Pesticide spraying control method, device, control apparatus, and storage medium

Abstract

The embodiment of the application is suitable for the technical field of pesticide spraying, and provides a pesticide spraying control method and device, a control equipment and a storage medium. The method is applied to the control equipment connected with a pesticide spraying equipment. The method comprises the following steps: an image containing a plant to be sprayed is recognized to obtain a crown profile of the plant; a pesticide spraying angle range when the pesticide spraying equipment sprays and a spacing distance between the pesticide spraying equipment and the plant under each pesticide spraying angle in the pesticide spraying angle range are determined based on the crown profile; a pesticide spraying control amount is determined according to the spacing distance and the pesticide spraying angle range; and the pesticide spraying equipment sprays the plant based on the pesticide spraying control amount and the pesticide spraying angle range.

Description

Technical Field

[0001] This application belongs to the field of pesticide spraying technology, and in particular relates to a pesticide spraying control method, device, control equipment and storage medium. Background Technology

[0002] To ensure the healthy growth of fruit trees in an orchard, it is usually necessary to spray each tree regularly. Currently, spraying is typically done manually, which is not only costly in terms of manpower and resources but also prone to uneven application. Furthermore, because pesticides are harmful to humans, long-term manual labor may pose health risks. Additionally, existing spraying equipment has a low level of automation, often requiring remote control. While this avoids direct contact with pesticides, the complexity of the equipment and the varying amounts and angles of pesticide application for each tree make this method inefficient and wasteful.

[0003] Therefore, in the existing technology, the efficiency of spraying pesticides on each fruit tree in the orchard is low, and the pesticide waste rate is high. Summary of the Invention

[0004] This application provides a spraying control method, device, control equipment, and storage medium, which can solve the problems of low efficiency and high pesticide waste rate in the prior art when spraying various fruit trees in an orchard.

[0005] In a first aspect, embodiments of this application provide a spraying control method, applied to a control device, wherein the control device is connected to a spraying device, and the method includes:

[0006] Identify images containing the plants to be sprayed and obtain the outline of the plant canopy;

[0007] The spraying angle range of the spraying equipment is determined based on the tree canopy outline, and the distance between the spraying equipment and the plant is determined at each spraying angle within the spraying angle range.

[0008] Determine the spray control amount based on the interval distance and spray angle range;

[0009] The spraying equipment is used to spray plants based on the spraying control volume and spraying angle range.

[0010] Secondly, embodiments of this application provide a spraying control device, applied to a control device, the control device being connected to a spraying device, the device comprising:

[0011] The recognition module is used to identify images containing plants to be sprayed and obtain the outline of the plant's canopy.

[0012] The first determining module is used to determine the spraying angle range of the spraying equipment when spraying based on the tree canopy outline, and the distance between the spraying equipment and the plant at each spraying angle within the spraying angle range;

[0013] The second determining module is used to determine the spray control amount based on the interval distance and the spray angle range;

[0014] The control module is used to control the spraying equipment to spray pesticides on plants based on the spraying control amount and spraying angle range.

[0015] Thirdly, embodiments of this application provide a control device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect above.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect to control a spraying device.

[0017] Fifthly, embodiments of this application provide a computer program product that, when run on a control device, causes the control device to execute the method described in the first aspect to control the spraying equipment.

[0018] The beneficial effects of this application embodiment compared to the prior art are as follows: The control device can first identify the canopy outline of the plant based on an image containing the plant to be sprayed. Then, to ensure the sprayed pesticide covers the entire canopy outline, the spraying angle range of the spraying device and the interval distance between the spraying device and the plant at each spraying angle can be determined based on the canopy outline. Based on this, while ensuring the pesticide can be sprayed onto the plant canopy, and reasonably controlling the required spraying amount at each spraying angle, the control device can determine the spraying control amount at each spraying angle based on the interval distance and the spraying angle range. Furthermore, when the control device controls the spraying device to spray the plant according to the spraying control amount and the spraying angle range, it can not only automatically spray each fruit tree, improving spraying efficiency, but also reasonably control the spraying amount, reducing pesticide waste. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1This is a schematic diagram of the structure of a spraying device provided in one embodiment of this application;

[0021] Figure 2 This is a schematic diagram of the structure of a spraying device provided in another embodiment of this application;

[0022] Figure 3 This is a flowchart illustrating the implementation of a spraying control method according to an embodiment of this application;

[0023] Figure 4 This is a schematic diagram illustrating an application scenario of determining the canopy outline in a spraying control method provided in an embodiment of this application;

[0024] Figure 5 This is a schematic diagram illustrating an application scenario of a spraying device spraying pesticides in a spraying control method provided in an embodiment of this application;

[0025] Figure 6 This is a schematic diagram illustrating one implementation method for determining the canopy outline in a spraying control method provided in an embodiment of this application;

[0026] Figure 7 This is a schematic diagram of the structure of a spraying control device provided in one embodiment of this application;

[0027] Figure 8 This is a schematic diagram of the structure of a control device provided in one embodiment of this application. Detailed Implementation

[0028] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0029] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0030] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] To ensure the healthy growth of fruit trees in an orchard, it is usually necessary to spray each tree regularly. Currently, spraying is typically done manually, which is not only costly in terms of manpower and resources but also prone to uneven application. Furthermore, because pesticides are harmful to humans, long-term manual labor may pose health risks. Additionally, existing spraying equipment has a low level of automation, often requiring remote control. While this avoids direct contact with pesticides, the complexity of the equipment and the varying amounts and angles of pesticide application for each tree make this method inefficient and wasteful.

