in a forward state, when the seventh point leaves the obtained prescription circle corresponding to the target point, sending a signal to end spraying to the nozzle of the sprayer; when the sprayer is in a reverse state, when the sixth point leaves the obtained prescription circle corresponding to the target point, sending a signal to end spraying to the nozzle of the sprayer.

[0120] For example, Figure 4 As shown in the figure, when the nozzle moves forward, it detects the prescription circle of the target fruit tree on the left. When the prescription circle is within the spray range, the nozzle is controlled to spray. When the prescription circle leaves the spray range, the nozzle is controlled to stop spraying. The prescription circle is coded in rows and columns, as shown in the figure. Figure 4 In the example, the prescription circle in the lower right corner of the prescription map is numbered row 1 and column 1. As the number increases along the sprayer's direction of travel, the column number increases by 1 for each additional prescription circle. As the number increases along the vertical sprayer's direction of travel, the row number increases by 1 for each additional row. Each prescription circle has a unique code, derived from the combination of the row and column numbers. The code of the next prescription circle is determined based on the code of the current prescription circle. If the row number is odd and the column number is the maximum value, the code of the next prescription circle is the row number plus 1 and the column number is the maximum value. Otherwise, the row number remains unchanged and the column number increases by 1. If the row number is even and the column number is 1, the code of the next prescription circle is the row number plus 1 and the column number is 1. Otherwise, the row number remains unchanged and the column number decreases by 1.

[0121] In this embodiment, the current prescription circle code is used to determine the next prescription circle code, which can ensure that the sprayer can smoothly perform the spraying operation when switching to the next working position, avoid interruption or overlap of spraying, and improve the continuity of the spraying operation.

[0122] In one embodiment, the spraying method based on the crop prescription map further includes: when sending a signal to the nozzle of the sprayer to spray according to the prescription value, collecting the system instantaneous flow and the spraying amount for the crop; calculating the ideal flow according to the delay-corrected operating distance, the crown width of the fruit tree, the moving speed of the spray device, and the prescription value; calculating the deviation between the instantaneous flow and the ideal flow as the input of the PID algorithm, and outputting the ratio of the opening and closing time of the control solenoid valve to accurately adjust the spray flow.

[0123] Among them, the calculation formula of ideal flow rate q2 is:

[0124]

[0125] Where L is the delayed correction operation distance, in m; l is the canopy width of the fruit tree, in m; v is the moving speed of the spray device, in m / min; t y is the time the sprayer continuously works on a single fruit tree, in min; Q2 is the ideal spraying volume, i.e. the prescription value, in L; q2 is the ideal flow rate, in L / min. In this embodiment, the PID-PWM control module adopts a PID control algorithm combined with PWM modulation technology to achieve precise regulation and control of the variable spraying system. The deviation between the instantaneous flow rate and the ideal flow rate of the system is used as the input of the PID algorithm, and a duty cycle value is output after the PID control algorithm is calculated; the STM32 controller will generate a PWM square wave with a corresponding duty cycle to control the ratio of the opening and closing time of the solenoid valve, thereby achieving accurate regulation of the spray flow rate.

[0126] When the variable spray control system receives the prescription value, it activates the timer and counter. The flow information acquisition module collects pulses every 50ms, calculates the current system instantaneous flow rate q1 and spray volume Q1, and interprets the prescription value Q2 sent by the system and the calculated ideal flow rate q2 as feedback to the STM32 controller. The flow acquisition module uses a Hall effect sensor to monitor the sprayer's spray velocity in real time and feeds the collected data back to the controller. The timer is used for timing, and the counter is used for counting. For the flow sensor, the flow rate value is sampled every 50ms, and each sample is recorded.

[0127] In this embodiment, the duty cycle value output by the PID control algorithm is used to adjust the instantaneous flow rate of the spray nozzle according to the ideal flow rate in real time, so that the spraying of the nozzle can be controlled more accurately.

