Variable plant protection waterway constant pressure control method and device based on field image recognition

Abstract

The present invention provides a variable plant protection waterway constant pressure control method and device based on field image recognition, which can be applied to the fields of image processing technology and agricultural irrigation technology. The method includes using image recognition technology to identify target vegetation in field images acquired in real time to obtain vegetation recognition results; generating a solenoid valve control signal based on the vegetation recognition results; adjusting the opening and closing state of the solenoid valve in the plant protection waterway based on the solenoid valve control signal; using pre-calculated parameters of the proportional valve to adjust the opening of the proportional valve in the plant protection waterway, wherein the opening adjustment of the proportional valve is triggered by the solenoid valve control signal; and adjusting the opening of the proportional valve based on the real-time detected waterway flow value and waterway pressure value until the waterway pressure value is within a safe pressure range and the waterway flow value is equal to a preset spraying flow value. In addition, the present invention also provides an electronic device and a computer storage medium based on the above method.

Description

Technical Field

[0001] The present invention relates to the technical fields of image processing and agricultural irrigation, and in particular to a variable plant protection waterway constant pressure control method and device based on field image recognition. Background Art

[0002] Currently, agricultural irrigation technology typically uses tractors and other mechanically mounted equipment to carry out field operations. For example, for weeding, a tractor can carry a sprayer to spray herbicides. Common sprayers use a segmented control system for plant protection waterways. This allows for regional spraying by manually controlling the opening and closing of solenoid valves in each waterway, and stabilizes the water pressure in the plant protection waterway by manually controlling the return flow of proportional valves.

[0003] However, the weed situation on the same acre of land is complex, and the solenoid valve needs to be opened and closed frequently by humans. At this time, the water pressure in the plant protection waterway has a more complex change trend. It is difficult for humans to accurately and timely control the return water passage of the proportional valve, and it is difficult to ensure the relative stability of the water pressure in the plant protection waterway. As a result, the plant protection waterway may be damaged due to excessive water pressure, and ultimately field weeding operations cannot be carried out. Summary of the Invention

[0004] In view of this, the present invention provides a variable plant protection water channel constant pressure control method and device based on field image recognition.

[0005] One aspect of the present invention provides a variable plant protection waterway constant pressure control method based on field image recognition, comprising: using image recognition technology to identify target vegetation in field images acquired in real time to obtain vegetation recognition results; generating a solenoid valve control signal based on the vegetation recognition results; adjusting the opening and closing state of the solenoid valve in the plant protection waterway according to the solenoid valve control signal; using pre-calculated parameters of the proportional valve to adjust the opening of the proportional valve in the plant protection waterway, wherein the opening adjustment of the proportional valve is triggered by the solenoid valve control signal; and adjusting the opening of the proportional valve according to the real-time detected waterway flow value and waterway pressure value until the waterway pressure value is within a safe pressure range and the waterway flow value is equal to a preset spraying flow value.

[0006] According to an embodiment of the present invention, the plant protection water circuit includes multiple spray rods, each spray rod corresponds to a solenoid valve; the pre-calculated parameters of the proportional valve include an opening adjustment step; using the pre-calculated parameters of the proportional valve to adjust the opening of the proportional valve in the plant protection water circuit includes: generating a first opening adjustment amount for the proportional valve according to the spray rod and the opening adjustment step corresponding to at least one solenoid valve, wherein at least one solenoid valve is determined according to the solenoid valve control signal; and adjusting the opening of the proportional valve according to the first opening adjustment amount.

[0007] According to an embodiment of the present invention, the spray boom includes at least one nozzle; the opening adjustment step includes a single spray boom opening adjustment step and a single nozzle opening adjustment step; according to the spray boom corresponding to each of the at least one solenoid valves and the opening adjustment step, a first opening adjustment amount for the proportional valve is generated, including: when it is determined that the spray boom is an equal-length spray boom, the number of spray booms corresponding to the solenoid valves to be opened is determined; according to the number of spray booms and the single spray boom opening adjustment step, the first opening adjustment amount for the proportional valve is generated; when it is determined that the spray boom is an unequal-length spray boom, the total number of nozzles corresponding to the solenoid valves to be opened is determined; according to the total number of nozzles and the single nozzle opening adjustment step, the first opening adjustment amount for the proportional valve is generated.

[0008] According to an embodiment of the present invention, the single spray boom opening adjustment step is calculated by the following operations: obtaining the maximum return water volume of the plant protection water channel when the proportional valve is in the maximum opening state, the normal return water volume of the plant protection water channel when it is in the normal opening state, and the minimum opening unit of the proportional valve; calculating the difference between the maximum return water volume and the normal return water volume, and the ratio to the minimum opening unit, to determine the plant protection water channel opening adjustment step according to the ratio; determine the single spray boom opening adjustment step according to the plant protection water channel opening adjustment step and the number of spray booms of the plant protection water channel.

[0009] According to an embodiment of the present invention, the method further includes: generating a second opening adjustment amount based on the first step adjustment parameter and the first opening adjustment amount, wherein the second opening adjustment amount is smaller than the first opening adjustment amount; and adjusting the opening of the proportional valve according to the second opening adjustment amount.

[0010] According to an embodiment of the present invention, the opening of the proportional valve is adjusted according to the real-time detected water path flow value and water path pressure value, including: when the water path flow value is equal to the preset spraying flow value, if the water path pressure value is outside the safety pressure range, determining at least one third opening adjustment amount according to the second step adjustment parameter and the first opening adjustment amount; and adjusting the opening of the proportional valve based on the at least one third opening adjustment amount until the water path pressure value is within the safety pressure range and the water path flow value is equal to the preset spraying flow value.