[0032] Therefore, in order to improve the efficiency of spraying pesticides on various fruit trees in the orchard and reduce pesticide waste, this application provides a spraying control method applied to a control device. For example, the control device can be a controller within the spraying equipment, or a control device capable of remotely controlling the spraying equipment; there is no limitation on this.

[0033] Reference Figure 1 and Figure 2 , Figure 1 and Figure 2 These are schematic diagrams of a spraying device provided in an embodiment of this application. The spraying device includes a camera 1, an electric pump 2, a control device 3, a storage tank 4, a pan-tilt unit 5, a motor 6, an air delivery pipe 7, a blower 8, an atomizing nozzle 9, and a delivery pipe 10.

[0034] Camera 1 can be a depth camera, and there can be one or more. In this embodiment, there are two cameras 1, located on the left and right sides of the center of the spraying equipment, arranged horizontally symmetrically. Camera 1 can be connected to the body of the spraying equipment (not shown in the figure) via a connecting rod. The cameras are used to capture images containing plants, and the images are processed according to target tracking matching calculations and depth estimation algorithms to identify the canopy outline of the plants. Two depth cameras can improve the accuracy of canopy outline recognition.

[0035] The electric medicine pump 2 is a motor-controlled pump connected to both the medicine storage tank 4 and the medicine delivery pipe 10. The medicine delivery pipe 10 is connected to the atomizing nozzle 9 and the air delivery pipe 7. When operating, the electric medicine pump delivers the medicine from the storage tank 4 along the medicine delivery pipe 10 to the atomizing nozzle 9 for external spraying. The atomizing nozzle 9 atomizes the medicine, forming a very small diameter liquid mist that is evenly suspended in the air, enhancing the medicine's penetration and adhesion. Combined with the strong airflow from the air delivery pipe 7, this allows the medicine to better penetrate into the branches and leaves of the plant.

[0036] The gimbal 5 is connected to the motor 6 and the air delivery pipe 7, with the motor 6 also connected to the air delivery pipe 7. The gimbal 5 is a 180° gimbal, capable of rotating 180 degrees horizontally to control the left-right swing of the air delivery pipe 7 and the pesticide delivery pipe 10, thus controlling the spraying of pesticides on both sides of the plant canopy. The motor 6 is a 180° adjustable motor, capable of rotating 180° vertically to control the up-down angle adjustment of the air delivery pipe 7 and the pesticide delivery pipe 10, thus controlling the spraying of pesticides on the upper and lower sides of the plant canopy. When the plant canopy is large, the gimbal 5 and motor 6 are used to adjust the left-right and up-down angles of the air delivery pipe 7, ensuring that the liquid sprayed from the atomizing nozzle 9 completely covers the entire canopy.

[0037] The control device 3 can be a controller within the spraying equipment, used to execute the spraying control method in this embodiment. Furthermore, during operation, it can control the left and right rotation of the gimbal. Additionally, it uses Pulse Width Modulation (PWM) technology to continuously adjust the motor speed of the ducted fan, thereby dynamically adjusting the airflow of the fan 8 to deliver the drug to different heights. It also controls the operation of the electric drug pump 2.

[0038] For details, please refer to Figure 3 , Figure 3 The following is a flowchart illustrating the implementation of a spraying control method according to an embodiment of this application. The method includes the following steps:

[0039] S301. Identify an image containing the plant to be sprayed and obtain the outline of the plant's canopy.

[0040] In one embodiment, the plant can be a fruit tree or an ornamental plant, and there is no limitation thereto. The control device can control the camera in the spraying equipment to capture images of the plant to be sprayed.

[0041] In one embodiment, the camera can capture images in real time, and then the control device determines whether the image contains the plant to be sprayed based on a preset image recognition model. Furthermore, if the image is determined to contain the plant to be sprayed, the outline of the plant's crown is identified. The training process of the image recognition model is existing technology and will not be described in detail.

[0042] In one embodiment, a plant typically includes a trunk and a canopy, with the trunk connecting to the ground and providing nutrients to the fruit on the canopy. Therefore, it is understood that, since fruit trees are typically distributed within the canopy, the spraying equipment primarily sprays the canopy.

[0043] In one embodiment, the control device can pre-construct a two-dimensional image coordinate system for the image, using two-dimensional coordinates to represent the position of each point of the tree canopy outline in the image, thereby determining the tree canopy outline. The two-dimensional image coordinate system can be constructed using the center point or each corner point of the image as the origin; there is no limitation on this.