[0128] In a specific embodiment, Figure 3 As shown, an algorithm flow of a spray system based on a crop prescription map is provided, including a prescription map information preprocessing module, an information acquisition and processing module, a prescription map addressing algorithm and a spray control algorithm.

[0129] In the prescription map information preprocessing module: control the generation of the prescription map, divide the prescription circle, encode the prescription circle into rows and columns, extract the longitude and latitude coordinates, crown width, and prescription value of the target fruit tree, store the longitude and latitude coordinates, crown width, and prescription value in an array of structures, and send them to the STM32. In the information acquisition and processing module: initialize the memory and parameter variables, receive and parse the GPS information of point A of the sprinkler, receive and process the IMU sensor data. Prescription map addressing algorithm: calculate the longitude and latitude coordinates of the nozzle spray boundary points B and C, traverse the prescription map information, and determine whether the vertical distance from the target point O to the line segment AB or the line segment AC is less than half of the crown width. If so, perform prescription block matching and lock the operation prescription block code. The prescription block code can also be manually entered / corrected here, and a new operation prescription block code is used when spraying the next target fruit tree. Spray control algorithm: Depending on whether the sprayer is moving forward or backward, the D / E longitude and latitude coordinates are calculated according to the formula; it is determined whether the vertical distance from the target point O to the line segment AD is less than half of the crown width; it is determined whether the vertical distance from the target point O to the line segment AE is greater than half of the crown width, and the start and end of the spraying are controlled. After completing the spraying of a target fruit tree, the row number and / or column number of the prescription circle is increased by 1.

[0130] The specific working steps of the prescription map information preprocessing module are as follows: use 3D GIS software to simulate and generate a fruit tree prescription map and divide the prescription circle according to the target fruit trees; encode the prescription circle according to row and column coordinates; extract the latitude and longitude coordinates, crown width and prescription value of the target fruit trees in the prescription file; and design a structure for storing and accessing prescription map information.

[0131] The information acquisition and processing module is divided into a GPS signal acquisition and processing module and an IMU data acquisition and processing module. The GPS signal acquisition and processing module uses the following steps: The RMC format statement in the NMEA-0813 communication protocol is used as the data transmission method; the entire $GPRMC statement is extracted based on the statement identifier RMC, and the longitude, latitude, and speed information is extracted to obtain the current sprayer speed and nozzle longitude and latitude coordinates in real time. The IMU data acquisition and processing module uses the following steps: connecting the IMU sensor to the STM32, reading sensor data, performing data preprocessing and filtering such as unit conversion and calibration, calculating attitude and acceleration, and finally outputting the processed data.

[0132] The specific working steps of the spray control algorithm are as follows: obtaining the corresponding prescription information based on the obtained prescription circle code; determining whether the boundary point of the delayed correction working distance is within the prescription working circle; determining whether the sprayer is in a turning state; issuing a signal to the control system according to a customized communication protocol to complete the spraying operation at the corresponding position; determining the next working prescription circle code to ensure that the sprayer can operate seamlessly when switching to the next working position.

[0133] The prescription map data receiving module mainly uses a custom communication protocol to receive prescription map data from the interpretation system, including prescription value, prescription circle code, crown width, distance d AD , distance d AE , speed and turning state identification bit. Specifically, in order to AD , distance d AE And the speed is sent to the variable spray system in an orderly manner. The present invention has formulated a communication protocol between the interpretation system and the variable spray system, the format of which is KPmmXmYmLmmmmDmmmmEmmmmVmmmmTmmM, where K is the starting position, P is the prescription value identification position, X is the row code identification position, Y is the column code identification position, L is the crown width identification position, and D is the distance d AD Identification bit, E is the distance d AE Identification bit, V is the speed identification bit, T is the turning status identification bit, M is the termination bit, and m is the sending value.

[0134] In a specific embodiment, Figure 5 As shown in the figure, a hardware part of a spray system based on a crop prescription map is provided, which mainly consists of a flow acquisition module, a PID-PWM control module, a data visualization module, an STM32 controller, a power supply component, and a spraying component.