[0011] According to an embodiment of the present invention, the method also includes: after adjusting the opening of the proportional valve based on at least one third opening adjustment amount, when the water flow value is less than the preset spraying flow value, generating an alarm message and a vehicle speed prompt message; according to the vehicle speed prompt information, reducing the speed of the operating vehicle carrying the plant protection waterway, so that the water operation task for the target vegetation is consistent with the total operating water volume per mu.

[0012] According to an embodiment of the present invention, the field image is collected by a camera corresponding to the control valve in the plant protection water channel; based on the vegetation recognition result, an electromagnetic valve control signal is generated, including: based on the vegetation recognition result and the position of the camera for collecting the field image, a control signal of the electromagnetic valve associated with the camera position is generated.

[0013] According to an embodiment of the present invention, the recognition frequency of the target vegetation recognition result is less than the adjustment frequency of the proportional valve.

[0014] Another aspect of the present invention provides a variable plant protection waterway constant pressure control device based on field image recognition, characterized in that the device includes: an image recognition module, used to use image recognition technology to perform target vegetation identification on the field image acquired in real time to obtain a vegetation identification result; an electromagnetic valve control module, used to generate an electromagnetic valve control signal according to the vegetation recognition result; an electromagnetic valve adjustment module, used to adjust the opening and closing state of the electromagnetic valve in the plant protection waterway according to the electromagnetic valve control signal; a first proportional valve adjustment module, used to use the pre-calculated parameters of the proportional valve to adjust the opening of the proportional valve in the plant protection waterway, wherein the opening adjustment of the proportional valve is triggered by the electromagnetic valve control signal; and a second proportional valve adjustment module, used to adjust the opening of the proportional valve according to the real-time detected waterway flow value and waterway pressure value until the waterway pressure value is within the safe pressure range and the waterway flow value is equal to the preset spraying flow value.

[0015] Another aspect of the present invention provides an electronic device, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the above method.

[0016] Another aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions, which are used to implement the above method when executed.

[0017] Another aspect of the present invention provides a computer program product, which includes computer executable instructions. When the instructions are executed, they are used to implement the above method.

[0018] Image recognition technology identifies target vegetation in real-time field images, triggering the opening and closing of the solenoid valve and pre-adjusting the proportional valve. This allows for faster and more accurate weeding in the face of complex, variable, and highly real-time field weeding operations. It also ensures that the proportional valve is adjusted synchronously with changes in the solenoid valve state, thereby ensuring the relative stability of water pressure in the plant protection waterway and preventing damage to the waterway pump pipes. Furthermore, by combining proportional valve pre-adjustment with real-time pressure and flow detection, water pressure can be more accurately controlled to prevent damage to the waterway pump pipes while maintaining relative stability in the plant protection waterway. This also ensures that water pressure adjustment does not affect the spraying volume requirements of field weeding operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0020] Figure 1 A flow chart of a variable plant protection waterway constant pressure control method based on field image recognition according to an embodiment of the present invention is shown.

[0021] Figure 2 The flowchart of adjusting the opening of a proportional valve by using pre-calculated parameters of the proportional valve according to an embodiment of the present invention is schematically shown.

[0022] Figure 3 The figure schematically shows a plant protection water channel according to an embodiment of the present invention.

[0023] Figure 4 The block diagram of the variable plant protection water channel constant pressure control device based on field image recognition according to an embodiment of the present invention is schematically shown.

[0024] Figure 5 The block diagram schematically shows an electronic device suitable for implementing the method described above according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concept of the present invention.

[0026] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the presence of the features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0027] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0028] When expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted in accordance with the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0029] In the face of field weeding operations with dynamic changes and complex weed conditions, the present invention provides a method for automatically identifying weeds, automatically controlling the opening and closing of water channels, and automatically adjusting water pressure that is suitable for field weeding operations.

[0030] Specifically, the present invention provides a variable plant protection waterway constant pressure control method and device based on field image recognition, the method comprising: using image recognition technology to perform target vegetation identification on field images acquired in real time to obtain vegetation identification results; generating a solenoid valve control signal based on the vegetation identification results; adjusting the opening and closing state of the solenoid valve in the plant protection waterway according to the solenoid valve control signal; using pre-calculated parameters of the proportional valve to adjust the opening of the proportional valve in the plant protection waterway, wherein the opening adjustment of the proportional valve is triggered by the solenoid valve control signal; and adjusting the opening of the proportional valve according to the real-time detected waterway flow value and waterway pressure value until the waterway pressure value is within a safe pressure range and the waterway flow value is equal to a preset spraying flow value.

[0031] It should be noted that the variable plant protection waterway constant pressure control method based on field image recognition provided by the embodiment of the present invention can generally be executed by a server. Accordingly, the variable plant protection waterway constant pressure control device based on field image recognition provided by the embodiment of the present invention can generally be set in a server.

[0032] Alternatively, the variable-variable constant-pressure control method for plant protection water channels based on field image recognition provided by the embodiments of the present invention may also be executed by a terminal device, or by a terminal device other than the terminal device. Accordingly, the variable-variable constant-pressure control device for plant protection water channels based on field image recognition provided by the embodiments of the present invention may also be provided in a terminal device, or in a terminal device other than the terminal device.

[0033] Figure 1 A flow chart of a variable plant protection waterway constant pressure control method based on field image recognition according to an embodiment of the present invention is shown.

[0034] like Figure 1 As shown, the embodiment 100 includes operations S110 to S150.

[0035] In operation S110 , target vegetation is identified on the field image acquired in real time using image recognition technology to obtain a vegetation recognition result.

[0036] In operation S120 , a solenoid valve control signal is generated according to the vegetation recognition result.

[0037] In operation S130, the opening and closing states of the solenoid valves in the plant protection water path are adjusted according to the solenoid valve control signal.