[0044] S302. Determine the spraying angle range of the spraying equipment based on the tree canopy outline, as well as the distance between the spraying equipment and the plant at each angle; the spraying angle range includes multiple spraying angles when the spraying equipment sprays towards the tree canopy outline.

[0045] In one embodiment, if the spraying angle range is determined directly based on the overall canopy outline, the control device may need to determine a spraying angle based on each coordinate point in the canopy outline, thus forming a spraying angle range. However, when the control device performs spraying control based on the spraying angle range determined in this way, although the sprayed pesticide can cover the entire canopy outline, the large number of coordinate points representing the canopy outline will increase the computational load of the control device.

[0046] Therefore, in order to reduce the computational load while ensuring that the sprayed pesticide covers the tree canopy outline, the control equipment can simplify the representation of the identified tree canopy outline to quickly determine the spraying angle range.

[0047] Specifically, the control device can identify the apex, basal point, left critical point, and right critical point of the plant's crown from an image. Then, based on the apex, basal point, left critical point, and right critical point of the crown, the outline of the crown is determined.

[0048] For example, the tree canopy outline is represented by vertices, basal points, left critical points, and right critical points, thereby simplifying the representation of the tree canopy outline and making the control device more efficient in determining the spraying angle range based on the simplified tree canopy outline.

[0049] In this context, the vertex is the highest point of the tree canopy outline in the image, the bottom point is the lowest point of the tree canopy outline, the leftmost critical point is the leftmost part of the tree canopy outline, and the rightmost critical point is the rightmost part of the tree canopy outline.

[0050] Specifically, refer to Figure 4 , Figure 4 This is a schematic diagram illustrating an application scenario of determining the canopy outline in a spraying control method provided in an embodiment of this application. In this diagram, u1 can be considered the apex of the canopy, u2 can be considered the bottom point of the canopy, u3 can be considered the left-side critical point of the canopy, and u4 can be considered the right-side critical point of the canopy. Figure 4It can be seen that, in the entire tree canopy, vertex u1 should be closest to the upper boundary of the image; bottom point u2 should be closest to the lower boundary of the image; left critical point u3 should be closest to the left boundary of the image; and right critical point u4 should be closest to the right boundary of the image.

[0051] It is understandable that after determining the apex, base, left critical point, and right critical point of the tree canopy, it can be assumed that the positions of all points of the entire tree canopy outline in the image are within the positions corresponding to the apex, base, left critical point, and right critical point.

[0052] In one embodiment, the spraying angle range is a range determined based on the tree canopy profile. This spraying angle range may include a pitch angle range in the vertical direction and a rotation angle range in the horizontal direction.

[0053] In one embodiment, the pitch angle range is used to limit the rotation range of the spraying device's delivery tube in the vertical direction. Specifically, after obtaining the crown profile by representing the position of each point of the crown profile in the image using two-dimensional coordinates, the control device can determine the angles of the delivery tube toward the bottom point and the angles of the delivery tube toward the top point as the minimum pitch angle and the maximum pitch angle in the pitch angle range (i.e., determine the pitch angle range).

[0054] Similar to determining the pitch angle range, the control device can determine the angles corresponding to the left critical point and the right critical point of the drug delivery tube as the minimum and maximum rotation angles within the rotation angle range (i.e., determine the rotation angle range).

[0055] In one embodiment, the pitch angle can be the angle between the delivery tube's orientation toward the tree canopy outline and the horizontal direction. The rotation angle can be the deviation angle when the delivery tube deviates from a preset centerline.

[0056] In one specific embodiment, the spraying angle may include a pitch angle within a pitch angle range and a rotation angle within a rotation angle range. Specifically, the control device can control the motor to rotate vertically within the pitch angle range and control the gimbal to rotate horizontally within the rotation angle range, thereby driving the delivery tube to move in the vertical and horizontal directions.

[0057] In one embodiment, the aforementioned interval distance is the distance between the spraying device and the plant. Specifically, it can be the distance between the pesticide delivery tube in the spraying device and the central axis of the plant's canopy outline. However, it should be noted that, based on the above explanation of the spraying device, the orientation of the pesticide delivery tube is usually different at different spraying angles. Therefore, the interval distance between the pesticide delivery tube and the plant will also typically change at different spraying angles. Based on this, the control device can determine the corresponding interval distance for each spraying angle.

[0058] The central axis of the tree crown outline can be determined when the tree crown outline is identified, which will not be explained in detail.

[0059] It should be noted that after determining the pitch angle range, the control equipment can calculate the distance between the delivery tube and the plant through target tracking matching calculation and depth estimation algorithm; or, a distance measuring sensor can be set at the delivery tube to determine the distance, which is not limited.

[0060] S303. Determine the spray control amount based on the interval distance and spray angle range.

[0061] In one embodiment, the spray control parameters include, but are not limited to, spray quantity and air delivery quantity. The spray quantity characterizes the amount of pesticide that the delivery tube should output at the current angle to conserve pesticide. The air delivery quantity characterizes the airflow that the delivery tube should blow at the current angle to ensure the pesticide reaches the plant canopy.