[0135] The data visualization module uses SPI communication to intuitively display information such as instantaneous flow rate, ideal flow rate, actual flow rate, prescription circle code, and speed on an LCD screen, facilitating real-time monitoring and adjustment of system parameters by operators. The STM32 controller operates as follows: receiving information such as prescription values ​​from the interpretation subsystem, calculating the ideal flow rate, and receiving instantaneous system flow rate from the flow sensor; calculating the deviation between the instantaneous system flow rate and the ideal flow rate and submitting it to the PID control algorithm; calculating the duty cycle of the solenoid valve and sending it to the spraying component and data visualization interface. The STM32 controller is specifically an STM32F103 development board. The power supply component of the crop prescription map-based spray system consists of a 220V mobile voltage, an AC-DC rectifier module, a DC-DC step-down module, and a transistor driver amplifier module. The 220V mobile voltage is rectified and stepped down to 5V DC. This 12V voltage powers the microcontroller and driver amplifier module. The PWM signal generated by the STM32 controller has a maximum voltage of 5V, while the rated voltage of the switch solenoid valve is 12V, making it unable to directly drive the switch solenoid valve. Therefore, the transistor's driver amplifier function is required to amplify the PWM square wave signal to drive the switch solenoid valve. The spraying assembly of the crop prescription map-based spray system includes a sprayer tank, a water pump, a nozzle, a solenoid valve, a drug delivery hose, and a bracket. The tank is connected to the water pump, which is connected to the drug delivery hose via an adapter. The drug delivery hose is connected to the solenoid valve and fixed to the bracket. The nozzle is connected to the solenoid valve.

[0136] It should be understood that although Figure 1 、 3 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. In addition, Figure 1 、 3 At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The order of execution of these steps or stages is not necessarily one by one, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0137] The present invention provides a spray system based on a crop prescription map. To ensure that the effective spray radiation can be fully applied to the fruit trees during spraying, it is necessary to consider the delay time of the spray system and make corresponding corrections. L is the delay-corrected operating distance, which represents the actual effective operating distance when the delay of the spray system is considered, and D and E are its left and right boundary points.

[0138] In one embodiment, Figure 6 As shown, a spray system based on a crop prescription map is provided, comprising:

[0139] The information acquisition module 210 is used to obtain crop prescription map information and obtain positioning information at the first point (nozzle position) during the movement in real time;

[0140] The distance calculation module 220 is used to traverse the crop prescription map information and calculate the vertical distance between each target point and the line connecting the first and second points, and the vertical distance between each target point and the line connecting the first and third points. The second point is the left boundary point of the maximum distance that the nozzle spray can cover, and the third point is the right boundary point of the maximum distance that the nozzle spray can cover.

[0141] The prescription value acquisition module 230 is configured to acquire the prescription value of the crop corresponding to the target point when the vertical distance between the target point and the line connecting the first point and the second point, or the vertical distance between the target point and the line connecting the first point and the third point, is less than half the crown width of the crop corresponding to the target point;

[0142] The delay correction operation distance boundary point calculation module 240 is used to calculate the sixth and seventh points of the delay correction operation distance based on the second and third points of the maximum distance that can be covered by a single nozzle spray, and the fourth and fifth points of the maximum distance that can be achieved by a single nozzle spray. The fourth and fifth points are the left and right boundary points of the maximum distance that can be achieved by the nozzle spray, and the sixth and seventh points are the left and right boundary points of the delay correction operation distance.

[0143] The spray start module 250 is configured to send a signal to the nozzle of the sprayer to spray according to the prescribed value when the vertical distance between the target point and the line connecting the first and sixth points, or the vertical distance between the target point and the line connecting the first and seventh points, is less than half the crop canopy width corresponding to the target point, and the sprayer is in a non-turning state;

[0144] The spray closing module 260 is used to send a signal to the nozzle of the sprayer to end spraying when the vertical distance between the target point and the connecting line between the first point and the seventh point, or the vertical distance between the target point and the connecting line between the first point and the sixth point is not less than half of the crown width of the crop corresponding to the target point.

