Control method of drug delivery system, electronic device, and storage medium

Abstract

The application provides a control method of a pesticide application system, an electronic device and a storage medium. The method comprises: when a pesticide application assembly completes one round-trip pesticide spraying operation, detecting whether a target pesticide liquid amount in a pesticide storage tank is less than a preset threshold; wherein the round-trip pesticide spraying operation is an operation in which the pesticide application assembly completes one round-trip movement along a body during pesticide spraying; when it is determined that the target pesticide liquid amount is less than the preset threshold, controlling the pesticide application assembly to move to a pesticide supplement position and controlling a pesticide supplement tank to supplement the pesticide storage tank; and when it is determined that the target pesticide liquid amount is greater than or equal to the preset threshold, controlling the pesticide application assembly to perform the next round-trip pesticide spraying operation. Thus, by detecting the target pesticide liquid amount in the pesticide storage tank, it is ensured that the pesticide application assembly can complete each round-trip pesticide spraying operation, temporary operation interruption due to insufficient pesticide liquid amount during the round-trip pesticide spraying operation is avoided, and the operation efficiency of the pesticide application system is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical endoscope cleaning systems, and in particular to a control method of a pesticide application system, an electronic device and a storage medium. BACKGROUND

[0002] With the development of productivity, the degree of agricultural production intensification is continuously improved, and the application of sprinkler irrigation machines is increasingly widespread. Sprinkler irrigation machines have the advantages of high irrigation efficiency and water resource saving, and are particularly suitable for large-scale agricultural planting. However, in the process of agricultural production, in addition to the basic irrigation needs of crops, there are many other plant protection needs, such as pesticide application, seeding, monitoring, etc.

[0003] However, the control method of the pesticide application system in the related art is relatively simple and cannot meet the needs of efficient pesticide application. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a control method of a pesticide application system, an electronic device and a storage medium to solve or partially solve the above technical problems.

[0005] To achieve the above purpose, the present application provides a control method of a pesticide application system, which comprises: at least two towers arranged in sequence and at intervals, a cross body arranged between the towers, and a pesticide application assembly capable of moving along the cross body; a pesticide supplement tank is arranged on the cross body, and the pesticide supplement tank is connected with a pesticide supply joint; the pesticide application assembly comprises a pesticide storage tank and a pesticide application rod; the pesticide storage tank is provided with a pesticide supplement interface, and the pesticide supplement interface can be connected with the pesticide supply joint at a pesticide supplement position to supplement the pesticide storage tank with the pesticide supplement tank; the method comprises:

[0006] detecting whether a target pesticide liquid amount in the pesticide storage tank is less than a preset threshold in response to completion of one round-trip pesticide spraying operation of the pesticide application assembly, wherein the round-trip pesticide spraying operation is an operation of completing one round-trip movement of the pesticide application assembly along the cross body during pesticide spraying;

[0007] controlling the pesticide application assembly to move to the pesticide supplement position and controlling the pesticide supplement tank to supplement the pesticide storage tank with pesticide in response to the target pesticide liquid amount being less than the preset threshold;

[0008] controlling the pesticide application assembly to perform the next round-trip pesticide spraying operation in response to the target pesticide liquid amount being greater than or equal to the preset threshold.

[0009] In some embodiments, the pesticide application rod comprises a main rod portion and a secondary rod portion that can be telescoped along the main rod portion, and the pesticide application rod further comprises a plurality of spray heads that can be individually controlled by switches; before detecting whether the target pesticide liquid amount in the pesticide storage tank is less than the preset threshold, the method further comprises:

[0010] determining whether the remaining distance of the cross body to the end boundary of the current work area is less than 2 times the target distance in response to the working mode of the pesticide application system being a parallel movement mode; wherein in the parallel movement mode, the cross body moves twice in a row in one round-trip pesticide application work, and the distance of each movement is the target distance;

[0011] adjusting the preset threshold based on the remaining distance and the target distance in response to the remaining distance being less than 2 times the target distance;

[0012] determining whether the target pesticide liquid amount in the pesticide storage tank is less than the adjusted preset threshold, and controlling the pesticide application assembly to perform a final pesticide application work in response to the target pesticide liquid amount being greater than or equal to the adjusted preset threshold;

[0013] controlling the pesticide application assembly to move to the pesticide replenishment position and controlling the pesticide replenishment tank to replenish the pesticide storage tank with pesticide in response to the target pesticide liquid amount being less than the adjusted preset threshold.

[0014] In some embodiments, controlling the pesticide application assembly to perform a final pesticide application work specifically includes:

[0015] obtaining a first extension length of the auxiliary rod portion in one round-trip pesticide application work;

[0016] determining a second extension length of the auxiliary rod portion in the final pesticide application work based on the first extension length, the remaining distance, and the target distance;

[0017] determining a first movement distance of the cross body in the final pesticide application work based on the remaining distance and the target distance, and determining a second movement distance of the cross body in the final pesticide application work based on the remaining distance;

[0018] controlling the pesticide application assembly to perform the final pesticide application work based on the second extension length, the first movement distance, and the second movement distance.

[0019] In some embodiments, the two ends of the main rod portion are provided with first pesticide replenishment nozzles; the at least two towers include a tower located at a middle position and a tower located at an edge position; the method further includes:

[0020] in response to the pesticide application assembly moving to a first set position of the cross body, retracting the auxiliary rod portion to a first preset position and opening the first pesticide replenishment nozzles; wherein the first set position is a position of the pesticide application assembly during movement close to the tower located at the middle position, and the distance between the first set position and the tower located at the middle position is a preset distance;

[0021] in response to the medicine applying assembly moving to a second preset position of the tower located at the intermediate position, the sub-rod part is extended to a second preset position, and the first medicine supplementing nozzle is closed; the second preset position is a position where the medicine applying assembly is away from the tower at the intermediate position by a preset distance.