[0062] In one embodiment, the spray control quantity can be determined based on a preset spray control quantity model. For example, a training sample is pre-established with the interval distance and spray angle as inputs and the spray control quantity as outputs, and the spray control quantity model is trained based on the training sample.

[0063] It's important to note that when the delivery tube rotates horizontally, the height the sprayed pesticide reaches remains unchanged; therefore, the airflow rate does not change due to horizontal rotation. However, when the delivery tube rotates vertically, the height the sprayed pesticide reaches changes (the larger the pitch angle, the more the delivery tube faces the top of the tree canopy). In this case, because the pitch angle is large, even with a smaller airflow rate, the distance the pesticide travels in the air as it rises and descends along a parabolic trajectory after being blown out will be greater than the distance between the delivery tube and the plant. Furthermore, when the pitch angle is small, the delivery tube is closer to horizontal. In this case, if the airflow rate is small, the pesticide will travel a short horizontal straight distance in the air before beginning to descend. That is, the pesticide will not reach the tree canopy. Therefore, when the pitch angle of the delivery tube is small, a larger airflow is required to propel the pesticide out, allowing the horizontally oriented tube to travel a greater horizontal distance before descending. Based on this, the pesticide must travel a distance greater than the interval distance to reach the plant's canopy before descending in a parabolic trajectory. Thus, the smaller the pitch angle, the greater the airflow required. Simultaneously, the airflow should also be related to the interval distance between the delivery tube and the plant. A larger interval distance necessitates a greater airflow to extend the pesticide's spray distance.

[0064] Furthermore, the fruit in a tree canopy is typically more abundant in the upper half and less so in the lower half. Also, when spraying pesticides towards the higher parts of the canopy, a small amount can still fall onto the lower half. Therefore, when spraying pesticides, the upper half usually requires a larger amount, while the lower half requires a smaller amount. Based on this, it can be considered that the amount of pesticide sprayed is related to the pitch angle of the delivery tube (i.e., the larger the pitch angle, and the closer the delivery tube is to the top of the canopy, the greater the amount of pesticide sprayed).

[0065] In summary, the air delivery rate can be considered to be related to the pitch angle and spacing of the delivery pipe. Furthermore, the spray volume is only related to the pitch angle of the delivery pipe (the larger the pitch angle, the more the delivery pipe is directed towards the top of the tree canopy). Therefore, when controlling the spraying equipment, the control device only needs to determine the spray volume based on the current pitch angle, and the air delivery rate based on the pitch angle and spacing.

[0066] As an example, the spraying angle range includes a pitch angle range, where the spraying angle includes the pitch angle, and the interval distance is the distance between the spraying device's delivery pipe and the central axis of the tree canopy profile at each pitch angle. In this case, for any pitch angle within the pitch angle range, the control device can determine the spraying amount based on the pitch angle. Furthermore, based on the pitch angle and the interval distance, the airflow rate of the spraying device during spraying is determined. Then, the airflow rate and the spraying amount are determined as the spraying control parameters.

[0067] It should be noted that the number of pitch angles can be a preset number, and each pitch angle can be determined based on a pitch angle range. For example, the angle difference between the maximum pitch angle and the minimum pitch angle can be calculated. Then, the ratio of the angle difference to the preset number is determined as the average angle difference. Subsequently, taking the maximum pitch angle as the first pitch angle, the preset number of pitch angles are obtained by subtracting the average angle difference from the maximum pitch angle.

[0068] For example, with a preset quantity of 10, a maximum pitch angle of 70°, and a minimum pitch angle of 10°, the angle difference is 60°, and the average angle difference is 6°. At this time, the first pitch angle can be 70°, the second pitch angle can be 64° (70°-6°), the third pitch angle can be 58° (64°-6°), ..., until the 10th pitch angle is obtained.

[0069] In one specific embodiment, the control device can input each pitch angle into a preset spray volume calculation formula to obtain the spray volume; the spray volume calculation formula is:

[0070] S = e * Q / |cos(θ)|;

[0071] Where S is the amount of pesticide sprayed, Q is the preset output amount of pesticide, θ is the pitch angle, and e is the preset loss coefficient.

[0072] Furthermore, each pitch angle and its corresponding interval distance are input into a preset air delivery volume calculation formula to obtain the air delivery volume; the air delivery volume calculation formula is:

[0073] F = D * |cos(θ)| + d;

[0074] Where F is the air delivery rate, D is the interval distance, θ is the pitch angle, and d is the preset compensation amount.

[0075] It should be noted that the amount of pesticide sprayed and the amount of air delivered should be positive. Therefore, when calculating the amount of pesticide sprayed and the amount of air delivered, the absolute value of cos(θ) should be used for the above calculations.

[0076] It is understandable that when θ is between 0 and 90°, the larger θ (pitch angle) is, the smaller cos(θ), and the larger the calculated spray volume S will be. That is, the spray volume is directly proportional to the pitch angle. Furthermore, when the interval distance D remains constant, the larger θ (pitch angle) is, the smaller cos(θ), and the smaller the calculated spray volume F will be; conversely, when θ (pitch angle) remains constant, the larger D is, the larger the calculated spray volume F will be. That is, the air delivery rate is inversely proportional to the pitch angle and directly proportional to the interval distance D.