[0038] In operation S140, the opening of the proportional valve in the plant protection water channel is adjusted using the pre-calculated parameters of the proportional valve, wherein the opening adjustment of the proportional valve is triggered by the solenoid valve control signal.

[0039] In operation S150, the opening of the proportional valve is adjusted according to the real-time detected water channel flow value and water channel pressure value until the water channel pressure value is within a safe pressure range and the water channel flow value is equal to a preset spraying flow value.

[0040] In an embodiment of the present invention, a camera mounted on a work vehicle can be used to capture field images in real time. The work vehicle is also equipped with a plant protection waterway for spraying pesticides on the field. In another embodiment, the camera can also be mounted on the plant protection waterway.

[0041] In operation S110, the field images are captured in real time by the work vehicle during field operations. For a one-acre field operation, multiple field images can be acquired in real time for different areas within the field. Different weed control intensities can then be applied to different areas. For example, no pesticides may be sprayed in weed-free areas, a small amount of pesticide may be sprayed in areas with fewer weeds, and a large amount of pesticide may be sprayed in areas with more weeds.

[0042] Field images usually include two types of vegetation: crops and weeds. Crops can be a variety of crops, such as corn, sweet potatoes, etc., while weeds are other non-agricultural vegetation, which can be various types of vegetation.

[0043] Image recognition technology can be used to identify target vegetation based on target detection algorithms, classification algorithms, etc. For field weeding operations, the target vegetation is weeds. The vegetation recognition results can include whether there are weeds, as well as weed information such as weed category and weed coverage.

[0044] In a specific embodiment, the grass condition information may be the ratio of the green area other than crops in the camera's field of view to the area of ​​the camera's field of view, which may be a percentage value.

[0045] With respect to operation S120 , a solenoid valve control signal for opening or closing the solenoid valve may be generated according to the vegetation recognition result.

[0046] For example, if the vegetation recognition result indicates the presence of target vegetation, a solenoid valve opening signal may be generated for the solenoid valve corresponding to the area captured by the field image. If the vegetation recognition result indicates the absence of target vegetation, a solenoid valve closing signal may be generated for the solenoid valve corresponding to the area captured by the field image.

[0047] In another specific embodiment, a grass condition recognition coefficient may be set to determine whether to generate solenoid valve control information for different crops, different growth periods, and different climatic conditions.

[0048] For example, if the vegetation recognition result indicates the presence of target vegetation and the grass condition information matches the grass condition recognition coefficient, a solenoid valve opening signal is generated for the solenoid valve corresponding to the area captured by the field image. If the vegetation recognition result indicates the absence of target vegetation, a solenoid valve closing signal is generated for the solenoid valve corresponding to the area captured by the field image.

[0049] Due to the different field crops, the weed conditions in the fields are different, and the climatic conditions during the growth period when spraying are also different. Therefore, the present invention can set the weed recognition coefficient. When the weed condition is serious, the crops are highly resistant to herbicides, and the future climate is suitable for the emergence of weeds, the weed recognition coefficient can be appropriately lowered to achieve the weeding task with a small weed base; if the opposite is true, the weed recognition coefficient can be appropriately increased to achieve the weeding task with a large weed base.

[0050] With respect to operation S130 , the solenoid valve control signal may include an opening signal and a closing signal, which are used to adjust the opening and closing state of the solenoid valve in the plant protection water channel, such as opening the solenoid valve or closing the solenoid valve.

[0051] In a plant protection waterway, a solenoid valve controls the opening or closing of a specific section of a spray boom, allowing the sprayer to spray or not spray the corresponding area. A plant protection waterway can include multiple solenoid valves. Furthermore, a proportional valve controls the return flow of the entire waterway, adjusting the water pressure. Typically, a plant protection waterway includes one proportional valve.

[0052] Since the opening or closing of the solenoid valve in the plant protection water channel will affect the change of water pressure in the plant protection water channel, if the proportional valve is adjusted according to the real-time change of water pressure after adjusting the opening or closing state of the solenoid valve, the water pressure in the plant protection water channel will change significantly and uncontrollably during the process from opening or closing the solenoid valve to adjusting the proportional valve, which may lead to the risk of pipe burst in the plant protection water channel.

[0053] Therefore, the embodiment of the present invention triggers the opening adjustment of the proportional valve while generating an electromagnetic control signal through operation S140, and simultaneously adjusts the opening of the proportional valve in the plant protection water circuit based on the pre-calculated parameters of the proportional valve, thereby minimizing the water pressure change in the plant protection water circuit from opening or closing the electromagnetic valve to adjusting the proportional valve, thereby reducing the risk of pipe burst in the plant protection water circuit.

[0054] The pre-calculated parameters of the proportional valve are determined based on the actual water channel parameters of the plant protection water channel and at least one solenoid valve changed by the solenoid valve control signal.

[0055] In the embodiment of the present invention, operation S140 may be understood as a proportional valve pre-adjustment process synchronized with opening or closing the solenoid valve.

[0056] While operation S140 can pre-adjust the opening of the proportional valve in the plant protection waterway to avoid large fluctuations in water pressure, field weeding operations also involve setting the spray volume and accurately adjusting the water pressure. Therefore, after pre-adjusting the proportional valve opening in operation S140, it is necessary to monitor the flow rate and pressure in the plant protection waterway in real time to ensure that the stabilized pressure is within a safe pressure range and that the flow rate meets the spray volume requirements.

[0057] The waterway flow rate is detected in real time, while the preset spraying flow rate is calculated in real time. For example, the preset spraying flow rate can be the spraying volume per second, where the spraying volume per second = the amount of sprayed pesticide / mu (hectare) ÷ the area of ​​operation per second. The area of ​​operation per second = vehicle speed ÷ 3600 × boom length.