[0022] In some embodiments, the medicine applying system further comprises a positioning device, and an end of the sub-rod part away from the main rod part is provided with a second medicine supplementing nozzle; the method further comprises:

[0023] determining a first actual medicine spraying work area corresponding to the last movement of the cross body and a second actual medicine spraying work area corresponding to the current movement of the cross body based on the positioning device;

[0024] adjusting the extension position of the sub-rod part and / or the opening and closing of the second medicine supplementing nozzle based on the first actual medicine spraying work area and the second actual medicine spraying work area.

[0025] In some embodiments, adjusting the extension position of the sub-rod part and / or the opening and closing of the second medicine supplementing nozzle based on the first actual medicine spraying work area and the second actual medicine spraying work area specifically comprises:

[0026] in response to the first actual medicine spraying work area and the second actual medicine spraying work area having an overlapping area, adjusting the retraction position of the sub-rod part based on the overlapping area;

[0027] in response to the first actual medicine spraying work area and the second actual medicine spraying work area having a gap area, adjusting the extension position of the sub-rod part based on the gap area, and / or opening the second medicine supplementing nozzle.

[0028] In some embodiments, the method further comprises:

[0029] in response to the working mode of the medicine applying system being a rotating movement mode, controlling the total medicine spraying length corresponding to the medicine applying rod based on the interval distance of the medicine applying assembly from the center position when the medicine applying assembly performs the back-and-forth medicine spraying work;

[0030] wherein, in the rotating movement mode, the center position is a position corresponding to a first end of the cross body which is fixed, and the cross body further comprises a second end which rotates around the first end.

[0031] In some embodiments, the target edge region of the main rod part corresponds to a plurality of first spray heads, the auxiliary rod part corresponds to a plurality of second spray heads, each of the second spray heads corresponds to a second spray range equal to the sum of the first spray ranges of all the first spray heads corresponding to each of the target edge regions; the total spray length corresponding to the spray rod is controlled based on the interval distance of the spray assembly from the center position, specifically comprising:

[0032] The target angle of the cross-body single-rotation movement is obtained, and the total spray length is determined based on the target angle and the interval distance;

[0033] In response to the spray length being less than or equal to a first length, the total spray length is controlled by the spray heads corresponding to the main rod part; wherein the first length is the spray length of all the spray heads corresponding to the main rod part.

[0034] In response to the spray length being greater than the first length, the total spray length is controlled by elongating the auxiliary rod part, the first spray heads, and the second spray heads; wherein the distance of each elongation of the auxiliary rod part is equal to the first spray range.

[0035] Based on the same concept, the present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the control method of the spray system as described above.

[0036] Based on the same concept, the present application also provides a non-transitory computer-readable storage medium, which stores computer instructions for causing a computer to execute the control method of the spray system as described above.

[0037] As can be seen from the above, the control method of the spray system, the electronic device, and the storage medium provided by the present application detect whether the target liquid amount in the storage tank is less than a preset threshold when the spray assembly completes one round-trip spraying operation; wherein the round-trip spraying operation is an operation in which the spray assembly completes one round-trip movement along the cross during spraying; when it is determined that the target liquid amount is less than the preset threshold, the spray assembly is controlled to move to the refilling position, and the refilling tank is controlled to refill the storage tank; when it is determined that the target liquid amount is greater than or equal to the preset threshold, the spray assembly is controlled to perform the next round-trip spraying operation, thereby ensuring that the spray assembly can complete each round-trip spraying operation by detecting the target liquid amount in the storage tank, avoiding temporary interruption of the operation due to insufficient liquid amount during the round-trip spraying operation, and further improving the operation efficiency of the spray system. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the application or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description only illustrate the embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0039] Figure 1 A structural schematic diagram of a medicine application system according to an embodiment of the application;

[0040] Figure 2 A flowchart of a control method of a medicine application system according to an embodiment of the application;

[0041] Figure 3 A structural schematic diagram of a medicine application rod according to an embodiment of the application;

[0042] Figure 4 A structural schematic diagram of another medicine application rod according to an embodiment of the application;

[0043] Figure 5 A structural schematic diagram of still another medicine application rod according to an embodiment of the application;

[0044] Figure 6 A side view of a medicine application system according to an embodiment of the application in a working process;

[0045] Figure 7 A side view of another medicine application system according to an embodiment of the application in a working process;

[0046] Figure 8 A scene schematic diagram of a medicine application system according to an embodiment of the application in a translation working mode;

[0047] Figure 9 A scene schematic diagram of a medicine application system according to an embodiment of the application in a rotation working mode;

[0048] Figure 10 A scene schematic diagram of another medicine application system according to an embodiment of the application in a rotation working mode;

[0049] Figure 11 A specific electronic device hardware structure according to an embodiment of the application. DETAILED DESCRIPTION

[0050] It can be understood that the data (including but not limited to the data itself, the acquisition or use of the data) involved in the technical solutions should comply with the requirements of the corresponding laws, regulations and relevant provisions.

[0051] It should be noted that, unless otherwise defined, technical terms or scientific terms used in the embodiments of the present application shall have the common meaning understood by one of ordinary skill in the art to which the present application pertains. The terms "first", "second", and similar terms used in the present application do not denote any order, quantity, or importance, but are used to distinguish different components. The terms "include", "contain", and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms do not mean physical or mechanical connection, but can include electrical connection, and can be direct connection or indirect connection, and can include wired connection or wireless connection. The terms "upper", "lower", "left", "right", and the like are used only to represent relative positional relationships, and when the absolute positions of the described objects are changed, the relative positional relationships can also be changed accordingly.