[0077] Here, d is a compensation amount set based on the theory of D*cos(θ), used to further ensure that the airflow corresponding to the determined air delivery volume can spray the drug onto the plant canopy. Furthermore, the airflow can also affect the branches and leaves of the canopy, agitating them so that the drug can penetrate into the interior of the canopy, rather than just spraying onto the surface branches and leaves.

[0078] Specifically, refer to Figure 5 , Figure 5 This is a schematic diagram illustrating an application scenario of a spraying device in a spraying control method according to an embodiment of this application. The interval distance D is the distance between the delivery pipe and the central axis L of the tree canopy outline at the current pitch angle θ. The pitch angle θ can be the angle between the orientation of the delivery pipe and the horizontal direction.

[0079] Reference Figure 5 As shown, the distance D between the spraying device and the central axis of the plant canopy, and the pitch angle θ, can be determined using the following formula:

[0080] G(D, θ)=M*X(d1, d2, α);

[0081] The corresponding expansion is as follows:

[0082]

[0083] Where G is the known position vector of the spraying equipment; θ is the delivery pipe (based on...) Figure 2 It can be seen that the pitch angle of the air delivery pipe 7 and the pesticide delivery pipe 10 are consistent; D is the distance between the pesticide delivery pipe and the central axis of the tree canopy outline when the pitch angle of the pesticide delivery pipe is θ; M is the preset spatial position transfer matrix between the camera and the pesticide spraying equipment; X is the preset camera position vector.

[0084] In this embodiment, the amount of pesticide sprayed each time can be reasonably determined by the pitch angle, reducing pesticide waste. Furthermore, the airflow rate for each spray can be reasonably adjusted based on the pitch angle and interval distance, thereby avoiding the use of a fixed airflow rate and reducing the energy consumption of the fan in the spraying equipment.

[0085] S304. Spraying equipment is used to spray plants based on the spray control volume and spray angle range.

[0086] In one embodiment, the control device can control the spraying equipment to maintain a constant pitch angle while spraying, and rotate within a certain rotation angle range, based on the spray volume and air delivery rate. Then, the pitch angle is adjusted to recalculate the spray volume and air delivery rate. At the new pitch angle, the spraying equipment is again controlled to maintain a constant pitch angle while rotating within the same rotation angle range. The pitch angle is gradually adjusted in this manner until multiple pitch angles within the pitch angle range have been sprayed, thus completing the spraying of the entire tree canopy outline.

[0087] In this embodiment, the control device first identifies the canopy outline of the plant based on an image containing the plant to be sprayed. Then, to ensure the sprayed pesticide covers the entire canopy outline, the spraying angle range and the distance between the spraying device and the plant at each spraying angle are determined based on the canopy outline. Based on this, while ensuring the pesticide reaches the plant canopy, the control device can reasonably control the required amount of pesticide sprayed at each spraying angle, determining the spraying control amount at each spraying angle based on the distance and the spraying angle range. Furthermore, when controlling the spraying device to spray the plant according to the spraying control amount and spraying angle range, the control device can not only automatically spray each fruit tree, improving spraying efficiency, but also reasonably control the amount of pesticide sprayed, reducing pesticide waste.

[0088] In another embodiment, the tree canopy outline is represented by vertices, base points, left critical points, and right critical points, which simplifies the representation of the tree canopy outline. However, in practical applications, since the tree canopy outline is usually irregular, the determined vertices and base points are often not symmetrical (i.e., the x-coordinates of u1 and u2 may not be the same), and the determined left critical points and right critical points are also not symmetrical (i.e., the y-coordinates of u3 and u4 may not be the same).

[0089] Understandably, because spraying equipment can only rotate horizontally and vertically, the spraying angle determined based on asymmetrical apex, apex, left critical point, and right critical point is typically an inclined angle. However, control equipment cannot control the spraying equipment to spray along an inclined angle, resulting in relatively poor control performance. If it is necessary to control the spraying equipment to spray along an inclined angle, the structure of the spraying equipment needs to be modified, which easily increases hardware costs.

[0090] Therefore, in order to further improve the control effect of the spraying equipment during spraying, in this embodiment, the control equipment can also be configured to... Figure 6 Steps S601-S603, as shown, further obtain various locations that characterize the canopy outline. Details are as follows:

[0091] S601. Generate a first auxiliary line that passes through the vertex and is parallel to the horizontal auxiliary line, a second auxiliary line that passes through the bottom point and is parallel to the horizontal auxiliary line, a third auxiliary line that passes through the left critical point and is parallel to the vertical auxiliary line, and a fourth auxiliary line that passes through the right critical point and is parallel to the vertical auxiliary line; the horizontal and vertical auxiliary lines are auxiliary lines that pass through the center of the image.

