Spraying control system and spraying machinery

Abstract

This application provides a spraying control system and a spraying agricultural machine. The spraying control system is applied to the spraying agricultural machine, which includes a water tank and a spray boom frame connected to the water tank. The spray boom frame is equipped with multiple nozzles. The spraying control system includes an automatic driving unit, a path planning unit, and a spraying control unit. The automatic driving unit is used to detect the automatic driving information of the spraying agricultural machine. The path planning unit is used to generate a work area based on the automatic driving information. The spraying control unit is used to control at least some of the nozzles on the spray boom frame to spray a preset amount of pesticide onto the target object based on the work area and the automatic driving information. This application considers factors affecting the spraying amount, namely the work area and the automatic driving information, enabling the control system to more accurately control the spraying amount of the nozzles.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, specifically to a spraying control system and a spraying agricultural machine. Background Technology

[0002] Currently, regardless of whether the agricultural machinery operates on a straight or curved path, the spraying control system maintains a constant spraying rate for crops or weeds. However, the spraying rate cannot adapt to the real-time speed of the machinery, resulting in a consistently uniform spray volume and uneven pesticide distribution across the field. This lack of uniform spraying means that both excessive and insufficient pesticide application are detrimental to crop yields and increase costs. Secondly, the height of the spray boom requires manual adjustment, making it difficult to maintain a consistent spraying height. Wind influences the spray height, affecting the fan-shaped pattern of the spray solution and consequently the amount of pesticide received by the field. Finally, turning or reversing requires manual control of the electro-hydraulic lifting device, which is labor-intensive and prone to accidents that could damage the spray boom. In short, current agricultural machinery suffers from low automation, making it difficult to ensure consistent spraying weight. Summary of the Invention

[0003] In view of this, this application provides a spraying control system and a spraying agricultural machine for controlling the spraying volume of the spraying head of the spraying agricultural machine, which can more accurately control the spraying volume of the spraying head.

[0004] The first aspect of this application provides a spraying control system for use in agricultural spraying machinery. The agricultural spraying machinery includes a water tank and a spray boom connected to the water tank. The spray boom is equipped with multiple nozzles. The spraying control system includes an automatic driving unit, a path planning unit, and a spraying control unit. The automatic driving unit is used to detect the automatic driving information of the agricultural spraying machinery. The path planning unit is used to generate a work area based on the automatic driving information. The spraying control unit is used to control at least some of the nozzles on the spray boom to spray a preset amount of solution onto the target object based on the work area and the automatic driving information.

[0005] In this way, the spray control unit controls the nozzles to spray a preset amount of solution onto the target object based on the work area generated by the automatic driving unit and the automatic driving information detected by the automatic driving unit. This takes into account the factors affecting the spray volume, namely the work area and the automatic driving information, so that the control system can more accurately control the spray volume of the nozzles.

[0006] In some embodiments of the first aspect, the autonomous driving information includes the location information of the spraying machinery. The autonomous driving unit includes an autonomous driving controller and a positioning antenna. The autonomous driving controller is used to: determine, based on the work boundary of the work area, the area outside the work boundary as the stop spraying area and the area inside the work boundary as the non-stop spraying area; or based on the work path within the work boundary, determine, the area outside the work path as the stop spraying area and the work path as the non-stop spraying area. The positioning antenna is used to detect the location information of the spraying machinery. The spraying control unit also includes a spraying controller, which is used to: obtain the nozzle position of each nozzle based on the location information and the position of the nozzle on the spray boom; control the nozzle to stop spraying when the nozzle position confirms that the corresponding nozzle is in the stop spraying area; and control the nozzle to spray a preset amount of solution when the nozzle position confirms that the corresponding nozzle is in the non-stop spraying area.

[0007] In some embodiments of the first aspect, the automatic driving controller is further configured to: determine the driven and undriven operation paths of the non-stop spraying area; determine the spraying overlap area based on the driven and undriven operation paths; the spraying controller is further configured to: control the spraying head to stop spraying after a preset time period when it is confirmed that the corresponding spraying head is located in the spraying overlap area based on the spraying head position.

[0008] In some embodiments of the first aspect, the preset spraying volume includes a linear spraying volume, the automatic driving information also includes the rotation angle and real-time speed of the spraying machine, the automatic driving unit also includes an angle sensor for detecting the rotation angle of the spraying machine; the automatic driving controller is also used to obtain the real-time speed of the spraying machine based on the position information and a preset algorithm; the spraying controller is also used to: when the working path of the non-stop spraying area is determined to be a linear path based on the rotation angle, obtain the first speed of any nozzle based on the real-time speed and the nozzle position; obtain the linear spraying volume of the nozzle based on the first speed and preset parameters, and control the nozzle to spray the solution of the linear spraying volume.

[0009] In some embodiments of the first aspect, the preset spray volume further includes a curved spray volume; the spray controller is also used to: when the working path of the non-stop spraying area is determined to be a curved path according to the rotation angle, determine a second speed corresponding to each nozzle according to the real-time speed and the nozzle position; obtain the curved spray volume of the nozzle according to the second speed and preset parameters, and control the nozzle to spray the solution of the curved spray volume.

[0010] In some embodiments of the first aspect, the preset spray volume further includes a fixed-point spray volume, and the spray control unit further includes a vision module for identifying target objects in non-stop spray areas and generating a marked prescription map of the target objects; the spray controller is further configured to: determine target nozzles and non-target nozzles according to the marked prescription map, wherein the target nozzle is a nozzle on the spray boom corresponding to the target object; obtain the fixed-point spray volume according to the marked prescription map, control the target nozzle to spray the fixed-point spray volume of solution onto the target object, and control the non-target nozzles to stop spraying.

[0011] In some embodiments of the first aspect, the spray control unit further includes a spray proportioning valve, a flow meter, and a pressure sensor. The flow meter is used to detect the flow rate of the solution inside the spraying machine; the pressure sensor is used to detect the liquid pressure of the solution inside the spraying machine; the spray controller is also used to: obtain a duty cycle based on a preset spray volume, solution flow rate, and liquid pressure; and control the spray proportioning valve to adjust the liquid pressure based on the duty cycle so that the nozzle sprays a preset spray volume of solution.

[0012] In some embodiments of the first aspect, the spray control system further includes a hydraulic lifting unit, which includes an ultrasonic ranging sensor, a hydraulic actuator, a hydraulic proportional valve, and a hydraulic cylinder; the ultrasonic ranging sensor is used to detect the real-time distance between the nozzle and the target; the hydraulic actuator is used to control the hydraulic proportional valve to adjust the hydraulic oil supply of the hydraulic cylinder according to the real-time distance; the hydraulic cylinder adjusts the height of the spray boom frame according to the supply amount so that the nozzle and the target are kept at a preset distance.