[0145] In one embodiment, under the same spray pressure and the same operating environment, the relationship between the effective spray radiation w and the spray radiation W of the same nozzle is:

[0146] w=k×W

[0147] Where k is the scaling factor;

[0148] Under the same spray pressure and the same working environment, the relationship between the delayed correction working distance L and the effective spray radiation w of the same nozzle is:

[0149]

[0150] Among them, t s The delay time for opening the spray system is in seconds; t e is the delay time for the spray system to end, in seconds; v is the operating speed of the sprayer, in m / s; a, b, c, d, and e are proportional factors; t1 is the delay time for GPS and IMU signal acquisition and analysis, in seconds; t2 is the delay time for flow sensor speed measurement, in seconds; t3 is the time for the variable spray control module to process the start signal and the spray component to respond, in seconds; t4 is the control signal transmission delay time, in seconds; t5 is the spray component's response time to end spraying, in seconds;

[0151] Among them, the first point represents the nozzle position, W is the spray radiation, which indicates the maximum distance in the width direction that a single nozzle can cover, and the second and third points are the left and right boundary points respectively; w is the effective spray radiation, which indicates the maximum distance in the width direction that a single nozzle can reach the operating standard, and the fourth and fifth points are the left and right boundary points respectively; L is the delay-corrected operating distance in meters, which indicates the actual effective operating distance considering the delay of the spray system, and the sixth and seventh points are the left and right boundary points respectively.

[0152] In one embodiment, the latitude and longitude coordinates of the second point are calculated as follows:

[0153]

[0154] Among them, latA is the latitude of the first point (nozzle location), unit is °; lonA is the longitude of the first point (nozzle location), unit is °; latA rad The latitude of the first point is expressed in radians, in rad; r A is the radius of the earth's surface corresponding to the latitude of the first point, in meters; C A is the circumference of the latitude circle where the first point is located, in meters; l lm Indicates the metric distance corresponding to each degree on the longitude circle, in meters; 2α is the spray angle, in degrees; H is the spray distance between the sprayer and the fruit tree row, in meters; latB is the latitude of the second point, in degrees; lonB is the longitude of the second point, in degrees;

[0155] The latitude and longitude coordinates of the third point are calculated as follows:

[0156]

[0157] Where, latC is the latitude of the third point, and lonC is the longitude of the third point, both in degrees;

[0158] Calculate the vertical distance between the target point and the line connecting the first and second points as follows:

[0159] Convert the latitude and longitude coordinates of the first point, the second point, and the target point into radians:

[0160]

[0161] Among them, lonA rad The longitude lonA of the first point is expressed in rad; latA rad The latitude of the first point latA is expressed in radians, in rad; lonB rad The longitude lonB of the second point is expressed in radians, in rad; latB rad The latitude of the second point latB is expressed in radians, in rad; lonO rad The longitude lonO of the target point is expressed in radians, with the unit being rad; latO rad The latitude latO of the target point is expressed in radians, with the unit being rad. The longitude and latitude of the target point are obtained from the crop prescription map information.

[0162] Calculate the geodetic distance between the first and second points using the following formula:

[0163]

[0164] Where dlat is the difference in latitude between the first and second points, in rad; dlon is the difference in longitude between the first and second points, in rad; ρ is an intermediate variable that facilitates calculation, in rad; c rad The arc length of the spherical distance between the first point and the second point is in rad; R is the radius of the earth in meters; D AB Indicates the geodetic distance between the first and second points in meters;

[0165] Calculate the angle between the target point and the line connecting the first and second points using the following formula:

[0166]

[0167] Where alpha represents the angle between the line connecting the target point and the first point and the line connecting the first point and the second point, and beta represents the angle between the line connecting the target point and the second point and the line connecting the first point and the second point;

[0168] Calculate the perpendicular distance between the target point and the line connecting the first and second points:

[0169] d AB =|D AB ×sin(alpha-beta)|

[0170] Among them, d AB It represents the vertical distance from the target point to the connecting line between the first point and the second point, in meters.