[0092] In one embodiment, both the horizontal and vertical auxiliary lines can be established directly upon image acquisition. The horizontal and vertical auxiliary lines are mutually perpendicular lines passing through the image center. In this case, the first, second, third, and fourth auxiliary lines can all be established as follows: Figure 4 As shown.

[0093] Specifically, refer to Figure 4 , Figure 4 In the image, O represents the center, and the horizontal auxiliary line is... Figure 4 The horizontal line represented by L in the diagram, and the vertical auxiliary line are... Figure 4 The line represented by L is perpendicular. At this time, the first auxiliary line passing through vertex u1 and parallel to the horizontal auxiliary line is L1, the second auxiliary line passing through the bottom point u2 and parallel to the horizontal auxiliary line (L horizontal) is L2, the third auxiliary line passing through the left critical point u3 and parallel to the vertical auxiliary line (L vertical) is L3, and the fourth auxiliary line passing through the right critical point u4 and parallel to the vertical auxiliary line (L vertical) is L4.

[0094] S602. The intersection of the first auxiliary line and the vertical auxiliary line is determined as the top position, the intersection of the second auxiliary line and the vertical auxiliary line is determined as the bottom position, the intersection of the third auxiliary line and the horizontal auxiliary line is determined as the left position, and the intersection of the fourth auxiliary line and the horizontal auxiliary line is determined as the right position.

[0095] Reference Figure 4 It can be seen that the intersection point of the first auxiliary line L1 and the perpendicular auxiliary line L is... Figure 4 The top position is d1; the intersection of the second auxiliary line L2 and the perpendicular auxiliary line L is... Figure 4 The bottom position of d2; the intersection of the third auxiliary line L3 and the horizontal auxiliary line L is... Figure 4 d3 (left side position); and the intersection of the fourth auxiliary line L4 and the horizontal auxiliary line L is... Figure 4 In the diagram, d4 (right side position). Since the intersection of the fourth auxiliary line L4 and the horizontal auxiliary line (L horizontal) coincides with the right-side critical point u4, u4 is the right-side position d4.

[0096] S603. Determine the tree canopy outline by specifying the top, bottom, left, and right positions.

[0097] In one embodiment, since the vertex, bottom point, left critical point, and right critical point respectively represent the boundary points of the canopy outline in each direction, the top position, bottom position, left position, and right position obtained based on the vertex, bottom point, left critical point, and right critical point can also represent the boundary points of the canopy outline in each direction. That is, the top position, bottom position, left position, and right position can represent the canopy outline.

[0098] In addition, based on Figure 4 It can be seen that the horizontal coordinates of the top position d1 and the bottom position d2 are the same, and the vertical coordinates of the left position d3 and the right position d4 are the same. Therefore, the determined spraying angles are all non-tilted angles. Figure 4 In this context, α represents the pitch angle range formed by the top and bottom positions. And, Figure 4 β represents the range of rotation angles formed by the left and right positions.

[0099] In this embodiment, the top position, bottom position, left position, and right position are used to represent the tree canopy outline. This not only makes the determination efficiency of the control device in determining the spraying angle range based on the simplified tree canopy outline more efficient, but also eliminates the need to control the spraying device to spray along an inclined spraying angle, thus improving the control effect of the control device when controlling the spraying device to spray.

[0100] Please see Figure 7 , Figure 7 This is a structural block diagram of a spraying control device provided in an embodiment of this application. The modules included in the spraying control device in this embodiment are used to perform... Figure 3 and Figure 6 The steps in the corresponding embodiments. Please refer to the details. Figure 3 and Figure 6 as well as Figure 3 and Figure 6 The relevant descriptions in the corresponding embodiments are shown below. For ease of explanation, only the parts relevant to this embodiment are shown. The spraying control device is applied to the control equipment, and the control equipment is connected to the spraying equipment. See also... Figure 7 The spraying control device 700 may include: an identification module 710, a first determination module 720, a second determination module 730, and a control module 740, wherein:

[0101] The recognition module 710 is used to recognize an image containing the plant to be sprayed and obtain the outline of the plant's crown.

[0102] The first determining module 720 is used to determine the spraying angle range of the spraying equipment when spraying based on the tree canopy outline, and the distance between the spraying equipment and the plant at each spraying angle in the spraying angle range;

[0103] The second determining module 730 is used to determine the spray control amount based on the interval distance and the spray angle range.

[0104] The control module 740 is used to control the spraying equipment to spray plants based on the spraying control amount and spraying angle range.

[0105] In one embodiment, the identification module 710 is further configured to:

[0106] Identify the apex, basal point, left critical point, and right critical point of the plant's crown from the image; determine the crown outline based on the apex, basal point, left critical point, and right critical point of the crown.