[0013] In some embodiments of the first aspect, the spraying control system further includes a display terminal and a central control unit, wherein the automatic driving unit, the path planning unit, and the spraying control unit are used to execute control commands generated by the display terminal or the central control unit; wherein the display terminal is used to generate control commands in response to input from the operator; and the central control unit is used to generate control commands in response to information interaction with the automatic driving unit, the path planning unit, and the spraying control unit.

[0014] The second aspect of this application provides a spraying agricultural machine, which includes a water tank, a spray boom frame, a plurality of nozzles mounted on the spray boom frame, and a spraying control system as described above. Attached Figure Description

[0015] Figure 1 This is a diagram illustrating a spraying application scenario using an existing plant protection machine.

[0016] Figure 2 This is a schematic diagram of the structure of a spraying agricultural machine according to an embodiment of this application.

[0017] Figure 3 for Figure 2 Another structural diagram of the spraying agricultural machinery shown.

[0018] Figure 4 This is a schematic diagram of the spray control system according to an embodiment of this application.

[0019] Figure 5 for Figure 4 The diagram shows an application scenario of the control terminal of the spray control system.

[0020] Figure 6 for Figure 4 The diagram shows an application scenario of the spray control system.

[0021] Figure 7 for Figure 4 The diagram shows the structure of the automatic driving unit of the spray control system.

[0022] Figure 8 for Figure 4 The diagram shows another application scenario of the spray control system.

[0023] Figure 9 for Figure 4 The diagram shows another application scenario of the spray control system.

[0024] Figure 10 for Figure 4 The diagram shows the structure of the spray control unit of the spray control system.

[0025] Figure 11 for Figure 4 The diagram shows another application scenario of the spray control system.

[0026] Figure 12 for Figure 4 The diagram shows an application scenario of another embodiment of the spray control system.

[0027] Figure 13 for Figure 4 The diagram shows another application scenario of another embodiment of the spray control system.

[0028] Figure 14A for Figure 4 The diagram shows an application scenario of another embodiment of the spray control system.

[0029] Figure 14B for Figure 4 The diagram shows another application scenario of yet another embodiment of the spray control system.

[0030] Figure 14C for Figure 4 The diagram shows another application scenario of another embodiment of the spray control system.

[0031] Figure 15 for Figure 4 The diagram shows another application scenario of an embodiment of the spray control system.

[0032] Figure 16 for Figure 4 The diagram shows the structure of the hydraulic lifting unit of the spray control system.

[0033] Figure 17 This is another structural schematic diagram of the spray control system according to an embodiment of this application.

[0034] Explanation of main component symbols

[0035] 100 agricultural sprayers

[0036] Drive mechanism 10

[0037] Operating mechanism 20

[0038] Connector 21

[0039] Water tank 22

[0040] Spraying device 23

[0041] Spray boom 24

[0042] Nozzles 25, 2501, 2502

[0043] Spray control system 200

[0044] Central control unit 30

[0045] Automated driving unit 40

[0046] Positioning antenna 41

[0047] First antenna 411

[0048] Second antenna 412

[0049] Communication antenna 42

[0050] Steering wheel 43

[0051] Attitude sensor 44

[0052] Camera module 45

[0053] First camera 451

[0054] Wireless transmission module 452

[0055] Angle sensor 46

[0056] Automated driving controller 47

[0057] Path planning unit 50

[0058] Spray control unit 60

[0059] Spray controller 61

[0060] Integrated valve 62

[0061] Spray proportioning valve 621

[0062] Pressure sensor 623

[0063] Flowmeter 622

[0064] Visual Module 63

[0065] Camera Driver 631

[0066] Second camera 632

[0067] Fill light 633

[0068] Control terminal 70

[0069] Display unit 71

[0070] Electro-hydraulic lifting unit 80

[0071] Hydraulic actuator 81

[0072] Ultrasonic ranging sensor 82

[0073] Hydraulic proportional valve 83

[0074] Hydraulic cylinder 84

[0075] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this application. Detailed Implementation

[0076] The term "multiple" in this application refers to two or more. Furthermore, it should be understood that the terms "first," "second," etc., used in the description of this application are for distinguishing purposes only and should not be construed as controlling or implying relative importance, nor as controlling or implying order.

[0077] In the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0078] The following is a brief explanation of the relevant technologies.

[0079] Currently, regardless of whether the agricultural machinery operates on a straight or curved path, its spraying control system maintains a constant spraying rate for crops or weeds. However, the spraying rate cannot adapt to the real-time speed of the machinery. Consequently, the spray volume remains constant, resulting in uneven pesticide distribution across the field. For example, if the machinery speed increases while the spray volume remains constant, the field receiving more pesticide during periods of increased speed will receive less pesticide than during periods of constant speed.

[0080] Furthermore, please see Figure 1 When operating on curved paths, even if the real-time speed of the plant protection machine remains constant, the varying positions of the nozzles on the boom cause different real-time speeds for each nozzle, resulting in uneven pesticide distribution from the inside to the outside of the curved path. The uniformity of spraying cannot be effectively controlled; both excessive and insufficient pesticide application are detrimental to crop yield and increase costs. Secondly, the height of the boom requires manual adjustment, making it impossible to maintain a consistent spraying height. Wind influences the fan-shaped pattern of the sprayed solution, affecting the amount of pesticide received by the field. Finally, when turning or making a U-turn, the electro-hydraulic lifting device of the plant protection machine needs to be manually controlled to raise the spraying equipment, which is labor-intensive and prone to accidents that could damage the boom. In short, current plant protection machines have a low level of automation, making it difficult to guarantee the weight of the spraying operation.

[0081] In view of this, this application provides a spraying control system and a spraying agricultural machine for controlling the spraying volume of the spraying head of the spraying agricultural machine, which can more accurately control the spraying volume of the spraying head.

[0082] The spray control system of this application embodiment is applied to, for example, Figure 2 and Figure 3 The spraying machine 100 shown can be a plant protection machine, etc. Figure 2 As shown, the agricultural spraying machine 100 includes a drive mechanism 10 and a working mechanism 20. The drive mechanism 10 is connected to the working mechanism 20 by a connecting member 21, and the drive mechanism 10 can be a tractor, etc. The working mechanism 20 includes a water tank 22 and a spraying device 23. The water tank 22 is used to store the solution. The spraying device 23 includes, for example, [details omitted]. Figure 3 The spray boom 24 and nozzles 25 are shown. Multiple nozzles 25 are mounted on the end of the spray boom 24 facing the field. The spray boom 24 is suspended from and connected to a water tank 22, allowing the nozzles 25 to spray a solution from the water tank 22. When the nozzles 25 are spraying the solution, the spray boom 24 extends outwards relative to the water tank 22. When the nozzles 25 are not spraying the solution, the spray boom 24 can be retracted into the water tank 22. The solution can be a weed remover or a pesticide for treating crop diseases.

[0083] Please see Figure 4 The spray control system 200 includes a central control unit 30, an automatic driving unit 40, a path planning unit 50, and a spray control unit 60.