[0058] For operation S150, after using the pre-calculated parameters of the proportional valve to adjust the opening of the proportional valve in the plant protection water channel, the detection mechanism of the flow sensor and the water pressure sensor can be triggered to detect the current water flow value and water pressure value in the plant protection water channel in real time. By comparing them with the safety pressure range and the preset spray flow value in real time, it is determined whether to continue adjusting the opening of the proportional valve.

[0059] In a specific embodiment, when determining the safe pressure range and the preset spray flow rate value, there can be a ±5% fluctuation for proportional valve adjustment.

[0060] In an embodiment of the present invention, image recognition technology is used to identify target vegetation in a field image captured in real time, thereby triggering the opening and closing of the solenoid valve and the pre-adjustment of the proportional valve. This allows for faster and more accurate weeding in the face of complex, variable, and highly real-time field weeding operations. At the same time, the proportional valve is adjusted synchronously with the moment the solenoid valve state changes, thereby ensuring the relative stability of the water pressure in the plant protection waterway and avoiding damage to the waterway pump pipe. In addition, by combining the pre-adjustment of the proportional valve with the real-time detection of pressure and flow, the water pressure can be more accurately controlled to avoid damage to the waterway pump pipe while ensuring the relative stability of the water pressure in the plant protection waterway. This also ensures that the water pressure adjustment does not affect the spraying volume requirements of the field weeding operation.

[0061] For example, in field weeding scenarios, variable weed control technology based on visual recognition can be used to identify weeds in field images and spray pesticides in weed-free areas while keeping them closed. Due to the uncertainty of nozzle opening and closing, the flow rate within the plant protection water system is also uncertain. Therefore, by adjusting the opening of the electronically controlled proportional valve, when the nozzle is closed, the flow rate increases and the pressure rises, the proportional valve opening is increased to increase the return water volume and reduce the pressure and flow rate. When the nozzle is open, the flow rate is insufficient and the pressure drops, the proportional valve opening is decreased to reduce the return water volume and increase the flow rate, achieving a stable spraying rate and pressure.

[0062] Figure 2 The flowchart of adjusting the opening of a proportional valve by using pre-calculated parameters of the proportional valve according to an embodiment of the present invention is schematically shown.

[0063] like Figure 2 As shown, embodiment 200 includes operations S210 to S220. Operations S210 to S220 can be used as a specific embodiment of operation S140.

[0064] In operation S210, a first opening adjustment amount for a proportional valve is generated according to a spray boom corresponding to at least one solenoid valve and an opening adjustment step, wherein at least one solenoid valve is determined according to a solenoid valve control signal.

[0065] In operation S220, the opening of the proportional valve is adjusted according to the first opening adjustment amount.

[0066] According to an embodiment of the present invention, the plant protection water circuit includes multiple spray booms, each of which corresponds to a solenoid valve. For example, the plant protection water circuit may have a 3-stage, 5-stage, 7-stage, or 9-stage spray boom. Thus, the plant protection water circuit may have 3, 5, 7, or 9 solenoid valves, respectively, to control the opening and closing of each spray boom.

[0067] The pre-calculated parameters of the proportional valve include the opening adjustment step, which refers to the unit adjustment step of the proportional valve. It can be understood that when the proportional valve is opened, different opening conditions can control the plant protection water channel to be in different pressure environments and flow environments.

[0068] According to embodiments of the present invention, during field weeding operations, a single solenoid valve can be opened and closed based on image recognition results to open and close a single spray boom; alternatively, multiple solenoid valves can be opened and closed to open and close multiple spray booms. Opening and closing a single solenoid valve and multiple solenoid valves will have different effects on the water pressure and spray flow in the plant protection waterway. For example, opening and closing a single solenoid valve will cause smaller pressure and flow fluctuations, while opening and closing multiple solenoid valves will cause larger pressure and flow fluctuations.

[0069] Therefore, after generating the solenoid valve control signal, it is necessary to determine whether one or more solenoid valves need to be opened or closed in the plant protection water circuit according to the solenoid valve control signal, so that a single spray rod or multiple spray rods are in an open state or a closed state, thereby generating different first opening adjustment amounts.

[0070] Specifically, a first opening adjustment amount for the proportional valve may be generated according to the spray bar and the opening adjustment step corresponding to at least one solenoid valve, and then the opening of the proportional valve may be adjusted according to the first opening adjustment amount.

[0071] The first opening adjustment amount may be an opening step number, and the opening of the proportional valve is controlled according to the opening adjustment step length and the opening step number for each spray boom.

[0072] However, different plant protection waterways can have different numbers of spray rods, and the lengths of the spray rods of plant protection waterways with the same number of spray rods can be different. Each spray rod includes at least one nozzle, and the longer the spray rod, the more nozzles it corresponds to. For example, for two plant protection waterways with the same three-section spray rod, the length of the three spray rods in one plant protection waterway is 1m, and the length of the three spray rods in the other plant protection waterway is 1.5m. In addition, multiple spray rods in the same plant protection waterway can also have different lengths. For example, a plant protection waterway with a three-section spray rod can have two 1m spray rods and one 1.5m spray rod.

[0073] Since the specific configuration parameters of the plant protection water channels in actual field weeding operations are different, the opening adjustment steps of different plant protection water channels may also be different, and the first opening adjustment amounts generated during the pre-adjustment process may also be different.

[0074] The following will take two embodiments of unequal length spray bars and equal length spray bars as examples to illustrate the process of calculating the first opening adjustment amount.

[0075] In the first embodiment, for a plant protection water channel with spray booms of equal length, the opening adjustment step is a single spray boom opening adjustment step, and a first opening adjustment amount for the proportional valve is generated according to the spray booms corresponding to at least one solenoid valve and the opening adjustment step, including: when it is determined that the spray booms are equal-length spray booms, determining the number of spray booms corresponding to the solenoid valves to be opened; and generating the first opening adjustment amount for the proportional valve according to the number of spray booms and the single spray boom opening adjustment step.