[0107] In one embodiment, the identification module 710 is further configured to:

[0108] Generate a first auxiliary line passing through the vertex and parallel to the horizontal auxiliary line, a second auxiliary line passing through the bottom point and parallel to the horizontal auxiliary line, a third auxiliary line passing through the left critical point and parallel to the vertical auxiliary line, and a fourth auxiliary line passing through the right critical point and parallel to the vertical auxiliary line; the horizontal and vertical auxiliary lines are auxiliary lines passing through the center of the image; the intersection of the first auxiliary line and the vertical auxiliary line is determined as the top position, the intersection of the second auxiliary line and the vertical auxiliary line is determined as the bottom position, the intersection of the third auxiliary line and the horizontal auxiliary line is determined as the left position, and the intersection of the fourth auxiliary line and the horizontal auxiliary line is determined as the right position; the top position, bottom position, left position, and right position are used to determine the tree crown outline.

[0109] In one embodiment, the first determining module 720 is further configured to:

[0110] Based on the top and bottom positions, determine the range of pitch angles when the spraying equipment is spraying; based on the left and right positions, determine the range of rotation angles when the spraying equipment is spraying; and define the pitch angle range and rotation angle range as the spraying angle range.

[0111] In one embodiment, the spraying angle range includes a pitch angle range, the spraying angle includes a pitch angle, and the interval distance is the distance between the delivery pipe of the spraying device and the central axis of the tree canopy profile at each pitch angle; the second determining module 730 is further configured to:

[0112] For any pitch angle within the pitch angle range, determine the amount of pesticide to be sprayed based on the pitch angle; determine the air delivery rate of the spraying equipment during spraying based on the pitch angle and the interval distance; and determine the air delivery rate and the amount of pesticide to be sprayed as the spraying control quantities.

[0113] In one embodiment, the second determining module 730 is further configured to:

[0114] Input the pitch angle into the preset spray volume calculation formula to obtain the spray volume; the spray volume calculation formula is:

[0115] S = e * Q / |cos(θ)|;

[0116] Where S is the amount of pesticide sprayed, Q is the preset output amount of pesticide, θ is the pitch angle, and e is the preset loss coefficient.

[0117] In one embodiment, the second determining module 730 is further configured to:

[0118] Input the pitch angle and spacing distance into the preset air delivery volume calculation formula to obtain the air delivery volume; the air delivery volume calculation formula is:

[0119] F = D * |cos(θ)| + d;

[0120] Where F is the air delivery rate, D is the interval distance, θ is the pitch angle, and d is the preset compensation amount.

[0121] When it is understood that, Figure 7 In the structural block diagram of the spray control device shown, each module is used to perform... Figure 3 and Figure 6 The steps in the corresponding embodiments, and for Figure 3 and Figure 6 The steps in the corresponding embodiments have been explained in detail in the above embodiments. Please refer to them for details. Figure 3 and Figure 6 as well as Figure 3 and Figure 6 The relevant descriptions in the corresponding embodiments will not be repeated here.

[0122] Figure 8 This is a structural block diagram of a control device provided in one embodiment of this application. For example... Figure 8 As shown, in this embodiment, the control device 800 is connected to the spraying device 900. The control device 800 includes a processor 810, a memory 820, and a computer program 830 stored in the memory 820 and executable on the processor 810, such as a program for a spraying control method. When the processor 810 executes the computer program 830, it implements the steps in the various embodiments of the spraying control methods described above to control the spraying device 900. For example… Figure 3 S301 to S304 are shown. Alternatively, the processor 810 implements the above when executing the computer program 830. Figure 7 The corresponding embodiments describe the functions of each module to control the spraying equipment 900. For example, Figure 7 For details on the functions of each module shown, please refer to [link / reference]. Figure 7 The relevant descriptions in the corresponding embodiments.

[0123] For example, the computer program 830 can be divided into one or more modules, one or more of which are stored in the memory 820 and executed by the processor 810 to implement the spraying control method provided in the embodiments of this application. One or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 830 in the control device 800. For example, the computer program 830 can implement the spraying control method provided in the embodiments of this application.

[0124] The control device 800 may include, but is not limited to, a processor 810 and a memory 820. Those skilled in the art will understand that... Figure 8 This is merely an example of control device 800 and does not constitute a limitation on control device 800. It may include more or fewer components than shown, or combine certain components, or different components. For example, control device may also include input / output devices, network access devices, buses, etc.

[0125] The processor 810 may be a central processing unit, or it may be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0126] The memory 820 can be an internal storage unit of the control device 800, such as a hard disk or memory of the control device 800. The memory 820 can also be an external storage device of the control device 800, such as a plug-in hard disk, smart memory card, flash memory card, etc., equipped on the control device 800. Furthermore, the memory 820 can include both internal storage units and external storage devices of the control device 800.

[0127] This application provides a computer-readable storage medium storing a computer program, which is executed by a processor to control the spraying equipment using the spraying control methods described in the above embodiments.

[0128] This application provides a computer program product that, when run on a control device, causes the control device to execute the spraying control method described in the above embodiments to control the spraying device.