[0084] The central control unit 30 interacts with other control units and generates control commands in response to the interacted information, causing the other control units to execute the control commands. For example, the central control unit 30 interacts with the path planning unit 50, the automatic driving unit 40, and the spraying control unit 60, and generates path specification commands, automatic driving commands, and spraying control commands in response to the interacted information. The central control unit 30 can be, but is not limited to, a microcontroller unit (MCU) or a central processing unit (CPU), and is not limited thereto.

[0085] After receiving the autonomous driving command from the central control unit 30, the automatic driving unit 40 detects the automatic driving information of the spraying machinery and controls the drive mechanism to drive automatically based on the automatic driving information. After receiving the path planning command from the central control unit 30, the path planning unit 50 generates a work area based on the automatic driving information. After receiving the spraying control command from the central control unit 30, the spraying control unit 60 controls the nozzles to spray a preset amount of solution onto the target object based on the work area and the automatic driving information. The target object can be weeds or crops.

[0086] Thus, the spray control unit 60 controls the nozzle to spray a preset amount of solution onto the target object based on the work area generated by the automatic driving unit 40 and the automatic driving information generated by the automatic driving unit 40. This takes into account the factors affecting the spray amount, namely the work area and the automatic driving information, so that the control system can more accurately control the spray amount of the nozzle.

[0087] In some embodiments, the spray control system 200 further includes a control terminal 70, which includes a display unit 71. The display unit 71 can display a human-machine interface (HMI), which generates control commands in response to operator input and sends the control commands to the path planning unit 50 and the spray control unit 60. In one embodiment, the HMI of the control terminal 70 generates path specification commands in response to operator path planning input and sends the path planning commands to the path planning unit 50. In one embodiment, the HMI of the control terminal 70 generates spray control commands in response to operator spray parameter input and sends the spray control commands to the spray control unit 60.

[0088] Specifically, in one example, such as Figure 5As shown, the human-machine interface includes a top column. This top column includes three sub-columns: Field and Task Name, Boundary, and Baseline. After clicking on a sub-column, the operator can access its corresponding page. The Field and Task Name is used to set the task to be performed on the field, such as fixed-point spraying, straight-path and curved-path spraying, boundary-stop spraying, and overlapping spraying. On the Field and Task Name page, the corresponding spraying parameters can be entered, and the control terminal 70 generates spraying control commands based on these parameters. For example, inputting the straight-line spraying volume for a straight-path, the curved-path spraying volume for a curved-path, the fixed-point spraying volume for fixed-point weed spraying, or setting the material usage mode for overlapping spraying will generate a spraying control command. In other words, the spraying parameters include straight-line spraying volume, curved-path spraying volume, fixed-point spraying volume, and material usage mode, etc.

[0089] The Boundary sub-section is used to set the work boundary indication. Specifically, the control terminal 70 pre-stores a field boundary generated by the path planning unit 50. By inputting the corresponding parameters at the field head distance and selecting outside or inside the boundary at the field head position, the work boundary indication can be set. For example, inputting 3m at the field head distance and selecting inside the boundary at the field head position will set the work boundary indication shown on the right. The Baseline sub-section is used to set the baseline for the work path indication, such as... Figure 6 As shown. It can be understood that after setting the baseline, the control terminal 70 will generate a work path indication based on the baseline. The control terminal 70 will generate a path planning instruction based on the work boundary indication and the work path indication, and the path planning unit 50 will generate a work area with work boundary indication and work path indication based on the path planning instruction. That is, the work area includes the work boundary and the work path.

[0090] The human-machine interface also includes a distance input field (not shown) between the spray boom 24 and the target object. After a preset distance is entered in the input field, the control terminal 70 generates a lifting command for the spray boom based on the preset distance. The human-machine interface also includes an automatic driving selection button. When this button is selected, the control terminal 70 generates an automatic driving command in response to the selection operation.

[0091] It is understood that the central control unit 30 can be integrated into the control terminal 70 or it can be divided into separate physical units. The following explanation will take the integration of the central control unit 30 into the control terminal 70 as an example.

[0092] In some embodiments, please refer to Figure 7 and Figure 17The autonomous driving unit 40 includes a positioning antenna 41, a communication antenna 42, a steering wheel 43, an attitude sensor 44, a camera module 45, an angle sensor 46, and an autonomous driving controller 47. The positioning antenna 41, communication antenna 42, steering wheel 43, attitude sensor 44, camera module 45, and angle sensor 46 are respectively connected to the autonomous driving controller 47, which in turn is connected to the central control unit 30.

[0093] The positioning antenna 41 is used to detect the position information of the spraying agricultural machine 100, including latitude and longitude. The positioning antenna 41 may include a first antenna 411 and a second antenna 412. The first antenna 411 is used to receive the first position information of the spraying agricultural machine 100, and the first antenna 411 can be a GNSS (Global Navigation Satellite System) antenna. The second antenna 412 is used to receive the second position information of the spraying agricultural machine 100, and the second antenna 412 can be a radio antenna. After receiving satellite signals transmitted by the BeiDou satellite, the first antenna 411 and the second antenna 412 generate the first position information and the second position information, respectively, and send the first position information and the second position information to the autopilot controller 47. The autopilot controller 47 performs differential calculations on the first position information and the second position information to finally detect the position information of the spraying agricultural machine 100. It can be understood that the autopilot unit of this embodiment can detect more accurate position information of the spraying agricultural machine 100 by setting the first antenna 411 and the second antenna 412 and combining differential calculations. The automatic driving controller 47 can also obtain the real-time speed of the spraying machine 100 based on its location information and a preset algorithm. That is, the automatic driving information includes the location information and real-time speed of the spraying machine 100.

[0094] The communication antenna 42 is used to establish a communication connection between the central control unit 30 and the cellular network. The communication antenna 42 can be a 4G antenna. After the central control unit 30 establishes a communication connection with the cellular network, it establishes communication with the control device in the remote control room through the cellular network. The central control unit 30 can send information obtained from other control units to the control device so that the operator can analyze the information and remotely control the spraying machine 100 based on the information.

[0095] The steering wheel 43 is used to adjust the driving direction of the drive mechanism 10, thereby adjusting the driving direction of the spraying agricultural machinery 100. The attitude sensor 44 is used to detect the attitude information of the spraying agricultural machinery 100. The attitude sensor 44 can be set at the location where the attitude of the spraying agricultural machinery 100 changes. By collecting data such as angular velocity and acceleration at that location, the attitude sensor 44 calculates the attitude information of the spraying agricultural machinery 100. In other words, the automatic driving information includes the attitude information of the spraying agricultural machinery 100.

[0096] An angle sensor 46 is installed on the wheels of the spraying machine 100 to detect the rotation angle of the wheels. That is, the automatic driving information includes the rotation angle of the wheels of the spraying machine 100.