[0171] In one embodiment, the spray start module 250 is further configured to send a signal to the nozzle of the sprayer to spray according to the prescription value when the sixth point is within the prescription circle of the target fruit tree, or the seventh point is within the prescription circle of the target fruit tree, and the sprayer is in a non-turning state.

[0172] In one embodiment, the latitude and longitude coordinates of the sixth and seventh points are:

[0173]

[0174] Among them, latD f Indicates the latitude coordinate of the sixth point in the first walking state of the sprayer, in degrees; lonD f Indicates the longitude coordinate of the sixth point in the first walking state of the sprayer, in degrees; latE f Indicates the latitude coordinate of the seventh point in the first walking state of the sprayer, in degrees; lonE f Indicates the longitude coordinate of the seventh point in the first walking state of the sprayer, in degrees; latD b Indicates the latitude coordinate of the sixth point in the second walking state of the sprayer, in degrees; lonD b Indicates the longitude coordinate of the sixth point in the second travel state of the sprayer, in degrees; latE b Indicates the latitude coordinate of the seventh point in the second walking state of the sprayer, in degrees; lonE b Indicates the longitude coordinate of the seventh point in the second walking state of the sprayer, in degrees; latA is the latitude of the first point (the nozzle position), in degrees; H is the spray distance between the sprayer and the fruit tree row, in meters; l lm Indicates the metric distance corresponding to each degree on the longitude circle, in m; lonA is the longitude of the first point (nozzle position), in degrees; 2α is the spray angle, in degrees; t s is the delay time for the spray system to start, in seconds; v is the sprayer operating speed, in m / s; t e It is the delay time for the spray system to end, in seconds.

[0175] In one embodiment, a spray system based on a crop prescription map further includes: a turning judgment module, used to determine whether the sprayer is in a state where the cumulative deviation in the Y-axis direction is greater than 30° and the yaw angle rotation speed around the Z-axis is greater than 5° / s; if the sprayer is in a state where the cumulative deviation in the Y-axis direction is greater than 30° and the yaw angle rotation speed around the Z-axis is greater than 5° / s, the sprayer is in a turning state; otherwise, the sprayer is in a non-turning state.

[0176] In one embodiment, when the sprayer travels along a preset working route, the prescription radius for each target fruit tree is coded by row and column based on the sprayer's direction of travel. Odd numbers in the row code of the prescription radius indicate forward movement, while even numbers indicate reverse movement. The spray start module 250 is further configured to, when the sprayer is in forward motion and the sixth point enters the prescription radius corresponding to the acquired target point, signal the sprayer's nozzle to spray according to the prescription value; when the sprayer is in reverse motion and the seventh point enters the prescription radius corresponding to the acquired target point, signal the sprayer's nozzle to spray according to the prescription value. The spray stop module 260 is further configured to, when the sprayer is in forward motion and the seventh point leaves the prescription radius corresponding to the acquired target point, signal the sprayer's nozzle to end spraying; when the sprayer is in reverse motion and the sixth point leaves the prescription radius corresponding to the acquired target point, signal the sprayer's nozzle to end spraying.

[0177] In one embodiment, a spray system based on a crop prescription map also includes: a flow acquisition module, which is used to collect the system instantaneous flow and the spraying amount for the crop when a signal is sent to the nozzle of the sprayer to spray according to the prescription value; an ideal flow calculation module, which is used to calculate the ideal flow based on the delay-corrected working distance, the crown width of the fruit tree, the moving speed of the spray device, and the prescription value; and an adjustment module, which is used to calculate the deviation between the instantaneous flow and the ideal flow as the input of the PID algorithm, and output the ratio of the opening and closing time of the control solenoid valve to accurately adjust the spray flow.

[0178] The specific definitions of the crop prescription map-based spray system can be found in the definitions of the crop prescription map-based spray method above and will not be repeated here. Each module in the aforementioned crop prescription map-based spray system can be implemented in whole or in part through software, hardware, or a combination thereof. Each of these modules can be embedded in or independent of a processor within a computer device in hardware form, or stored in a computer device memory in software form, allowing the processor to call and execute the corresponding operations of each module.