[0076] The single boom opening adjustment step is calculated by the following operations:

[0077] Step 1: Obtain the maximum return water volume of the plant protection water channel when the proportional valve is in the maximum open state, the normal return water volume of the plant protection water channel when it is in the normal open state, and the minimum opening unit of the proportional valve. Step 2: Calculate the difference between the maximum return water volume and the normal return water volume, and the ratio of this difference to the minimum opening unit. Based on this ratio, determine the opening adjustment step length of the plant protection water channel. Step 3: Determine the opening adjustment step length of each spray boom based on the opening adjustment step length of the plant protection water channel and the number of spray booms in the plant protection water channel.

[0078] For example, the difference between the maximum return flow and the normal return flow is divided by the minimum opening unit to obtain the total possible opening adjustment step size, which is also the opening adjustment step size of the plant protection water channel. Then, divide the opening adjustment step size of the plant protection water channel by the number of spray booms to obtain the opening adjustment step size of the proportional valve required to open / close each spray boom section.

[0079] In a second embodiment, for a plant protection water channel with a spray boom of unequal length, the opening adjustment step is a single nozzle opening adjustment step, and a first opening adjustment amount for the proportional valve is generated according to the spray boom corresponding to at least one solenoid valve and the opening adjustment step, including: when it is determined that the spray boom is a spray boom of unequal length, determining the total number of nozzles corresponding to the solenoid valve to be opened; and generating the first opening adjustment amount for the proportional valve according to the total number of nozzles and the single nozzle opening adjustment step.

[0080] The single nozzle opening adjustment step is calculated by the following operations:

[0081] Steps 1 and 2 are the same as the calculation for the single boom opening adjustment step length. Step 3: Determine the single nozzle opening adjustment step length based on the plant protection waterway opening adjustment step length and the total number of spray booms in the plant protection waterway.

[0082] In a third embodiment, for plant protection water lines with unequal-length spray booms, the opening adjustment step length can also be a single-boom opening adjustment step length. For each spray boom, after calculating the single-nozzle opening adjustment step length as described above, the single-boom opening adjustment step length for each spray boom is determined based on the total number of nozzles per boom and the single-nozzle opening adjustment step length. In this case, each spray boom has a corresponding relationship with its corresponding single-boom opening adjustment step length.

[0083] Generating a first opening adjustment value for the proportional valve based on the spray booms corresponding to at least one solenoid valve and the opening adjustment step length includes: determining a target spray boom corresponding to the solenoid valve to be activated when the spray booms are determined to be unequal in length; and generating the first opening adjustment value for the proportional valve based on the correspondence between the target spray boom and the opening adjustment step length of the single spray boom. In this case, the opening of the proportional valve can be controlled using the corresponding number of opening steps, i.e., the first opening adjustment value, based on the opening adjustment step length for each spray boom.

[0084] The corresponding relationship between the target spray boom and the single spray boom opening adjustment step can be pre-stored in a corresponding cache or local memory, or can be obtained through a real-time network connection.

[0085] It should be emphasized that the reason for precalculating proportional valve parameters in the embodiments of the present invention is that in field weeding operations, the solenoid valve has a high adjustment frequency and a small adjustment amount, and the spray boom opens and closes frequently. If the proportional valve opening is adjusted directly based on real-time detected waterway flow and waterway pressure values, it is difficult to quickly adapt to changes in the nozzle opening and closing, and it is impossible to quickly ensure stable water pressure in the plant protection waterway through adjustment. Therefore, during the pre-adjustment process, the first opening adjustment amount for the proportional valve is first calculated, and the proportional valve is adjusted to quickly adapt to changes in the nozzle opening and closing.

[0086] For example, you can configure the spraying volume per mu, the number of spray booms for the plant protection waterway, the boom length, the standard operating speed, and the plant protection waterway opening adjustment step. The standard operating speed is also the speed of the operating vehicle. Spraying volume per mu divided by operating area per second = spraying volume per second. Operating area per second = standard operating speed divided by 3600 × boom length. The plant protection waterway opening adjustment step divided by the number of spray booms = the single boom opening adjustment step.

[0087] Each time a solenoid valve is opened or closed in the plant protection water circuit, the first opening adjustment amount is also the single boom opening adjustment step length. When the vegetation recognition result of the image recognition triggers the spray boom to close, the solenoid valve is closed, and the single boom opening adjustment step length of the proportional valve is increased, thereby adjusting the return water volume of the proportional valve.

[0088] Each time multiple solenoid valves are opened or closed in the plant protection water circuit, the first opening adjustment amount is calculated as the single boom opening adjustment step length multiplied by the number of solenoid valves. When vegetation recognition results from image recognition trigger the boom to close, the multiple solenoid valves are closed, and the first opening adjustment amount is increased for the proportional valve, thereby adjusting the return water volume of the proportional valve.

[0089] Then, according to the real-time detected water channel flow value and water channel pressure value, the opening of the proportional valve is adjusted until the water channel pressure value is within the safe pressure range and the water channel flow value is equal to the preset spraying flow value.

[0090] For example, if the waterline pressure exceeds the safe pressure range, the proportional valve opening is increased to reduce the pressure in the plant protection waterline. If the waterline pressure is within the safe pressure range and the waterline flow rate is equal to the preset spraying flow rate, the proportional valve is closed. If the waterline pressure is within the safe pressure range and the waterline flow rate is less than the preset spraying flow rate, an alarm message and a speed prompt message are generated to warn the operator and prompt him to reduce speed. When the flow rate increases, the alarm is cleared.

[0091] Alternatively, the speed of the operating vehicle carrying the plant protection waterway can be automatically reduced according to the vehicle speed prompt information, so that the water operation task for the target vegetation meets the total operating water volume per mu.