[0129] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A spray control method characterized by, The application is applied to a control device connected with a pesticide spraying device, and the method comprises: identifying an image containing a plant to be sprayed, and obtaining a crown profile of the plant; determining a spraying angle range of the pesticide spraying device when spraying and a spacing distance between the pesticide spraying device and the plant at each spraying angle in the spraying angle range based on the crown profile; the spraying angle range comprises a pitch angle range, and the spraying angle comprises a pitch angle; the spacing distance is a distance between a pesticide delivery pipe of the pesticide spraying device and a central axis of the crown profile at each pitch angle; determining a spraying control amount according to the spacing distance and the spraying angle range; controlling the pesticide spraying device to spray the plant based on the spraying control amount and the spraying angle range; the determination of the spraying control amount according to the spacing distance and the spraying angle range comprises: determining a spraying amount according to the pitch angle for any pitch angle in the pitch angle range; determining a wind delivery amount of the pesticide spraying device when spraying according to the pitch angle and the spacing distance; determining the wind delivery amount and the spraying amount as the spraying control amount; the determination of the spraying amount according to the pitch angle comprises: inputting the pitch angle into a preset spraying amount calculation formula to obtain the spraying amount; the spraying amount calculation formula is: ； wherein S is the spraying amount, Q is a preset output amount of pesticide, θ is the pitch angle, and e is a preset loss coefficient; the determination of the wind delivery amount of the pesticide spraying device when spraying according to the pitch angle and the spacing distance comprises: inputting the pitch angle and the spacing distance into a preset wind delivery amount calculation formula to obtain the wind delivery amount; the wind delivery amount calculation formula is: d； wherein F is the wind delivery amount, D is the spacing distance, θ is the pitch angle, and d is a preset compensation amount.

2. The method of claim 1, wherein, the identification of the image containing the plant to be sprayed to obtain the crown profile of the plant comprises: identifying a top point, a bottom point, a left critical point and a right critical point of the crown of the plant from the image; determining the crown profile according to the top point, the bottom point, the left critical point and the right critical point of the crown.

3. The method of claim 2, wherein, the determination of the crown profile according to the top point, the bottom point, the left critical point and the right critical point of the crown comprises: generating a first auxiliary line passing through the top point and parallel to a horizontal auxiliary line, a second auxiliary line passing through the bottom point and parallel to the horizontal auxiliary line, a third auxiliary line passing through the left critical point and parallel to a vertical auxiliary line, and a fourth auxiliary line passing through the right critical point and parallel to the vertical auxiliary line; the horizontal auxiliary line and the vertical auxiliary line are auxiliary lines passing through the center of the image; determining an intersection point of the first auxiliary line and the vertical auxiliary line as a top position, an intersection point of the second auxiliary line and the vertical auxiliary line as a bottom position, an intersection point of the third auxiliary line and the horizontal auxiliary line as a left position, and an intersection point of the fourth auxiliary line and the horizontal auxiliary line as a right position; The top position, the bottom position, the left side position and the right side position are determined as the crown profile.

4. The method of claim 3, wherein, The spraying angle range of the spraying equipment when spraying is determined based on the crown profile, and the spraying angle range comprises: An inclination angle range of the spraying equipment when spraying is determined based on the top position and the bottom position; A rotation angle range of the spraying equipment when spraying is determined based on the left side position and the right side position; The inclination angle range and the rotation angle range are determined as the spraying angle range.

5. A spray control device, characterized by The device is applied to a control equipment connected with the spraying equipment, and the device comprises: An identification module is configured to identify an image containing a plant to be sprayed to obtain a crown profile of the plant; A first determination module is configured to determine a spraying angle range of the spraying equipment when spraying based on the crown profile, and a spacing distance between the spraying equipment and the plant under each spraying angle in the spraying angle range; the spraying angle range comprises an inclination angle range, and the spraying angle comprises an inclination angle; the spacing distance is a distance between a medicine delivery pipe of the spraying equipment and a central axis of the crown profile under each inclination angle; A second determination module is configured to determine a spraying control amount according to the spacing distance and the spraying angle range; A control module is configured to control the spraying equipment to spray the plant based on the spraying control amount and the spraying angle range; The second determination module is further configured to: determine a spraying amount according to the inclination angle for any inclination angle in the inclination angle range; determine a wind delivery amount of the spraying equipment when spraying according to the inclination angle and the spacing distance; determine the spraying control amount as the wind delivery amount and the spraying amount; The second determination module is further configured to: input the inclination angle into a preset spraying amount calculation formula to obtain the spraying amount; the spraying amount calculation formula is: ； wherein, S is the spraying amount, Q is a preset output medicine amount, θ is the inclination angle, and e is a preset loss coefficient; input the inclination angle and the spacing distance into a preset wind delivery amount calculation formula to obtain the wind delivery amount; the wind delivery amount calculation formula is: d； wherein, F is the wind delivery amount, D is the spacing distance, θ is the inclination angle, and d is a preset compensation amount.

6. A control device connected to a spraying device, the control device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to control the spraying equipment based on the method in any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, wherein the computer program comprises the following steps of: receiving a request for a resource from a client; determining whether the client is authorized to access the resource; and if the client is authorized to access the resource, providing the resource to the client. The computer program is executed by the processor to control the spraying equipment based on the method in any one of claims 1 to 4.

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