[0179] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a spray method based on a crop prescription map is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0180] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0181] In one embodiment, a computer device is further provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps in the above method embodiments when executing the computer program.

[0182] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0183] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0184] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0185] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A spraying method based on a crop prescription map, characterized in that: The method comprises: Obtain crop prescription map information and real-time positioning information of the first point during movement; Traverse the crop prescription map information and calculate the vertical distance between each target point and the line connecting the first and second points, and the vertical distance between each target point and the line connecting the first and third points; the second point is the left boundary point of the farthest distance that the nozzle spray can cover, and the third point is the right boundary point of the farthest distance that the nozzle spray can cover; Among them, the target point is the center of the prescription circle. The prescription circle is divided according to the fruit tree in the crop treatment map information, with the target fruit tree's centroid as the center and the crown width as the diameter to form the working area; When the vertical distance between the target point and the line connecting the first point and the second point, or the vertical distance between the target point and the line connecting the first point and the third point is less than half of the crown width of the crop corresponding to the target point, the prescription value of the crop corresponding to the target point is obtained; Calculate the sixth and seventh points of the delayed correction operating distance based on the second and third points of the maximum distance that a single nozzle spray can cover, and the fourth and fifth points of the maximum distance that a single nozzle spray can reach the operating standard; the fourth and fifth points are respectively the left and right boundary points of the maximum distance that the nozzle spray can reach the operating standard, and the sixth and seventh points are respectively the left and right boundary points of the delayed correction operating distance; When the vertical distance between the target point and the line connecting the first and sixth points, or the vertical distance between the target point and the line connecting the first and seventh points is less than half the crop canopy width corresponding to the target point, and the sprayer is in a non-turning state, a signal is sent to the nozzle of the sprayer to spray according to the prescribed value; When the vertical distance between the target point and the line connecting the first and seventh points, or the vertical distance between the target point and the line connecting the first and sixth points is not less than half of the crop crown width corresponding to the target point, a signal to end spraying is sent to the nozzle of the sprayer.

2. The spraying method based on the crop prescription map according to claim 1, characterized in that: Under the same spray pressure and the same working environment, the effective spray radiation of the same nozzle and spray spray The relationship is: in, is the scale factor; Under the same spray pressure and the same working environment, the same nozzle delay correction working distance and effective spray radiation The relationship is: in, The delay time for opening the spray system, in seconds; The delay time for the spray system to end, in seconds; is the sprayer operating speed in m / s; a, b, c, d, e are proportional factors; GPS and IMU signal acquisition and analysis delay time, unit is s; The speed measurement delay time of the flow sensor is in seconds; The variable spray control module processes the opening signal and the spray component response time, in seconds; is the control signal transmission delay time, unit is s; The spray component ends the spray response time, in seconds; Among them, the first point represents the nozzle position, W The spray radius represents the maximum distance in the width direction that a single nozzle can cover. The second and third points are the left and right boundary points respectively. w The effective spray radiation refers to the maximum distance in the width direction that a single nozzle can reach within the operating standard. The fourth and fifth points are the left and right boundary points respectively. L The delay-corrected operating distance is in meters. The delay-corrected operating distance indicates the actual effective operating distance taking into account the delay of the spray system. The sixth and seventh points are the left and right boundary points, respectively.