[0097] The camera module 45 is used to acquire front and / or rear images of the spraying agricultural machinery 100. In some embodiments, the camera module 45 includes a first camera 451 and a wireless transmission module 452. The first camera 451 is used to acquire front and / or rear images of the spraying agricultural machinery 100, and the wireless transmission module 452 can be a Wi-Fi module, used to send the front and / or rear images to the control device in the remote control room. After receiving the front and / or rear images, the automatic driving controller 47 can identify the front environment of the spraying agricultural machinery 100 based on the front image and the rear environment of the spraying agricultural machinery 100 based on the rear image. The automatic driving information includes the front and / or rear environment of the spraying agricultural machinery 100.

[0098] In some embodiments, the path planning unit 50 is used to generate a work area based on the location information of the spraying agricultural machinery 100. The work area includes a work boundary and a work path. Specifically, please refer to... Figure 8After receiving the path planning instruction, the path planning unit 50 controls the positioning antenna 41 to receive the position information of the spraying machine 100 at the first acquisition point while the spraying machine 100 is traveling along the boundary of the farmland. Based on this position information, the system generates a work boundary. When the spraying machine 100 is traveling within the work boundary, the system controls the positioning antenna 41 to receive the position information of the second acquisition point and generates a work path based on this information. The work path includes straight paths and curved paths. The first acquisition point has four points: a, b, c, and d. The path planning unit 50 generates a rectangular work area based on these four points. The second acquisition point has eight points: e, f, g, h, i, j, k, and l. The path planning unit 50 generates straight paths L1, L2, and L3, as well as curved paths L4 between L1 and L2 and L5 between L2 and L3, based on these eight points. The path planning unit 50 can be, but is not limited to, a microcontroller unit (MCU) or a central processing unit (CPU), and no restriction is imposed here.

[0099] In some embodiments, the autonomous driving unit is further configured to determine a working mode area based on the working area. The working mode area includes a stopped spraying area and a non-stop spraying area. Specifically, a stopped spraying area refers to the area where the nozzle 25 stops spraying the solution, and a non-stop spraying area refers to the area where the nozzle 25 sprays the solution. The central control unit 30 sends the working boundary and working path from the path planning unit 50 to the autonomous driving controller 47 of the autonomous driving unit. After receiving the working boundary and working path, the autonomous driving controller 47... (See also...) Figure 6 In some embodiments, the autonomous driving controller 47 determines that the area outside the work boundary is the spray-stopping area, and the area inside the work boundary is the non-spray-stopping area, based on the work boundary of the work area. For example, Z3 is the spray-stopping area, and Z1, Z2, and the work path are the non-spray-stopping areas. In other embodiments, the autonomous driving controller 47 determines that the area outside the work path is the spray-stopping area, and the work path is the non-spray-stopping area, based on the work path within the work boundary. For example, Z1 and Z2 are spray-stopping areas, and the work path is the non-spray-stopping area. In still other embodiments, the autonomous driving controller 47 determines that the area outside the work path and the area outside the work boundary are both spray-stopping areas, for example, Z1, Z2, and Z3 are spray-stopping areas, and the work path is the non-spray-stopping area.

[0100] In one implementation, the automatic driving controller 47 is used to determine the driven and undriven operation paths in the non-stop spraying area.

[0101] Specifically, when the spraying machine 100 travels through a certain section of the work path, the automatic driving controller 47 marks the already traveled work path on the work path sent by the path planning unit 50, based on the location information sent by the positioning antenna 41. The marked path is the work path that has been traveled, and the unmarked path is the path that has not been traveled.

[0102] The automatic driving controller 47 is also used to determine the spray overlap area based on the traveled and untraveled work paths, and to determine the material application mode based on the spray overlap area. That is, the work mode area also includes the spray overlap area.

[0103] Specifically, when the spraying machine 100 retraces a portion of the marked work path, the automatic driving controller 47 can identify that portion as a spraying overlap area. That is, a spraying overlap area refers to a portion of the already traveled work path that the spraying machine 100 repeatedly traverses. For example, please refer to... Figure 9 When the work area is irregularly shaped, the spraying machine 100 travels sequentially on work paths L1, L2, and L3. Work path L2 is the path that has already been traveled, and work path L3 is the path that has not been traveled. The overlapping part of work paths L2 and L3, that is, the shaded area, is the spraying overlap area.

[0104] The material application mode refers to a mode in which the area requiring re-spraying within the overlapping spraying zone has a certain overlap rate. Material application modes can be categorized into material-saving mode, recommended mode, maximum coverage mode, and custom mode. Based on the overlap rate, material application modes are further divided into material-saving mode, recommended mode, and maximum coverage mode. The overlap rate for material-saving mode is 0%, for recommended mode it is 75%, and for maximum coverage mode it is 100%. The custom mode executes the corresponding material-saving mode, recommended mode, or maximum coverage mode based on the area of ​​the overlapping spraying zone. Material application modes can be pre-stored in the automatic driving controller 47.

[0105] In one embodiment, the automatic driving controller 47 is also used to drive the drive mechanism 10 according to position information, attitude information, work path, and work boundary. The steering wheel 43 adjusts the direction of the drive mechanism 10 according to attitude information, rotation angle, work path, and work boundary. It can be understood that the automatic driving controller 47 and the steering wheel 43 cooperate with each other to adjust the work mechanism 20 to enter and exit the work boundary and travel along the work path, so as to realize the automatic driving of the spraying agricultural machinery 100. The automatic driving controller 47 calibrates the movement attitude of the spraying agricultural machinery 100 according to attitude information to ensure the movement accuracy of the spraying agricultural machinery 100 when working at high speed or on slopes. At the same time, by combining the position information sent by the positioning antenna 41, the attitude information sent by the attitude sensor 44, and the rotation angle sent by the angle sensor 46, the movement accuracy of the spraying agricultural machinery 100 on straight and curved paths is enhanced.

[0106] In some embodiments, please refer to Figure 10 and Figure 17 The spray control unit 60 includes a spray controller 61 and an integrated valve 62 connected to the spray controller 61. For example... Figure 10 and 17 As shown, the integrated valve 62 includes a spray proportional valve 621, a pressure sensor 623, and a flow meter 622. The spray proportional valve 621 receives the duty cycle from the spray controller 61 and adjusts the liquid pressure of the solution from the integrated valve 62 to the nozzle 25 according to the duty cycle, causing the nozzle 25 to spray a preset amount of solution. The flow meter 622 detects the solution flow rate within the integrated valve 62, and the pressure sensor 623 detects the liquid pressure forming within the integrated valve 62. The spray controller 61 is connected to the central control unit 30. The central control unit 30 sends spray control commands to the spray controller 61. After receiving the spray control commands, the spray controller 61 obtains the duty cycle based on the preset spray volume, solution flow rate, and liquid pressure. It is understood that by setting the flow meter 622 and the pressure sensor 623 in this application embodiment, the spray controller 61 can obtain the real-time liquid pressure and real-time solution flow rate, so as to ensure that the execution parameters (i.e., duty cycle) converted from liquid pressure and solution flow rate are consistent with the real-time status of the spraying agricultural machinery 100, so that the liquid pressure adjusted by the spray proportional valve 621 can enable the nozzle 25 to perform reasonable spraying operations.