[0092] According to an embodiment of the present invention, the field image is collected by a camera corresponding to the control valve in the plant protection water channel; based on the vegetation recognition result, an electromagnetic valve control signal is generated, including: based on the vegetation recognition result and the position of the camera for collecting the field image, a solenoid valve control signal associated with the camera position is generated.

[0093] Due to the different lengths of the spray booms, the number of cameras configured for each section of the spray boom is different. Therefore, it is necessary to bind the camera serial number with the spray boom serial number so that a solenoid valve control signal associated with the camera position can be generated for the area corresponding to the field image taken by a certain camera, such as opening or closing the solenoid valve associated with the camera position.

[0094] Therefore, the variable plant protection water channel constant pressure control method based on field image recognition can accurately achieve weeding tasks in a certain area of ​​the field.

[0095] Figure 3 The figure schematically shows a plant protection water channel according to an embodiment of the present invention.

[0096] like Figure 3 As shown, the plant protection water system consists of nine sections of spray booms, including booms 1 through 9. These nine booms vary in length and number of cameras installed. For example, booms 1 and 8 only have two cameras, boom 9 only has one camera, and all other booms have three cameras.

[0097] According to embodiments of the present invention, since field image recognition technology is used as the signal basis for regulating the opening and closing of the spray boom, and considering that different models may output results at different speeds, embodiments of the present invention support dynamic adjustment of the proportional valve's adjustment frequency. Based on the image recognition model parameters, the proportional valve's adjustment frequency is synchronously and variably adjusted, enabling proportional valve adjustment to adapt to real-time field weeding operations at varying image recognition speeds.

[0098] Specifically, the recognition frequency of the target vegetation recognition result is less than the adjustment frequency of the proportional valve, so that the working efficiency of the proportional valve matches that of the field image recognition.

[0099] In a specific embodiment, the adjustment frequency of the proportional valve may be 3 to 5 times the frequency at which the image recognition model outputs the target recognition result.

[0100] In addition, the frequencies of the received signals of the solenoid valves of all the spray bars are the same, and the frequency of the received signals is greater than the adjustment frequency of the proportional valve.

[0101] In addition, taking into account the complex changing scenarios in the plant protection water circuit, in order to avoid excessive water pressure regulation due to incorrect calculation of the proportional valve pre-calculated parameters, such as too high or too low, a strategy of step-by-step adjustment of the proportional valve opening can be adopted to adjust the proportional valve.

[0102] To this end, the calculated opening adjustment step may be appropriately reduced using the first step adjustment parameter to reduce the first opening adjustment amount.

[0103] Specifically, the method further includes: generating a second opening adjustment amount based on the first step adjustment parameter and the first opening adjustment amount, wherein the second opening adjustment amount is smaller than the first opening adjustment amount; and adjusting the opening of the proportional valve according to the second opening adjustment amount.

[0104] For example, the first step adjustment parameter can be a step coefficient less than 1. By reducing the opening adjustment step size, the first opening adjustment amount can be reduced. Thus, the opening of the proportional valve is adjusted during the pre-adjustment process by calculating a second opening adjustment amount that is smaller than the first opening adjustment amount. The first step adjustment parameter can be a pre-set fixed value. For example, the first step adjustment parameter can be a fixed value of 85% or 90%.

[0105] After the adjustment process, the opening of the proportional valve can also be adjusted according to the real-time detected water flow value and water pressure value until the water pressure value is within the safe pressure range and the water flow value is equal to the preset spray flow value.

[0106] In addition, considering that the pre-adjustment process is triggered by the vegetation recognition results of image recognition, and different crops and field environments have different computing capabilities of different image recognition models, the first-step adjustment parameters can also be dynamically adjusted.

[0107] In one embodiment, the first-step adjustment parameter is related to the computing power consumed by the image recognition model to identify the target vegetation. For example, when computing power consumption is high, the first-step adjustment parameter may be 80%, and when computing power consumption is low, the first-step adjustment parameter may be 85%. If the computing power consumption is unknown, the default 80% may be used.

[0108] In yet another embodiment, the pre-regulation process and the real-time regulation process using the waterway flow value and the waterway pressure value both adopt a step-by-step regulation method.

[0109] Specifically, the opening of the proportional valve is adjusted according to the real-time detected water path flow value and water path pressure value, including: when the water path flow value is equal to the preset spraying flow value, if the water path pressure value is outside the safety pressure range, determining at least one third opening adjustment amount according to the second step adjustment parameter and the first opening adjustment amount; adjusting the opening of the proportional valve based on the at least one third opening adjustment amount until the water path pressure value is within the safety pressure range and the water path flow value is equal to the preset spraying flow value.

[0110] In this embodiment, the sum of the plurality of second step adjustment parameters and the first step adjustment parameter is 1, the number of the second step adjustment parameters may be predetermined, and the plurality of second step condition parameters may be different.

[0111] For example, only one third opening adjustment amount is determined, and the sum of the second step adjustment parameter and the first step adjustment parameter is 1, such as 85% adjustment in the pre-adjustment process and 15% adjustment in the real-time adjustment process.

[0112] Alternatively, two identical third opening adjustment amounts are determined, and the sum of the two second step adjustment parameters and the first step adjustment parameter is 1. For example, the pre-adjustment process adjusts 80%, and the real-time adjustment process first adjusts 10% and then adjusts 10%.

[0113] Alternatively, two different third opening adjustment amounts are determined, and the sum of the two second step adjustment parameters and the first step adjustment parameter is 1. For example, the pre-adjustment process adjusts 80%, and the real-time adjustment process first adjusts 15% and then adjusts 5%.