3. The spraying method based on crop prescription map according to claim 1, characterized in that: The latitude and longitude coordinates of the second point are calculated as follows: in, is the latitude of the first point of the sprinkler location, in degrees; is the longitude of the first point of the nozzle position, in degrees; The latitude of the first point is expressed in radians, in rad; is the radius of the earth's surface corresponding to the latitude of the first point, in meters; is the circumference of the latitude circle where the first point is located, in meters; Indicates the metric distance corresponding to each degree on the longitude circle, in m; is the spray angle, in degrees; is the spraying distance between the sprayer and the fruit tree row, in meters; is the latitude of the second point, in degrees; is the longitude of the second point, in degrees; The latitude and longitude coordinates of the third point are calculated as follows: in, is the latitude of the third point, is the longitude of the third point, in degrees; Calculate the vertical distance between the target point and the line connecting the first and second points as follows: Convert the latitude and longitude coordinates of the first point, the second point, and the target point into radians: in, Longitude of the first point The unit is rad; The latitude of the first point The unit is rad; Longitude of the second point The unit is rad; The latitude of the second point The unit is rad; The longitude of the target point The unit is rad; The latitude of the target The radian unit is rad; the longitude and latitude of the target point are obtained from the crop prescription map information; Calculate the geodetic distance between the first and second points using the following formula: in, The radian value representing the difference between the latitudes of the first and second points, in rad; The radian value representing the difference between the longitudes of the first and second points, in rad; It is an intermediate variable that is convenient for calculation, and its unit is rad; The arc length representing the distance between the first point and the second point on the spherical surface, in rad; Represents the radius of the earth, in meters; Indicates the geodetic distance between the first and second points in meters; Calculate the angle between the target point and the line connecting the first and second points using the following formula: in, It represents the angle between the line connecting the target point and the first point and the line connecting the first point and the second point. represents the angle between the line connecting the target point and the second point and the line connecting the first point and the second point; Calculate the perpendicular distance between the target point and the line connecting the first and second points: in, It represents the vertical distance from the target point to the connecting line between the first point and the second point, in meters.

4. The spraying method based on crop prescription map according to claim 1, characterized in that: When the vertical distance between the target point and the line connecting the first and sixth points, or the vertical distance between the target point and the line connecting the first and seventh points is less than half the crop canopy width corresponding to the target point, and the sprayer is in a non-turning state, a signal is sent to the sprayer nozzle to spray according to the prescribed value, including: When the sixth point is within the prescription circle of the target fruit tree, or the seventh point is within the prescription circle of the target fruit tree, and the sprayer is in a non-turning state, a signal is sent to the nozzle of the sprayer to spray according to the prescription value.

5. The spraying method based on crop prescription map according to claim 1 or 4, characterized in that: The latitude and longitude coordinate formulas for the sixth and seventh points are: in, Indicates the latitude coordinate of the sixth point when the sprayer is in the forward state, in degrees; The longitude coordinate of the sixth point when the sprayer is in the forward position, in degrees; Indicates the latitude coordinate of the seventh point when the sprayer is in the forward state, in degrees; Indicates the longitude coordinate of the seventh point when the sprayer is in the forward position, in degrees; Indicates the latitude coordinate of the sixth point when the sprayer is in reverse position, in degrees; The longitude coordinate of the sixth point when the sprayer is in reverse position, in degrees; Indicates the latitude coordinate of the seventh point when the sprayer is in reverse state, in degrees; The longitude coordinate of the seventh point when the sprayer is in reverse position, in degrees; is the latitude of the first point in degrees; is the spraying distance between the sprayer and the fruit tree row, in meters; Indicates the metric distance corresponding to each degree on the longitude circle, in m; is the longitude of the first point in degrees; is the spray angle, in degrees; The delay time for opening the spray system, in seconds; is the sprayer operating speed in m / s; It is the delay time for the spray system to end, in seconds.

6. The spraying method based on crop prescription map according to claim 1, characterized in that: When the vertical distance between the target point and the line connecting the first and sixth points, or the vertical distance between the target point and the line connecting the first and seventh points is less than half the crop canopy width corresponding to the target point, and the sprayer is in a non-turning position, before the signal to the sprayer nozzle to spray according to the prescribed value is issued, it also includes: Determine whether the sprayer is in a state where the cumulative deviation in the Y-axis direction is greater than 30° and the yaw rotation speed around the Z-axis is greater than 5° / s; If the sprayer is in a turning state, the cumulative deviation in the Y-axis direction is greater than 30° and the yaw rotation speed around the Z-axis is greater than 5° / s; Otherwise, the sprayer is in non-turning position.