[0052] The principles and spirits of the present application will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are given only to enable those skilled in the art to better understand and implement the present application, and do not limit the scope of the present application in any way. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0053] In this document, it should be understood that any number of elements in the drawings are used for illustration only and not limitation, and any naming is only for differentiation and does not have any limiting meaning.

[0054] As described in the background section, the control method for the pesticide application system in the sprinkler in the related art is relatively simple and cannot meet the demand for efficient pesticide application. For example, in the related art, when the pesticide application assembly is refilled, it is generally waited until the pesticide tank of the pesticide application assembly is completely empty before refilling, which causes the pesticide application assembly to be forced to stop work during the pesticide application operation due to the consumption of pesticide liquid, at this time, the pesticide application assembly needs to be moved on the cross body to a specified refilling position, and then returned to the previous stop position, during the whole process, the pesticide application assembly cannot perform the pesticide spraying operation, thereby causing a large amount of idle movement and seriously affecting the working efficiency of the pesticide application system. In addition, since the pesticide application assembly may be forced to stop work, when the pesticide application assembly is refilled with pesticide liquid, it is difficult to confirm the position where the work is stopped, thereby causing the work area to be missed or repeatedly sprayed.

[0055] In summary, in order to solve the above problems, the embodiments of the present application propose a control method for a pesticide application system, comprising:

[0056] When the drug application assembly completes a round-trip spraying operation, it is detected whether the target amount of liquid medicine in the medicine storage tank is less than a preset threshold value; wherein the round-trip spraying operation is an operation in which the drug application assembly completes a round-trip motion along the cross body during spraying; when it is determined that the target amount of liquid medicine is less than the preset threshold value, the drug application assembly is controlled to move to the medicine supplementing position, and the medicine supplementing tank is controlled to supplement medicine for the medicine storage tank; when it is determined that the target amount of liquid medicine is greater than or equal to the preset threshold value, the drug application assembly is controlled to perform the next round-trip spraying operation, thereby ensuring that the drug application assembly can complete each round-trip spraying operation by detecting the target amount of liquid medicine in the medicine storage tank, avoiding temporary interruption of the operation due to insufficient amount of medicine during the round-trip spraying operation, and further improving the operation efficiency of the medicine application system.

[0057] Reference Figure 1 A structure schematic diagram of a medicine application system according to an embodiment of the present application, optionally, the medicine application system comprises at least two towers 1 arranged in sequence and at intervals, a cross body 2 arranged between the towers 1, and a drug application assembly 3 capable of moving along the cross body 2; the cross body is provided with a medicine supplementing tank, and the medicine supplementing tank is connected with a medicine supply joint; the drug application assembly comprises a medicine storage tank and a drug application rod 30; the medicine storage tank is provided with a medicine supplementing interface, and the medicine supplementing interface can be connected with the medicine supply joint at a medicine supplementing position to enable the medicine supplementing tank to supplement medicine for the medicine storage tank.

[0058] Optionally, in some embodiments, the medicine application system further comprises a conveying assembly configured to enable the drug application assembly to move along the cross body. Optionally, the conveying assembly comprises: a first supporting steel cable extending between at least two of the towers; a first driving wheel arranged at any one of the towers and connected with a speed reduction motor; a first driven wheel arranged at another any one of the towers; a first moving steel cable arranged between the first driving wheel and the first driven wheel and detachably connected with the drug application assembly; a supporting connecting frame having a first roller set arranged at one end and being rollingly connected to the first supporting steel cable through the first roller set; and the other end being connected to the moving platform through a bogie; a second supporting steel cable extending between at least two of the towers; the second supporting steel cable being capable of supplying power to the moving platform and / or the conveying assembly; and the moving platform being rollingly connected to the second supporting steel cable through a second roller set.

[0059] In some embodiments, the drug application assembly further comprises a drug application pump, the medicine storage tank is configured to store pesticides or fertilizers; the drug application pump is connected with the medicine storage tank and the drug application rod and is configured to pump the pesticides or fertilizers to the drug application rod; and the drug application rod is configured to spray the pesticides or fertilizers.

[0060] In some embodiments, the medicine supplement interface is trumpet-shaped, and the medicine supply connector is cone-shaped, and the medicine supply connector is capable of being connected to the medicine supplement interface.

[0061] In some embodiments, the working mode of the medicine application system includes a parallel movement mode and a rotary movement mode, wherein the parallel movement mode is generally applied to a rectangular working area, and the rotary movement mode is generally applied to a circular or sector-shaped working area.

[0062] In some embodiments, when the medicine application system performs the medicine spraying operation in the parallel movement mode, the cross body intermittently moves in a certain direction in the working area, and after each parallel movement, the medicine application assembly moves along the cross body to spray the medicine. The movement of the medicine application assembly along the cross body is a reciprocating movement, i.e., after the first parallel movement of the cross body is completed, the medicine application assembly moves from one end of the cross body to the other end, then the cross body performs the second parallel movement, and after the second parallel movement is completed, the medicine application assembly moves from the other end of the cross body to the one end, thereby realizing one reciprocating movement.

[0063] In some embodiments, when the medicine application system performs the medicine spraying operation in the rotary movement mode, one end of the cross body is not moved as a rotary center position, and the other end rotates around the rotary center position, and in this process, the medicine application assembly also moves along the cross body in a reciprocating manner, i.e., after the first rotary movement of the cross body is completed, the medicine application assembly moves from one end of the cross body to the other end, then the cross body performs the second rotary movement, and after the second rotary movement is completed, the medicine application assembly moves from the other end of the cross body to the one end, thereby realizing one reciprocating movement.