[0107] In one embodiment, the spray controller 61 is used to determine the first speed of any one of the nozzles 25 based on the real-time speed and the nozzle position of the nozzle 25 on the spray boom 24 when the working path of the non-stop spraying area is determined to be a straight path based on the rotation angle, and to obtain the straight spraying volume of the nozzle 25 based on the first speed and preset parameters.

[0108] Specifically, after receiving the rotation angle sent by the angle sensor 46 and the working path sent by the path planning unit 50, the spray controller 61 determines whether the spraying machine 100 is on a curved path or a straight path based on the rotation angle. For example, if the rotation angle is zero, the current working path of the spraying machine 100 is determined to be a straight path. If the rotation angle is not zero, the current working path of the spraying machine 100 is determined to be a curved path.

[0109] The spray controller 61 stores the nozzle position of each nozzle 25 in the boom 24. After obtaining the real-time speed, the first speed of each nozzle 25 can be calculated based on the real-time speed and the nozzle position. When the working path is a straight path, the first speed calculated for all nozzles 25 is the same. In one example, the spray controller 61 can determine the first spray rate of the nozzle 25 according to formula (1) and the first speed, and obtain the linear spray volume of the nozzle 25 (i.e., the preset spray volume includes the linear spray volume) according to formula (2) and the first spray rate.

[0110]

[0111]

[0112] Among them, V 液体流速 V represents the first spray rate of nozzle 25. 喷头25 B represents the first velocity of nozzle 25, B represents the spray width, and G represents the first velocity of nozzle 25. 亩 S represents the spraying rate per acre. 横截面积 F represents the cross-sectional area of ​​nozzle 25. X F1 represents the target liquid pressure, and S represents any liquid pressure. 亩 Q represents the area per mu (unit of land area). 流量 This indicates the linear spray volume of 25 nozzles.

[0113] Understandable, because F X F1, B, G 亩 S 横截面积 and S 亩 The parameters can be preset in advance. Therefore, from formula (2), it can be seen that the linear spraying volume Q of nozzle 25 is... 流量 The first velocity V of the nozzle 25 喷头25 They are directly proportional. Furthermore, when the working path is a straight line, the initial velocity of each nozzle 25 on the boom mount 24 is the same. Therefore, from formula (1), it can be seen that the initial velocity V of the nozzle 25 is... 喷头25 The real-time speed of the spraying machine 100 and the first spraying rate V of the nozzle 25 液体流速 It is also directly proportional. When the agricultural spraying machine 100 travels on a straight path, the linear spraying volume Q of all nozzles 25 is... 流量Consistency, and linear spray volume Q 流量 The speed of the spraying machine 100 increases as the real-time speed increases and decreases as the speed decreases.

[0114] The spray controller 61 is also used to control all nozzles 25 of the boom arm 24 to spray the solution in a linear spray volume. Specifically, after calculating the linear spray volume, the spray controller 61 is also used to obtain a first duty cycle based on the linear spray volume, solution flow rate, and liquid pressure.

[0115] In one example, the spray controller 61 calculates the first duty cycle according to formula (3).

[0116]

[0117] Where C% represents the first duty cycle required for each nozzle 25, F Q Q represents the liquid pressure measured by pressure sensor 623. 当前 This indicates the flow rate of the solution measured by flow meter 622.

[0118] After calculating the first duty cycle, the spray controller 61 also controls the spray proportional valve 621 to adjust the liquid pressure according to the first duty cycle, so that the nozzles 25 of all the spray booms 24 spray the solution in a straight line.

[0119] In one embodiment, the spray controller 61 is used to determine the second speed of the nozzles 25 on the boom frame 24 based on the real-time speed of the spraying machinery 100 and the nozzle position of the nozzles 25 on the boom frame 24 when the operating path of the non-stop spraying area is determined to be a curved path based on the rotation angle. Compared with the previous embodiment, the second speed of each nozzle 25 on the boom frame 24 is different. For example... Figure 11 As shown, when the agricultural spraying machine 100 travels along a curved path, during the process of the spray boom 24 moving from the first position to the second position, the path traveled by the nozzle 2501 is S1, and the path traveled by the nozzle 2502 is S2, with S1 being longer than S2. It can be understood that, within the same time frame, the path traveled by the nozzle 2501 is longer than that of the nozzle 2502, indicating that the second speed of the nozzle 2501 is faster than that of the nozzle 2502.

[0120] The spray controller 61 is also used to determine a third spray rate corresponding to each nozzle 25 based on the second speed, and to obtain the flexural spray volume corresponding to each nozzle 25 based on the third spray rate. In one example, the spray controller 61 calculates the flexural spray volume using formulas (1) to (2), the difference from the previous embodiment being that V 液体流速 Q represents the third spray rate of nozzle 25. 流量 V represents the 25° bend spray rate per nozzle. 喷头25 This indicates the second velocity of nozzle 25.

[0121] It is understandable that when the working path is a curved path, as can be seen from formula (1), the first velocity V of the nozzle 25 is converted to... 喷头25 The real-time speed of the spraying machine 100 and the second spraying rate V of the nozzle 25 液体流速 The spray volume Q is directly proportional to the amount of water sprayed. 流量 The speed of the spraying machine 100 increases as the real-time speed increases and decreases as the speed decreases. Simultaneously, the initial speed V of each nozzle 25 on the boom 24 also increases. 喷头25 They are all different. Therefore, from formula (2), it can be seen that the bending spray volume Q of each nozzle 25 is different. 流量 They are not the same.

[0122] The spray controller 61 is also used to control each nozzle 25 of the boom 24 to spray a corresponding amount of solution in a curved pattern. Specifically, after calculating the curved spray amount, the autopilot controller 47 is also used to obtain a second duty cycle based on the curved spray amount, solution flow rate, and liquid pressure. In one example, the spray controller 61 calculates the second duty cycle according to formula (3), the difference from the previous embodiment being that C% represents the second duty cycle required for each nozzle 25 (i.e., the duty cycle also includes the second duty cycle). After calculating the second duty cycle, the spray controller 61 also controls the spray proportioning valve 621 to adjust the liquid pressure according to the second duty cycle so that the nozzles 25 of the boom 24 spray a corresponding amount of solution in a curved pattern. For example, the spray controller 61 also controls the spray proportioning valve 621 to adjust the liquid pressure according to the second duty cycle so that nozzle 2501 sprays a larger amount of solution than nozzle 2502. It is understandable that, on a curved path, by adjusting the liquid pressure through the spray proportioning valve 621, that is, by increasing the liquid pressure from the inside to the outside of the spray proportioning valve 621, the multiple nozzles 25 in the head assembly can increase the spray volume of the solution from the inside to the outside in sequence.