7. The spraying method based on crop prescription map according to claim 1, characterized in that: When the sprayer moves along the preset working route, the prescription circle of each target fruit tree is coded in rows and columns according to the direction of the sprayer's movement. The row code of the prescription circle is odd, indicating that the sprayer is moving forward, and even, indicating that the sprayer is moving backward. The method of sending a signal to the nozzle of the sprayer to spray according to the prescribed value when the vertical distance between the target point and the connecting line between the first point and the sixth point, or the vertical distance between the target point and the connecting line between the first point and the seventh point, is less than half of the crop canopy width corresponding to the target point, and the sprayer is in a non-turning state, includes: When the sprayer is in a forward state, when the sixth point enters the prescription circle corresponding to the acquired target point, a signal is sent to the nozzle of the sprayer to spray according to the prescription value; When the sprayer is in reverse, when the seventh point enters the prescription circle corresponding to the acquired target point, a signal is sent to the nozzle of the sprayer to spray according to the prescription value; When the vertical distance between the target point and the connecting line between the first point and the seventh point, or the vertical distance between the target point and the connecting line between the first point and the sixth point, is not less than half of the crop canopy width corresponding to the target point, sending a signal to the nozzle of the sprayer to end spraying includes: When the sprayer is in a forward state, when the seventh point leaves the prescription circle corresponding to the acquired target point, a signal to end spraying is sent to the nozzle of the sprayer; When the sprayer is in a reverse state, when the sixth point leaves the prescription circle corresponding to the acquired target point, a signal to end spraying is sent to the nozzle of the sprayer.

8. The spraying method based on crop prescription map according to claim 1, characterized in that: Also includes: When a signal is sent to the sprayer nozzle to spray according to the prescribed value, the instantaneous flow rate of the system and the amount of spraying on the crop are collected; Calculate the ideal flow rate based on the delay correction operating distance, tree canopy width, spray device moving speed, and prescription value; The deviation between the instantaneous flow rate and the ideal flow rate is calculated as the input of the PID algorithm, and the output controls the ratio of the opening and closing time of the solenoid valve to accurately adjust the spray flow rate.

9. A spray system based on a crop prescription map, characterized in that: The system comprises: An information acquisition module is used to obtain crop prescription map information and obtain real-time positioning information of the first point during the movement; A distance calculation module is used to traverse the crop prescription map information and calculate the vertical distance between each target point and the line connecting the first and second points, and the vertical distance between each target point and the line connecting the first and third points; the second point is the left boundary point of the farthest distance that the nozzle spray can cover, and the third point is the right boundary point of the farthest distance that the nozzle spray can cover; a prescription value acquisition module, configured to acquire the prescription value of the crop corresponding to the target point when the vertical distance between the target point and the line connecting the first point and the second point, or the vertical distance between the target point and the line connecting the first point and the third point, is less than half the crown width of the crop corresponding to the target point; The module for calculating the boundary points of the delayed correction operation distance is used to calculate the sixth and seventh points of the delayed correction operation distance based on the second and third points of the maximum distance that can be covered by the spray of a single nozzle, and the fourth and fifth points of the maximum distance that can be achieved by the spray of a single nozzle; wherein the fourth and fifth points are respectively the left and right boundary points of the maximum distance that the spray of the nozzle can achieve the operation standard, and the sixth and seventh points are respectively the left and right boundary points of the delayed correction operation distance; a spray start module, configured to send a signal to the nozzle of the sprayer to spray according to the prescribed value when the vertical distance between the target point and the connecting line between the first point and the sixth point, or the vertical distance between the target point and the connecting line between the first point and the seventh point is less than half the canopy width of the crop corresponding to the target point, and the sprayer is in a non-turning state; The spray closing module is used to send a signal to the nozzle of the sprayer to end spraying when the vertical distance between the target point and the connecting line of the first point and the seventh point, or the vertical distance between the target point and the connecting line of the first point and the sixth point is not less than half of the crown width of the crop corresponding to the target point.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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