[0064] Reference Figure 2 FIG. 1 is a flowchart of a control method of a medicine application system according to an embodiment of the present application. Optionally, the execution subject of the method can be a terminal device arranged on the medicine application system or a server connected to the medicine application system, and the method includes the following steps:

[0065] S101, in response to the medicine application assembly completing one reciprocating spraying operation, detecting whether the target amount of medicine liquid in the medicine storage tank is less than a preset threshold value, wherein the reciprocating spraying operation is the operation of the medicine application assembly completing one reciprocating movement along the cross body during the medicine spraying process.

[0066] In specific implementation, in order to avoid the situation that the amount of medicine liquid is insufficient during the reciprocating spraying operation of the medicine application assembly, whenever the medicine application assembly completes one reciprocating spraying operation, it is detected whether the target amount of medicine liquid in the medicine storage tank is less than a preset threshold value. Optionally, the preset threshold value can be set as needed, and no limitation is made to this, and generally, the preset threshold value should be greater than or equal to the amount of medicine liquid required for the medicine application assembly to complete one reciprocating spraying operation.

[0067] S102, in response to the target liquid amount being less than the preset threshold, controlling the pesticide application assembly to move to the pesticide supplement position and controlling the pesticide supplement tank to supplement the pesticide storage tank.

[0068] In specific implementation, when it is determined that the target liquid amount is less than the preset threshold, it indicates that the target liquid amount is insufficient for the pesticide application assembly to complete one round-trip pesticide spraying operation, and thus the pesticide application assembly is controlled to move to the pesticide supplement position and the pesticide supplement tank is controlled to supplement the pesticide storage tank. Optionally, when the pesticide application assembly moves to the pesticide supplement position, the pesticide supplement interface can be automatically connected to the pesticide supply connector, and then the pesticide supplement pump is used to supplement the pesticide storage tank with the pesticide in the pesticide supplement tank. Optionally, in some embodiments, the pesticide supplement tank can be arranged above the pesticide supplement position, and the pesticide in the pesticide supplement tank is supplemented into the pesticide storage tank through the height difference.

[0069] S103, in response to the target liquid amount being greater than or equal to the preset threshold, controlling the pesticide application assembly to perform the next round-trip pesticide spraying operation.

[0070] In specific implementation, when it is determined that the target liquid amount is greater than or equal to the preset threshold, it indicates that the target liquid amount is sufficient, and thus the next round-trip pesticide spraying operation can be directly performed, thereby avoiding the influence of frequent pesticide supplement on the overall operation efficiency.

[0071] In some embodiments, with reference to Figure 3 , the pesticide application rod includes a main rod part 302 and a secondary rod part 301 that can be telescoped along the main rod part, and the pesticide application rod further includes a plurality of spray heads that can be individually controlled by switches; optionally, the control switch of the spray head is an electromagnetic valve. Before detecting whether the target liquid amount in the pesticide storage tank is less than the preset threshold, the method further includes:

[0072] In response to the working mode of the pesticide application system being a parallel movement mode, determining whether a remaining distance of the cross body from the end boundary of the current operation area is less than 2 times a target distance; wherein in the parallel movement mode, the cross body is parallelly moved twice in one round-trip pesticide spraying operation, and the distance of each parallel movement is the target distance;

[0073] In response to the remaining distance being less than 2 times the target distance, adjusting the preset threshold based on the remaining distance and the target distance;

[0074] Determining whether the target liquid amount in the pesticide storage tank is less than the adjusted preset threshold, and in response to the target liquid amount being greater than or equal to the adjusted preset threshold, controlling the pesticide application assembly to perform a final pesticide spraying operation;

[0075] In response to the target drug volume being less than the adjusted preset threshold, the drug delivery component is controlled to move to the replenishment position, and the replenishment box is controlled to replenish the drug storage box.

[0076] In practical implementation, considering that when the spraying operation is nearing its end, the remaining area to be sprayed may be smaller than the area corresponding to one round trip of the spraying component, and the required target amount of pesticide solution may be less than the previously set preset threshold. If the preset threshold is still used for direct judgment, it is clearly not accurate enough and may result in unnecessary re-spraying, ultimately affecting operational efficiency. Therefore, before detecting whether the target amount of pesticide solution in the storage tank is less than the preset threshold, and when the spraying system is in parallel movement mode, it is determined whether the remaining distance between the cross-body and the end boundary of the current working area is less than twice the target distance. If it is less, it means that the required amount of pesticide solution is less than the preset threshold. The preset threshold can be adjusted based on the remaining distance and the target distance, and then the target amount of pesticide solution in the storage tank can be re-determined whether it is less than the adjusted preset threshold. If it is less, re-spraying is required; if it is not less, re-spraying is not required, and the final spraying operation, i.e., the last spraying operation of the current working area, can be performed directly. Optionally, when adjusting the preset threshold based on the remaining distance and the target distance, the preset threshold can be adjusted by the ratio of the remaining distance to the target distance. For example, if we assume an initial preset threshold of Q, a remaining distance of D, a target distance of W, and an adjusted preset threshold of q, then q = Q * (D / 2W * 2), which simplifies to q = Q * (D / W).

[0077] In some embodiments, before detecting whether the target drug volume in the drug storage tank is less than a preset threshold, the method further includes:

[0078] In response to the operating mode of the spraying system being a rotational movement mode, it is determined whether the remaining rotation angle of the span in the current working area is less than twice the target angle; wherein, in the rotational movement mode, the span rotates twice in one round-trip spraying operation, and the angle of each rotation is the target angle;

[0079] In response to the remaining distance being less than twice the target angle, the preset threshold is adjusted based on the remaining rotation angle and the target angle;

[0080] Determine whether the target amount of pesticide solution in the storage tank is less than the adjusted preset threshold; in response to the target amount of pesticide solution being greater than or equal to the adjusted preset threshold, control the application component to perform the final spraying operation.