[0114] According to an embodiment of the present invention, after the opening of the proportional valve is adjusted based on at least one third opening adjustment amount, when the water flow value is less than the preset spraying flow value, an alarm message and a vehicle speed prompt message are generated; according to the vehicle speed prompt message, the speed of the operating vehicle carrying the plant protection waterway is reduced so that the water operation task for the target vegetation meets the total operating water volume per mu.

[0115] In a specific embodiment, the warning information and the speed prompt information can be displayed to a user, such as a driver of a work vehicle, and the driver can reduce the speed of the work vehicle according to the warning information and the speed prompt information.

[0116] In another specific embodiment, after the warning information and the vehicle speed prompt information are displayed to the user, the user can choose whether to automatically reduce the speed of the operating vehicle carrying the plant protection waterway according to the vehicle speed prompt information.

[0117] Regarding the step-by-step adjustment scheme, the following takes three-stage step-by-step adjustment as an example.

[0118] Each time one or more solenoid valves in the plant protection water circuit are opened or closed, when the vegetation recognition result of the image recognition triggers the spray boom to close, multiple solenoid valves are closed, and the first-step adjustment parameter 80% is multiplied by the opening adjustment step length to increase the opening of the proportional valve by 80%, thereby adjusting the return water volume of the proportional valve. The triggering of the second and third adjustments is based on the flow sensor and pressure sensor. When the water circuit flow value reaches the preset spraying flow value, if the water circuit pressure value is higher than the safety pressure range, continue to adjust the proportional valve opening adjustment step length by 10%. If the water circuit pressure value is within the safety pressure range, close the proportional valve. When the water circuit pressure value is within the safety pressure range and the water circuit flow value is lower than the preset spraying flow value, an alarm message and a vehicle speed prompt message are generated to issue a warning and prompt the operator to reduce the speed. When the flow increases, the alarm is eliminated.

[0119] In addition, each time multiple solenoid valves are opened or closed in the plant protection water circuit, if no other spray booms are opened or closed during the adjustment process, refer to the above method; if other spray booms are opened or closed during the adjustment process, recalculate the opening adjustment step, and after completing the pre-adjustment process, perform real-time adjustment according to flow and pressure normally.

[0120] In summary, this invention, based on a plant protection waterway pressure stabilization control system powered by field image recognition technology, implements a method for rapidly adjusting proportional valves in the field for multi-section spray booms. This method can avoid pipe bursts caused by unstable waterway pressure due to the frequent opening and closing of the spray boom / solenoid valve, and can also improve the applicability of field image recognition technology in spray boom operations.

[0121] The present invention clarifies the processing speed of the pressure changes caused by the simultaneous opening and closing of multiple solenoid valves. By setting the relationship between the frequency of the vegetation recognition results output by the image recognition model and the adjustment frequency of the proportional valve, the present invention can adapt to the image differences under different fields of view, thereby realizing image triggering and water pressure regulation of field weeding operations.

[0122] The present invention realizes a variable water pressure control method based on uncertain field weed conditions, and can realize field weeding operations of different models, different computing speeds, and different crops by configuring parameters.

[0123] Figure 4 The block diagram of the variable plant protection water channel constant pressure control device based on field image recognition according to an embodiment of the present invention is schematically shown.

[0124] like Figure 4 As shown, the variable plant protection water channel constant pressure control device 400 based on field image recognition includes an image recognition module 410, a solenoid valve control module 420, a solenoid valve adjustment module 430, a first proportional valve adjustment module 440 and a second proportional valve adjustment module 450.

[0125] The image recognition module 410 is used to use image recognition technology to perform target vegetation recognition on the field image acquired in real time to obtain vegetation recognition results.

[0126] The solenoid valve control module 420 is used to generate a solenoid valve control signal according to the vegetation recognition result.

[0127] The solenoid valve adjustment module 430 is used to adjust the opening and closing state of the solenoid valve in the plant protection water circuit according to the solenoid valve control signal.

[0128] The first proportional valve adjustment module 440 is used to adjust the opening of the proportional valve in the plant protection water circuit using the pre-calculated parameters of the proportional valve, wherein the opening adjustment of the proportional valve is triggered by the solenoid valve control signal.

[0129] The second proportional valve adjustment module 450 is used to adjust the opening of the proportional valve according to the real-time detected water channel flow value and water channel pressure value until the water channel pressure value is within the safe pressure range and the water channel flow value is equal to the preset spraying flow value.

[0130] Any number of the modules, submodules, units, and subunits according to embodiments of the present invention, or at least part of the functionality of any number of these units, can be implemented in a single module. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present invention can be split into multiple modules for implementation. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present invention can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented in hardware or firmware using any other reasonable method of circuit integration or packaging, or can be implemented in any one of the three implementation methods of software, hardware, and firmware, or any appropriate combination of any of these. Alternatively, one or more of the modules, submodules, units, and subunits according to embodiments of the present invention can be at least partially implemented as a computer program module that, when executed, can perform the corresponding functionality.

[0131] It should be noted that the apparatus in the embodiments of the present invention corresponds to the method in the embodiments of the present invention, and the method description of the apparatus will not be repeated here.

[0132] Figure 5 The block diagram schematically shows an electronic device suitable for implementing the method described above according to an embodiment of the present invention. Figure 5 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0133] like Figure 5 As shown, an electronic device 500 according to an embodiment of the present invention includes a processor 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage unit 508 into a random access memory (RAM) 503. The processor 501 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 501 may also include onboard memory for caching purposes. The processor 501 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0134] Various programs and data required for the operation of the electronic device 500 are stored in the RAM 503. The processor 501, ROM 502, and RAM 503 are connected to each other via a bus 504. The processor 501 executes the programs in the ROM 502 and / or RAM 503 to perform various operations according to the method flow of the embodiment of the present invention. It should be noted that the programs may also be stored in one or more memories other than the ROM 502 and RAM 503. The processor 501 may also execute the programs stored in the one or more memories to perform various operations according to the method flow of the embodiment of the present invention.