[0123] In an application scenario, such as Figure 12 As shown, the spraying machine 100 travels along a curved path. The spraying controller 61 obtains the second speed of each nozzle 25 based on the real-time speed of the spraying machine 100 and the position of the nozzle 25 on the spray boom 24. Based on the second speed, it determines the second spraying rate of each nozzle 25, and based on the second spraying rate, it obtains the corresponding curved spraying volume for each nozzle 25. It then controls each nozzle 25 on the spray boom 24 to spray the corresponding curved spraying volume of solution. In this way, the spraying volume of the multiple nozzles 25 in the spray boom 24 increases sequentially from the inside to the outside.

[0124] Understandable, compared to Figure 1In this embodiment, the spraying controller of the spraying agricultural machine 100 can accelerate the spraying volume of the faster-moving nozzle 25 and reduce the spraying volume of the slower-moving nozzle 25, so as to achieve uniform spraying of the spraying agricultural machine 100 on the curved path, that is, the spraying volume received from the inside to the outside of the curved path is consistent.

[0125] In one embodiment, the spray controller 61 is further configured to control the spray head 25 to stop spraying solution when the corresponding spray head 25 is located in the stop spraying area based on the spray head position, and to control the spray head 25 to spray solution when the corresponding spray head 25 is located in the non-stop spraying area based on the spray head position.

[0126] In this system, after the automatic driving unit 40 and the automatic driving controller 47 determine the areas where spraying is stopped and the areas where spraying is not stopped, the spraying controller 61 of the spraying control unit 60 receives the areas where spraying is stopped and the areas where spraying is not stopped. At the same time, after receiving the position information of the spraying machine 100 sent by the positioning antenna 41, the spraying controller 61 calculates the position of the spraying head based on the position information of the spraying machine 100 and the position of the nozzle 25 on the spray boom frame 24.

[0127] In one embodiment, the spray controller 61 is used to control the spray head 25 to stop spraying when the real-time speed is lower than a preset speed and / or when the spray head is confirmed to be in a stop spraying zone based on the spray head position. The preset speed can be set in advance.

[0128] It is understood that the spray controller 61 determines the required automatic spraying mode based on the work boundary, work path, and / or real-time speed. Spraying modes include a stop spraying mode and a start spraying mode. Specifically, such as... Figure 13 As shown, the spray controller 61 controls the nozzle 25 to stop spraying when the nozzle position is in the stop spraying zone, and controls the nozzle 25 to spray when the nozzle position is in the non-stop spraying zone. This cycle continues until all fields along the work path are sprayed. Simultaneously, when the nozzle position of the nozzle 25 is in the non-stop spraying zone, the spray controller 61 controls the spray volume of the nozzle 25 according to the real-time speed and the work path, ensuring that the spray volume of the spraying machine 100 is directly proportional to its real-time speed, whether traveling on a straight or curved path. Furthermore, on curved paths, each nozzle 25 sprays a corresponding fixed-point spray volume from the inside to the outside, ensuring a consistent spray volume of solution on the fields along the curved path. This configuration ensures that all fields along the work path are automatically sprayed with the preset spray volume, resulting in a consistent spray volume of solution.

[0129] In some embodiments, the spray controller 61 is also used to control the spray nozzle 25 to stop spraying after a preset time period when it is confirmed that the corresponding spray nozzle 25 is located in the spray overlap area according to the spray nozzle position.

[0130] Specifically, the preset time period can be calculated based on the overlap rate, the area of ​​the overlapping spray zone, and the preset spray volume; the specific calculation method is not limited. The preset spray volume is selected as either a straight-line spray volume or a curved spray volume according to the work path, as detailed in the above implementation method. Figures 14A to 14C As shown, the triangular area represents the overlapping spraying area, and the shaded area in the figure represents the area sprayed by the agricultural spraying machine 100.

[0131] In one example, such as Figure 14A As shown, the spray controller 61 calculates the preset time period as zero based on the material-saving mode. When the spray head 25 enters the spray overlap area based on the spray head position information, the spray controller 61 controls the spray head 25 to immediately stop spraying so that the overlap rate is 0%. That is, the spray controller 61 controls the spray head 25 not to spray the solution in the spray overlap area.

[0132] In another example, such as Figure 14B As shown, the spray controller 61 calculates the preset time period as the first time period based on the material-saving mode. When the spray controller 61 confirms that the spray head 25 has entered the spray overlap area based on the spray head position information, it controls the spray head 25 to stop spraying after the first time period to ensure an overlap rate of 75%.

[0133] In another example, such as Figure 14C As shown, the spray controller 61 calculates the preset time period as the second time period based on the maximum coverage saving mode. When the spray controller 61 confirms that the spray head 25 has entered the spray overlap area based on the spray head position information, it controls the spray head 25 to stop spraying after the second time period to ensure that the overlap rate is 100%.

[0134] In another example, the spray controller 61 has a pre-stored custom mode. The spray controller 61 determines the maximum coverage mode to execute based on the area of ​​the overlapping region, and then calculates a preset time period as the second time period based on the maximum coverage mode. When the spray head 25 enters the overlapping spray area, the spray controller 61 controls the spray head 25 to stop spraying after the second time period, ensuring a 100% overlap.

[0135] In some embodiments, please refer to Figure 17The spray control unit 60 also includes a vision module 63 connected to the spray controller 61. The vision module 63 includes a camera driver 631, a second camera 632 connected to the camera driver 631, and a supplementary light 633. The supplementary light 633 is used to illuminate the non-stop spraying area. The second camera 632 is an AI camera used to identify fields, weeds, and crops in the non-stop spraying area. Specifically, the second camera 632 has a database containing images of weeds and crops. After acquiring images of weeds, crops, and fields, the second camera 632 creates a markerless prescription map using a grading method (growth and color grading) and the acquired images. It then identifies weeds or crops in the acquired images based on color depth (NdVI index) and images stored in the database. The markerless prescription map identifying weeds and crops is sent to the camera driver 631, which can be an AI driver. The camera driver 631 stores prescription information, including the amount of targeted spraying to eliminate weeds (i.e., a preset spraying amount including the targeted spraying amount). The camera driver 631 generates a marked prescription map based on the prescription information and the unmarked prescription map. In one example, the marked prescription map represents light-colored plants as crops with a targeted spraying amount of 0, and dark-colored plants as weeds with a targeted spraying amount greater than 0. Each second camera 632 may be equipped with a supplementary light 633 to enhance the clarity of the images of weeds or crops acquired by the second camera 632.