[0081] In response to the target liquid amount being less than the adjusted preset threshold, the medicine applying assembly is controlled to move to the medicine supplementing position, and the medicine supplementing box is controlled to supplement medicine for the medicine storage box.

[0082] It should be noted that when the preset threshold is adjusted based on the remaining rotation angle and the target angle, the preset threshold can be adjusted by a ratio of the remaining rotation angle to the target angle. For example, assuming that an initial preset threshold is Q, the remaining rotation angle is A, the target angle is B, and the adjusted preset threshold is q, then q = Q*(A / 2B*2), which is simplified to q = Q*(A / B).

[0083] In some embodiments, with reference to Figure 3 The medicine applying rod includes a main rod portion 302 and a sub-rod portion 301 that is retractable along the main rod portion, a first medicine supplementing nozzle 304 is arranged at both ends of the main rod portion 302, and a second medicine supplementing nozzle 305 is arranged at an end of the sub-rod portion 301 that is away from the main rod portion 302.

[0084] In some embodiments, with reference to Figure 4 and Figure 5 FIG. 4 is a structural schematic diagram of another medicine applying rod according to an embodiment of the present application, wherein Figure 4 the sub-rod portion 301 in FIG. 3 is in a retracted state, Figure 5 the sub-rod portion 301 in FIG. 4 is in an extended state, and three small nozzles a, b, and c (first nozzles) are arranged at edge regions of both ends of the main rod portion 302. A large nozzle (second nozzle) is arranged on the sub-rod portion 301, and a second spray range corresponding to the second nozzle is equal to a sum of first spray ranges corresponding to the three first nozzles. Optionally, the main rod portion 302 includes a middle region in addition to the edge regions at both ends, and the middle region also corresponds to a plurality of nozzles. Optionally, the nozzles corresponding to the middle region can be small nozzles (first nozzles) or large nozzles (second nozzles) without limitation.

[0085] In some embodiments, the medicine applying assembly is controlled to perform a final medicine spraying operation, specifically including:

[0086] obtaining a first extension length of the sub-rod portion in one of the back-and-forth medicine spraying operations;

[0087] determining a second extension length of the sub-rod portion in the final medicine spraying operation based on the first extension length, the remaining distance, and the target distance;

[0088] determining a distance of a first translation of the cross body in the final medicine spraying operation based on the remaining distance and the target distance, and determining a distance of a second translation of the cross body in the final medicine spraying operation based on the remaining distance;

[0089] controlling the pesticide application assembly to perform the final pesticide spraying operation based on the second extension length, the first translation distance, and the second translation distance.

[0090] In some embodiments, to ensure that the pesticide application assembly accurately performs the final pesticide spraying operation and avoids spraying in the same area repeatedly, a first extension length of the sub-rod portion during one of the back-and-forth pesticide spraying operations is obtained. Optionally, the first extension length is generally set by a user when the pesticide application system starts to work. In some embodiments, the first extension length can be the maximum extension length of the sub-rod portion. Then, a second extension length of the sub-rod portion during the final pesticide spraying operation is determined based on the first extension length, the remaining distance, and the target distance. Referring to Figure 6 , assuming that the first extension length is L1, the second extension length is L2, the target distance is W, and the remaining distance is D, then L2 = L1 - (W / 2 - D / 4). When determining the first translation distance of the cross body during the final pesticide spraying operation based on the remaining distance and the target distance, and determining the second translation distance of the cross body during the final pesticide spraying operation based on the remaining distance, refer to Figure 6 , assuming that the first translation distance is X1 and the second translation distance is X2, then X1 = W / 2 + D / 2 and X2 = D / 2. After the second extension length, the first translation distance, and the second translation distance are determined, the pesticide application assembly can be accurately controlled to perform the final pesticide spraying operation based on these three parameters.

[0091] In some embodiments, referring to Figure 3 , the first pesticide replenishing spray head 304 is arranged at each end of the main rod portion 302; the at least two towers include a tower located at a middle position and a tower located at an edge position; the method further includes:

[0092] In response to the pesticide application assembly moving to a first set position of the cross body, the sub-rod portion is retracted to a first preset position, and the first pesticide replenishing spray head is opened; wherein the first set position is a position where the pesticide application assembly is at a distance of a preset distance from the tower located at the middle position during the process of approaching the tower located at the middle position.

[0093] In response to the pesticide application assembly moving to a second set position of the tower located at the middle position, the sub-rod portion is extended to a second preset position, and the first pesticide replenishing spray head is closed; the second set position is a position where the pesticide application assembly is at a distance of a preset distance from the tower located at the middle position during the process of moving away from the tower located at the middle position.

[0094] In some embodiments, referring to Figure 7 andFigure 8 In order to avoid the interference between the pesticide application rod and the tower at the intermediate position, the auxiliary rod part needs to be retracted before the pesticide application assembly enters the tower at the intermediate position, and then be extended after passing through the tower at the intermediate position. Considering that the retraction of the auxiliary rod part may cause the spraying width of the region to be reduced during the passing through the tower at the intermediate position, a first pesticide supplementing nozzle is arranged at each end of the main rod part in the embodiment, and the spraying width of the region corresponding to the tower at the intermediate position is increased by opening the first pesticide supplementing nozzle.

[0095] It should be noted that the preset distance can be set as required, and is not limited. The first preset position can be a position where the auxiliary rod part is completely retracted into the main rod part, or can be other positions that can enable the pesticide application rod to pass through the tower at the intermediate position. The second preset position can be set as required, and is not limited. Generally, the second preset position is the extension length of the auxiliary rod part when the pesticide application assembly normally performs the back-and-forth spraying operation.

[0096] In some embodiments, the pesticide application system further comprises a positioning device, and a second pesticide supplementing nozzle is arranged at an end of the auxiliary rod part away from the main rod part; and the method further comprises:

[0097] determining a first actual pesticide spraying operation region corresponding to the last movement of the cross body and a second actual pesticide spraying operation region corresponding to the current movement of the cross body based on the positioning device;

[0098] adjusting the extension position of the auxiliary rod part and / or the opening and closing of the second pesticide supplementing nozzle based on the first actual pesticide spraying operation region and the second actual pesticide spraying operation region.

[0099] In the actual operation of the pesticide application system, the actual pesticide spraying operation region of the pesticide application assembly may not be completely consistent with the single operation spraying operation region controlled by the pesticide application system due to different actual terrains. This may cause repeated spraying and missed spraying if the pesticide application system is always controlled according to the system setting. In order to avoid this situation, the pesticide application system further comprises a positioning device in the embodiment. The positioning device can be a GPS or Beidou positioning system, and is not limited. The positioning device can be arranged on each tower and / or the pesticide application assembly, and is not limited. Meanwhile, a second pesticide supplementing nozzle is arranged at an end of the auxiliary rod part away from the main rod part, so that the spraying width of the pesticide application rod can be further increased by opening the second pesticide supplementing nozzle when a missed spraying region occurs.

[0100] In some embodiments, the telescopic position of the auxiliary rod portion and / or the switch of the second supplementary pesticide spraying head are adjusted based on the first actual pesticide spraying work area and the second actual pesticide spraying work area, specifically including:

[0101] In response to the existence of an overlapping area between the first actual pesticide spraying work area and the second actual pesticide spraying work area, the telescopic position of the auxiliary rod portion is adjusted based on the overlapping area;

[0102] In response to the existence of a gap area between the first actual pesticide spraying work area and the second actual pesticide spraying work area, the telescopic position of the auxiliary rod portion is adjusted based on the gap area, and / or the switch of the second supplementary pesticide spraying head is opened.

[0103] In particular implementation, when the first actual pesticide spraying work area and the second actual pesticide spraying work area have an overlapping area, the telescopic position of the auxiliary rod portion is adjusted according to the overlapping area, that is, the length of the pesticide application rod is reduced to avoid repeated pesticide spraying. When the first actual pesticide spraying work area and the second actual pesticide spraying work area have a gap area, the telescopic position of the auxiliary rod portion can be adjusted according to the gap area, that is, the length of the pesticide application rod is increased to supplement the spraying in the missed spraying area. And / or the switch of the second supplementary pesticide spraying head is opened, that is, the pesticide spraying width of the pesticide application rod is further increased by the second supplementary pesticide spraying head to reduce the missed spraying area.

[0104] In some embodiments, the method further includes:

[0105] In response to the working mode of the pesticide application system being a rotating movement mode, the total pesticide spraying length of the pesticide application rod is controlled based on the interval distance of the pesticide application assembly from the center position when the pesticide application assembly performs the back-and-forth pesticide spraying work.

[0106] In the rotating movement mode, the center position is the position corresponding to the first end of the cross body, and the cross body further includes a second end that rotates and moves around the first end.

[0107] In particular implementation, reference is made to Figure 9When the working mode of the application system is the rotating movement mode, the interval distance of the application assembly from the center position is used to control the total spraying length of the application rod during the back-and-forth spraying operation of the application assembly. Generally, the longer the interval distance, the longer the total spraying length, so that the working area of the application rod is a fan shape as much as possible, avoiding a large number of repeated spraying areas. Optionally, when the total spraying length of the application rod is controlled, as the total spraying length increases, the switches of the nozzles can be opened in sequence from the center to the two ends of the main rod part, and then when the switches of all the nozzles corresponding to the main rod part are opened, the extended width rod part is extended outward, and the switches of the nozzles corresponding to the extended width rod part are opened.

[0108] In some embodiments, the target edge area of the main rod part corresponds to a plurality of first nozzles, and the auxiliary rod part corresponds to a plurality of second nozzles. The second spraying width corresponding to each second nozzle is equal to the sum of the first spraying widths of all the first nozzles corresponding to each target edge area. The interval distance of the application assembly from the center position is used to control the total spraying length of the application rod, which specifically includes:

[0109] The target angle of the single rotation movement of the cross body is obtained, and the total spraying length is determined based on the target angle and the interval distance.

[0110] In response to the spraying length being less than or equal to a first length, the total spraying length is controlled by the nozzles corresponding to the main rod part. The first length is the spraying length of all the nozzles corresponding to the main rod part.

[0111] In response to the spraying length being greater than the first length, the total spraying length is controlled by extending the auxiliary rod part, the first nozzles, and the second nozzles. The distance of each extension of the auxiliary rod part is equal to the first spraying width.

[0112] In specific implementation, in order to further reduce the number of nozzles on the auxiliary rod part while ensuring that the application assembly can adjust the total spraying length in a smaller size, reference is made to Figure 4 and Figure 10The target edge area of the main rod part corresponds to a plurality of first spray heads, and the auxiliary rod part corresponds to a plurality of second spray heads, and each second spray head corresponds to a second spray range equal to the sum of the first spray ranges of all the first spray heads corresponding to each target edge area. Since the interval distance of the spraying assembly from the center position changes constantly, the total spraying length corresponding to the spraying rod also needs to be adjusted multiple times, so that the working area of the spraying rod is as close to a sector as possible. Assuming that the target angle of the cross-body single rotation movement is α, β = α / 2, if the interval distance is R and the total spraying length is L, then L = 2*tanβ*R. When the spraying length is less than or equal to a first length, the total spraying length can be controlled by the spray heads corresponding to the main rod part, that is, the total spraying length is controlled by sequentially opening the spray heads corresponding to the main rod part. When the spraying length is greater than the first length, the total spraying length needs to be controlled by elongating the auxiliary rod part, the first spray heads and the second spray heads, and the specific process includes: each time the auxiliary rod part is elongated by the distance length of the first spray range, and then the switches of the first spray heads and the second spray heads are controlled, so that the total spraying length is increased by the distance length of two first spray ranges. For example, in Figure 10 the fourth row to the sixth row, all the first spray heads at both ends are closed first, and the second spray heads at the outermost edges of the auxiliary rod part are opened, at this time the total spraying length does not change, then the auxiliary rod part is elongated by the length of the first spray range, and the first spray heads corresponding to c are opened, so that the total spraying length is increased by the distance length of two first spray ranges.