[0136] The spray control commands include point spray commands. After receiving the point spray commands from the central control unit 30, the spray controller 61 determines the target nozzles and non-target nozzles according to the marking prescription map. The target nozzles are the nozzles on the spray boom 24 corresponding to the target object. The spray controller 61 also generates a third duty cycle (i.e., the duty cycle also includes a third duty cycle) based on the point spray volume, liquid pressure, and solution flow rate represented by the marking prescription map. In one example, the spray controller calculates the third duty cycle according to formula (3). The difference between calculating the first duty cycle and the third duty cycle is that C% represents the third duty cycle required for each nozzle 25, and Q... 流量 This indicates the amount of sprayed at a specific point, as represented by the prescription map. For an application scenario, please refer to [link / reference needed]. Figure 15 The spray controller is also used to control the target nozzles 25 (i.e., ...) corresponding to the weeds, based on the weed locations indicated by the marked prescription map. Figure 15 The nozzle 25 corresponding to the black spray solution is opened, and the liquid pressure is adjusted according to the third proportion control spray ratio valve 621 so that the target nozzle 25 of the spray boom 24 sprays a fixed amount of solution at a specific point. At the same time, the non-target nozzles (i.e., Figure 15 Stop spraying if the spray solution is not marked in black (25) corresponding to the nozzle.

[0137] It is understood that the embodiments of this application, by setting a vision module 63 in the spray control unit 60, can realize the targeted spraying of weeds in non-stop spraying areas and the targeted application of pesticides to crops.

[0138] In some embodiments, please refer to Figure 16 and Figure 17 The spray control system 200 also includes an electro-hydraulic lifting unit 80. The electro-hydraulic lifting unit 80 is used to adjust the height of the spray boom 24 according to the distance between the nozzle 25 and the target object. In some embodiments, please refer to... Figure 16 The electro-hydraulic lifting unit 80 includes a hydraulic actuator 81, an ultrasonic ranging sensor 82 and a hydraulic proportional valve 83 connected to the hydraulic actuator 81, and a leveling cylinder 84 connected to the hydraulic proportional valve 83. The leveling cylinder 84 is connected to the spray boom frame 24. The ultrasonic ranging sensor 82 is used to detect the distance between the nozzle 25 and the target object and sends the distance to the hydraulic actuator 81. The hydraulic actuator 81 is connected to the central control unit 30 and can be used as an actuator. The hydraulic actuator 81 receives the distance sent by the ultrasonic ranging sensor 82 and sends the distance to the central control unit 30. The central control unit 30 issues a first lifting command to the hydraulic actuator 81 based on the distance. The hydraulic actuator 81 controls the hydraulic proportional valve 83 based on the first lifting command. The hydraulic proportional valve 83 distributes hydraulic oil to the hydraulic cylinder based on the lifting control command to adjust the extension and retraction of the hydraulic cylinder. The extension and retraction of the hydraulic cylinder adjusts the height of the spray boom frame 24. It can be understood that by setting the ultrasonic ranging sensor 82, the height of the spray boom frame 24 can be monitored in real time.

[0139] In some embodiments, the boom lift control commands include an up command and a down command. The central control unit 30 compares the distance with a preset distance. If the distance is greater than the preset distance, an up command is generated; if the distance is less than the preset distance, a down command is generated. The preset distance can be the optimal spraying distance between the boom lift 24 and the crops. It can be set according to actual conditions. The preset distance can be stored in the central control unit 30 in advance, or it can be obtained by the display unit 71 in response to the operator's preset distance input. That is, the human-machine interface of the control terminal 70 responds to the operator's input operation of lifting the boom lift 24, generates a boom lift 24 lifting command, and sends the boom lift 24 lifting command to the hydraulic actuator 81 of the electro-hydraulic lifting unit 80. The hydraulic actuator 81 controls the hydraulic proportional valve 83 to increase the supply of hydraulic oil to the leveling cylinder 84 according to the up command. The piston end of the leveling cylinder 84 extends, driving the boom lift 24 to rise. The hydraulic actuator 81 controls the hydraulic proportional valve 83 to decrease the supply of hydraulic oil to the leveling cylinder 84 according to the down command. The piston end of the leveling cylinder 84 retracts, driving the boom lift 24 to fall. It is understandable that when the distance remains constant, the hydraulic oil supply from the hydraulic proportional valve 83 to the leveling cylinder 84 remains constant, and the leveling cylinder 84 remains in an extended or retracted state, driving the spray boom 24 to maintain a certain height. In this way, regardless of whether the agricultural spraying machine 100 is traveling on rugged or flat fields, the nozzle 25 can maintain a better distance from the crops, and the crops can receive a more suitable spray volume and spray intensity.

[0140] The following application scenario illustrates the application of the spray control system 200 on the spraying agricultural machinery 100.

[0141] In response to the start operation, the control terminal 70 generates start information. The central control unit 30, in response to the start information, generates path planning instructions and sends these instructions to the path planning unit 50. The path planning unit 50 generates the work boundary and work path based on the position information of the spraying machinery 100 sent by the positioning antenna 41. The central control unit 30 generates automatic driving instructions, spraying control instructions, and boom lifting control instructions in response to the generated work path and work boundary. The automatic driving unit 40 controls the drive mechanism 10 to enter the work boundary and travel along the work path, thereby adjusting the working mechanism 20 to travel along the work path within the work boundary.

[0142] After receiving the lifting control command for the spray boom 24, the electro-hydraulic lifting unit 80 adjusts the height of the spray boom 24 to maintain the distance between the nozzle 25 and the crops at a preset distance. At the same time, after the working mechanism 20 enters the working boundary, the spray controller 61 of the spray control unit 60 controls the nozzle 25 to spray a preset amount of solution based on the nozzle position of the nozzle 25 being in the non-stop spraying area. Specifically, when the working path is a straight path, the spray controller 61 determines the nozzle position based on the real-time speed and the position of the nozzle 25 on the spray boom 24, determines the first speed of the nozzle 25 based on the nozzle position, obtains the linear spray volume of the nozzle 25 based on the first speed and preset parameters, and obtains the first duty cycle based on the linear spray volume, solution flow rate and liquid pressure. Then, the spray controller 61 controls the spray proportional valve 621 to adjust the liquid pressure of the solution from the integrated valve 62 to the nozzle 25 according to the first duty cycle, so that the nozzles 25 of all spray boom 24 spray the same linear spray volume of solution, and the linear spray volume of the nozzle 25 increases as the real-time speed of the spraying agricultural machinery 100 increases and decreases as the real-time speed decreases. After the operating mechanism 20 enters the curved path, the spray controller 61 determines the second speed of the nozzle 25 based on the real-time speed and the position of the nozzle 25 on the spray boom 24 when the operating path is curved. Based on the second speed and preset parameters, the curved spray volume of the nozzle 25 is obtained. The second duty cycle is obtained based on the curved spray volume, solution flow rate, and liquid pressure. Then, the spray controller 61 controls the spray proportional valve 621 to adjust the liquid pressure of the solution from the integrated valve 62 to the nozzle 25 according to the second duty cycle, controlling each nozzle 25 on the spray boom 24 to spray the corresponding curved spray volume of solution. This causes the spray volume of multiple nozzles 25 in the spray boom 24 to increase sequentially from the inside to the outside of the curved path, and the curved spray volume of the nozzle 25 also increases as the real-time speed of the spraying machinery 100 increases and decreases as it decreases.