[0113] The control method of the spraying system provided in the application detects whether the target liquid amount in the liquid storage tank is less than a preset threshold value when the spraying assembly completes one round-trip spraying operation; wherein the round-trip spraying operation is the operation of the spraying assembly completing one round-trip movement along the cross-body during spraying; when it is determined that the target liquid amount is less than the preset threshold value, the spraying assembly is controlled to move to the liquid supplementing position, and the liquid supplementing tank is controlled to supplement the liquid storage tank; when it is determined that the target liquid amount is greater than or equal to the preset threshold value, the spraying assembly is controlled to perform the next round-trip spraying operation, so that the target liquid amount in the liquid storage tank is detected to ensure that the spraying assembly can complete each round-trip spraying operation, avoid temporary interruption of the operation due to insufficient liquid amount in the round-trip spraying operation, and further improve the operation efficiency of the spraying system.

[0114] Based on the same inventive concept, the disclosure also provides an electronic device corresponding to any of the above-mentioned embodiment methods, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the program to realize the control method of the spraying system of any one of the embodiments.

[0115] It should be noted that the method of the embodiments of the present application can be executed by a single device, such as a computer or a server, etc. The method of the embodiments can also be applied to a distributed scenario, and be completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only execute one or more steps in the method of the embodiments of the present application, and the multiple devices can interact with each other to complete the method.

[0116] It should be noted that some embodiments of the present application are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0117] Figure 11 A more specific hardware structure schematic diagram of an electronic device provided by the embodiments is shown. The device can include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 for communication within the device.

[0118] The processor 1010 can be implemented in the form of a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, etc., for executing related programs to implement the technical solutions provided by the embodiments of the present application.

[0119] The memory 1020 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided by the embodiments of the present application are implemented by software or firmware, the related program codes are stored in the memory 1020 and called and executed by the processor 1010.

[0120] The input / output interface 1030 is configured to connect an input / output module to realize information input and output. The input / output module can be configured in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0121] The communication interface 1040 is configured to connect a communication module (not shown in the figure) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as a USB, a network cable, etc.) or a wireless manner (such as a mobile network, WIFI, Bluetooth, etc.).

[0122] The bus 1050 includes a channel to transmit information between various components (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[0123] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only include components necessary for implementing the embodiments of the present disclosure, and does not necessarily include all components shown in the figure.

[0124] The electronic device of the above embodiment is used to realize the control method of the corresponding drug administration system in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0125] Based on the same inventive concept, the disclosure also provides a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the control method of the drug administration system according to any of the above embodiments.

[0126] The computer readable media of the present embodiments includes permanent and non-permanent, removable and non-removable media can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device.

[0127] The storage medium of the above embodiments stores computer instructions for causing the computer to execute the control method of the drug delivery system as described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0128] To simplify the description and discussion, and so as not to make the embodiments of the present application difficult to understand, the well-known power / ground connections of integrated circuit (IC) chips and other components can or can not be shown in the provided drawings. In addition, the devices can be shown in the form of block diagrams in order to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (i.e. these details should be entirely within the understanding of those skilled in the art). Where specific details (e.g. circuits) are set forth in order to describe the exemplary embodiments of the present application, it will be apparent to those skilled in the art that the embodiments of the present application can be implemented without these specific details or with variations on these specific details. Therefore, these descriptions should be considered illustrative rather than limiting.

[0129] Although the present application has been described in conjunction with the specific embodiments thereof, it will be evident that many alternatives, modifications and variations to the embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g. dynamic RAM (DRAM)) can use the embodiments discussed.

[0130] Those skilled in the art should understand that the above discussion of any embodiment is only intended to be illustrative and is not intended to be in any way limiting to the scope of the present application, including the claims that follow. The technical features of the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other changes to the different aspects of the present application as described above, which are not provided in detail for the sake of brevity.

[0131] Embodiments of the present application are intended to cover all such alternatives, modifications, and variations as come within the broad scope of the appended claims. Accordingly, any and all such alternatives, modifications, equivalents, improvements and the like are intended to be encompassed by the present application.