[0143] When the operating mechanism 20 passes through the already sprayed solution path, the spray controller 61, based on the nozzle position of the nozzle 25, confirms that the nozzle 25 has entered the spray overlap area. According to the recommended mode, it controls the nozzle 25 to stop spraying either a straight or curved spray volume after the first time period, ensuring an overlap rate of 75% in the spray overlap area. After receiving a fixed-point spraying command from the control terminal 70, the spray controller 61 generates a third duty cycle based on the fixed-point spray volume, liquid pressure, and solution flow rate represented by the marked prescription map. The spray controller also controls the nozzle 25 opposite to the weeds to open according to the weed position represented by the marked prescription map, and controls the liquid pressure from the integrated valve 62 to the nozzle 25 according to the third duty cycle, so that the designated nozzle 25 of the spray boom 24 sprays the fixed-point spray volume of solution for targeted weed removal in the non-stop spraying area. When the operating mechanism 20 moves outside the operating boundary, the spray controller 61, based on the nozzle position of the nozzle 25 being in the stop spraying area, controls the nozzle 25 to stop spraying the solution.

[0144] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method implementations or embodiments, and will not be repeated here. In the several implementations or embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device implementations described above are merely illustrative; for instance, the division of units is merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate; components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units.

[0145] Those skilled in the art will understand that this application is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of this application. Therefore, although this application has been described in detail through the above embodiments, this application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of this application, all of which fall within the scope of protection of this application.

Claims

1. A spraying control system applied to a spraying agricultural machine, the spraying agricultural machine comprising a water tank and a spray boom frame connected to the water tank, the spray boom frame being provided with multiple nozzles, characterized in that, The spray control system includes: An automatic driving unit is used to detect the automatic driving information of the spraying agricultural machinery; A path planning unit is used to generate a work area based on the autonomous driving information; A spray control unit is used to control at least some of the nozzles on the spray boom to spray a preset amount of solution onto the target object based on the work area and the automatic driving information. The autonomous driving information includes the location information of the spraying machinery, and the autonomous driving unit includes an autonomous driving controller and a positioning antenna. The automatic driving controller is used for: Based on the work boundary of the work area, the area outside the work boundary is determined as the stop-spray area, and the area inside the work boundary is the non-stop-spray area; or Based on the work path within the work boundary, the area outside the work path is determined as the stop-spray area, and the work path is determined as the non-stop-spray area; The positioning antenna is used to detect the position information of the spraying agricultural machinery; The spray control unit further includes a spray controller, which is used for: The nozzle position of each nozzle is obtained based on the location information and the position of the nozzle on the spray boom frame; When the nozzle is confirmed to be located in the stop spraying area based on the nozzle position, the nozzle is controlled to stop spraying; When it is confirmed that the corresponding nozzle is located in the non-stop spraying area based on the nozzle position, the nozzle is controlled to spray the preset amount of solution. The preset spraying volume includes the linear spraying volume, and the automatic driving information also includes the rotation angle and real-time speed of the spraying machine. The automatic driving unit also includes an angle sensor, which is used to detect the rotation angle of the spraying machine. The automatic driving controller is also used to obtain the real-time speed of the spraying machine based on the location information and a preset algorithm; The spray controller is also used for: When the working path of the non-stop spraying area is determined to be a straight path based on the rotation angle, the first speed of any of the nozzles is obtained based on the real-time speed and the nozzle position. The linear spray volume of the nozzle is obtained based on the first speed and preset parameters, and the nozzle is controlled to spray the solution of the linear spray volume. The preset spray volume also includes the curved spray volume; The spray controller is also used for: When the working path of the non-stop spraying area is determined to be a curved path based on the rotation angle, a second speed corresponding to each nozzle is determined based on the real-time speed and the nozzle position. The bend spray volume of the nozzle is obtained based on the second speed and the preset parameters, and the nozzle is controlled to spray the solution with the bend spray volume.

2. The spray control system according to claim 1, characterized in that, The automatic driving controller is also used for: Determine the already driven and non-driven operation paths in the non-stop spraying area; The overlapping spraying area is determined based on the already traveled work path and the untraveled work path; The spray controller is also used for: When it is confirmed that the corresponding nozzle is located in the spray overlap area based on the nozzle position, the nozzle is controlled to stop spraying after a preset time period.

3. The spray control system according to claim 1, characterized in that, The preset spray volume also includes a fixed-point spray volume, and the spray control unit also includes a vision module, which is used to identify target objects in the non-stop spray area and generate a marked prescription map of the target objects; The spray controller is also used for: The target nozzle and non-target nozzles are determined according to the marked prescription diagram, wherein the target nozzle is the nozzle on the spray bar frame that corresponds to the target object; The fixed-point spraying volume is obtained according to the marked prescription map, the target nozzle is controlled to spray the fixed-point spraying volume of solution onto the target object, and the non-target nozzle is controlled to stop spraying.

4. The spray control system according to any one of claims 1 to 3, characterized in that, The spraying control unit also includes a spraying proportioning valve, a flow meter, and a pressure sensor. The flow meter is used to detect the flow rate of the solution inside the spraying machine; the pressure sensor is used to detect the liquid pressure of the solution inside the spraying machine. The spray controller is also used for: The duty cycle is obtained based on the preset spray volume, the solution flow rate, and the liquid pressure. The spray ratio valve is controlled according to the duty cycle to adjust the liquid pressure so that the nozzle sprays the preset amount of solution.

5. The spray control system according to claim 1, characterized in that, The spray control system also includes a hydraulic lifting unit, which includes an ultrasonic ranging sensor, a hydraulic actuator, a hydraulic proportional valve, and a hydraulic cylinder. The ultrasonic ranging sensor is used to detect the real-time distance between the nozzle and the target object; The hydraulic actuator is used to control the hydraulic proportional valve to adjust the hydraulic oil supply to the hydraulic cylinder according to the real-time distance. The hydraulic cylinder adjusts the height of the spray boom frame according to the supply amount so that the nozzle and the target object maintain a preset distance.

6. The spray control system according to claim 1, characterized in that, The spray control system also includes a display terminal and a central control unit. The automatic driving unit, the path planning unit, and the spraying control unit are used to execute control commands generated by the display terminal or the central control unit. The display terminal is used to respond to the operator's input and generate the control commands; The central control unit is used to generate the control commands in response to information interaction with the autonomous driving unit, the path planning unit, and the spraying control unit.

7. A spraying agricultural machine, characterized in that, The spraying machinery includes a water tank, a spray boom frame, a plurality of nozzles mounted on the spray boom frame, and a spraying control system as described in any one of claims 1 to 6.

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