Claims

1. A control method of a drug delivery system, characterized by, The medicine application system comprises: at least two towers arranged in sequence with intervals, a cross body arranged between the towers, and a medicine application assembly capable of moving along the cross body; the cross body is provided with a medicine supplement box, and the medicine supplement box is connected with a medicine supply joint; the medicine application assembly comprises a medicine storage box and a medicine application rod; the medicine storage box is provided with a medicine supplement interface, the medicine supplement interface is capable of being connected with the medicine supply joint at a medicine supplement position, so that the medicine supplement box supplements the medicine storage box; the method comprises: in response to the medicine application assembly completing a one-way and return spraying operation, detecting whether a target liquid amount in the medicine storage box is less than a preset threshold value; wherein the one-way and return spraying operation is an operation of the medicine application assembly completing one-way and return movement along the cross body during spraying; in response to the target liquid amount being less than the preset threshold value, controlling the medicine application assembly to move to the medicine supplement position and controlling the medicine supplement box to supplement the medicine storage box; in response to the target liquid amount being greater than or equal to the preset threshold value, controlling the medicine application assembly to perform a next one-way and return spraying operation; the medicine application rod comprises a main rod part and a secondary rod part capable of extending and retracting along the main rod part, and the medicine application rod further comprises a plurality of spray heads capable of being controlled by separate switches; before detecting whether the target liquid amount in the medicine storage box is less than the preset threshold value, the method further comprises: in response to the working mode of the medicine application system being a parallel movement mode, determining whether a remaining distance of the cross body from an end boundary of a current work area is less than 2 times a target distance; wherein in the parallel movement mode, the cross body is translated twice in sequence in one one-way and return spraying operation, and the distance of each translation is the target distance; in response to the remaining distance being less than 2 times the target distance, adjusting the preset threshold value based on the remaining distance and the target distance; determining whether the target liquid amount in the medicine storage box is less than the adjusted preset threshold value, and in response to the target liquid amount being greater than or equal to the adjusted preset threshold value, controlling the medicine application assembly to perform a final spraying operation; in response to the target liquid amount being less than the adjusted preset threshold value, controlling the medicine application assembly to move to the medicine supplement position and controlling the medicine supplement box to supplement the medicine storage box.

2. The method of claim 1, wherein, controlling the medicine application assembly to perform a final spraying operation, specifically comprising: obtaining a first extension length of the secondary rod part in one one-way and return spraying operation; determining a second extension length of the secondary rod part in the final spraying operation based on the first extension length, the remaining distance and the target distance; determining a first translation distance of the cross body in the final spraying operation based on the remaining distance and the target distance, and determining a second translation distance of the cross body in the final spraying operation based on the remaining distance; controlling the medicine application assembly to perform the final spraying operation based on the second extension length, the first translation distance and the second translation distance.

3. The method of claim 1, wherein, both ends of the main rod part are provided with first medicine supplement spray heads; the at least two towers comprise a tower located at a middle position and a tower located at an edge position; the method further comprises: in response to the medicine applying assembly moving to a first preset position of the tower body, the auxiliary rod part is retracted to a first preset position, and the first medicine supplementing nozzle is opened; wherein the first preset position is a position where the distance between the medicine applying assembly and the tower body at the intermediate position is a preset distance during the movement of the medicine applying assembly to the tower body close to the intermediate position; in response to the medicine applying assembly moving to a second preset position of the tower body at the intermediate position, the auxiliary rod part is extended to a second preset position, and the first medicine supplementing nozzle is closed; the second preset position is a position where the distance between the medicine applying assembly and the tower body at the intermediate position is a preset distance during the movement of the medicine applying assembly away from the tower body at the intermediate position.

4. The method of claim 1, wherein, The medicine applying system further comprises a positioning device, and an end of the auxiliary rod part away from the main rod part is provided with a second medicine supplementing nozzle; the method further comprises: determining a first actual medicine spraying work area corresponding to the last movement of the tower body and a second actual medicine spraying work area corresponding to the current movement of the tower body based on the positioning device; adjusting the extension and retraction position of the auxiliary rod part and / or the opening and closing of the second medicine supplementing nozzle based on the first actual medicine spraying work area and the second actual medicine spraying work area.

5. The method of claim 4, wherein, Adjusting the extension and retraction position of the auxiliary rod part and / or the opening and closing of the second medicine supplementing nozzle based on the first actual medicine spraying work area and the second actual medicine spraying work area specifically comprises: in response to the first actual medicine spraying work area and the second actual medicine spraying work area having an overlapping area, adjusting the retraction position of the auxiliary rod part based on the overlapping area; in response to the first actual medicine spraying work area and the second actual medicine spraying work area having a gap area, adjusting the extension position of the auxiliary rod part based on the gap area, and / or opening the second medicine supplementing nozzle.

6. The method of claim 1, wherein, The method further comprises: in response to the working mode of the medicine applying system being a rotating movement mode, controlling the total medicine spraying length corresponding to the medicine applying rod based on the interval distance of the medicine applying assembly from the center position during the back-and-forth medicine spraying work of the medicine applying assembly; wherein in the rotating movement mode, the center position is a position corresponding to a first end of the tower body that is fixed, and the tower body further comprises a second end that rotates and moves around the first end.

7. The method of claim 1, wherein, The target edge area of the main rod part corresponds to a plurality of first nozzles, and the auxiliary rod part corresponds to a plurality of second nozzles, and the second spraying width corresponding to each second nozzle is equal to the sum of the first spraying widths of all the first nozzles corresponding to each target edge area; Controlling the total medicine spraying length corresponding to the medicine applying rod based on the interval distance of the medicine applying assembly from the center position specifically comprises: obtaining a target angle of a single rotating movement of the tower body, and determining the total medicine spraying length based on the target angle and the interval distance; in response to the medicine spraying length being less than or equal to a first length, controlling the total medicine spraying length through the nozzles corresponding to the main rod part; wherein the first length is the medicine spraying length of all the nozzles corresponding to the main rod part. In response to the spraying length being greater than the first length, the total spraying length is controlled by elongating the sub-stalk portion, the first spray head, and the second spray head, wherein the distance of elongation of the sub-stalk portion each time is equal to the first swath.

8. An electronic device, comprising: A computer program product comprising a memory, a processor and a computer program stored on the memory and loadable on the processor, the processor implementing the method according to any one of claims 1 to 7 when executing the program.

9. A non-transitory computer-readable storage medium, comprising: The non-transitory computer readable storage medium stores computer instructions for causing a computer to perform the method according to any one of claims 1 to 7.

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