[0135] According to an embodiment of the present invention, electronic device 500 may further include an input / output (I / O) interface 505, which is also connected to bus 504. System 500 may also include one or more of the following components connected to I / O interface 505: an input section 506 including a keyboard, mouse, etc.; an output section 507 including devices such as a cathode ray tube (CRT), liquid crystal display (LCD), and speakers; a storage section 508 including a hard disk; and a communication section 509 including a network interface card such as a LAN card or modem. Communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to I / O interface 505 as needed. Removable media 511, such as a magnetic disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed in drive 510 as needed, so that computer programs read from the removable media can be installed into storage section 508 as needed.

[0136] According to an embodiment of the present invention, the method flow according to an embodiment of the present invention can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 509, and / or installed from the removable medium 511. When the computer program is executed by the processor 501, the above-mentioned functions defined in the system of the embodiment of the present invention are executed. According to an embodiment of the present invention, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0137] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently and not incorporated into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of the present invention.

[0138] According to embodiments of the present invention, a computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples include, but are not limited to, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0139] For example, according to an embodiment of the present invention, the computer-readable storage medium may include the ROM 502 and / or the RAM 503 described above and / or one or more memories other than the ROM 502 and the RAM 503 .

[0140] An embodiment of the present invention also includes a computer program product, which includes a computer program, which contains program code for executing the method provided by the embodiment of the present invention. When the computer program product runs on an electronic device, the program code is used to enable the electronic device to implement the method provided by the embodiment of the present invention.

[0141] When the computer program is executed by the processor 501, the above functions defined in the system / device of the embodiment of the present invention are performed. According to the embodiment of the present invention, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0142] In one embodiment, the computer program may be stored on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may be transmitted and distributed in the form of a signal on a network medium, downloaded and installed via the communication portion 509, and / or installed from a removable medium 511. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0143] According to an embodiment of the present invention, the program code for executing the computer program provided by the embodiment of the present invention can be written in any combination of one or more programming languages. Specifically, these computer programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C" or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect via the Internet).

[0144] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, program segment, or portion of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the boxes may occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, as well as the combination of boxes in the block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or may be implemented using a combination of dedicated hardware and computer instructions. It will be understood by those skilled in the art that the features described in the various embodiments and / or claims of the present invention may be combined and / or coupled in various ways, even if such combinations or couplings are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments and / or claims of the present invention may be combined and / or coupled in various ways, and all such combinations and / or couplings fall within the scope of the present invention.

[0145] The above describes embodiments of the present invention. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although each embodiment has been described separately above, this does not mean that the measures in each embodiment cannot be advantageously used in combination. The scope of the present invention is defined by the appended claims and their equivalents. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which are intended to fall within the scope of the present invention.

Claims

1. A variable plant protection waterway constant pressure control method based on field image recognition, characterized in that: The method comprises: Using image recognition technology, target vegetation is identified on the field images acquired in real time to obtain vegetation recognition results; generating a solenoid valve control signal according to the vegetation recognition result; Adjusting the opening and closing state of the solenoid valve in the plant protection water circuit according to the solenoid valve control signal; Using pre-calculated parameters of the proportional valve to adjust the opening of the proportional valve in the plant protection water channel, wherein the opening adjustment of the proportional valve is triggered by the control signal of the solenoid valve, and the proportional valve is used to control the return water condition of the entire plant protection water channel to adjust the water pressure of the plant protection water channel; and According to the real-time detected water channel flow value and water channel pressure value, the opening of the proportional valve is adjusted until the water channel pressure value is within a safe pressure range and the water channel flow value is equal to a preset spraying flow value; The plant protection water channel includes a plurality of spray bars, each of which corresponds to one solenoid valve; the pre-calculated parameters of the proportional valve include an opening adjustment step; The method of adjusting the opening of the proportional valve in the plant protection water channel by using the pre-calculated parameters of the proportional valve includes: generating a first opening adjustment amount for the proportional valve according to a spray bar corresponding to at least one solenoid valve and the opening adjustment step, wherein the at least one solenoid valve is determined according to the solenoid valve control signal; adjusting the opening of the proportional valve according to the first opening adjustment amount; The method further comprises: Based on the first step adjustment parameter, generating a second opening adjustment amount according to the first opening adjustment amount, wherein the second opening adjustment amount is smaller than the first opening adjustment amount; The opening of the proportional valve is adjusted according to the second opening adjustment amount.

2. The method according to claim 1, characterized in that The spray boom includes at least one nozzle; the opening adjustment step includes a single spray boom opening adjustment step and a single nozzle opening adjustment step; The step of generating a first opening adjustment amount for the proportional valve according to the spray rod corresponding to the at least one solenoid valve and the opening adjustment step includes: When it is determined that the spray bars are of equal length, the number of spray bars corresponding to the solenoid valve to be opened is determined; and a first opening adjustment amount for the proportional valve is generated according to the number of spray bars and the single spray bar opening adjustment step length. When it is determined that the spray rod is of unequal length, the total number of nozzles corresponding to the solenoid valve to be opened is determined; and a first opening adjustment amount for the proportional valve is generated according to the total number of nozzles and the single nozzle opening adjustment step.

3. The method according to claim 2, characterized in that The single boom opening adjustment step is calculated by the following operations: Obtaining the maximum return water volume of the plant protection water channel when the proportional valve is in a maximum open state, the normal return water volume of the plant protection water channel when the proportional valve is in a normal open state, and the minimum opening unit of the proportional valve; Calculating the ratio of the difference between the maximum return water volume and the normal return water volume to the minimum opening unit, so as to determine the plant protection water channel opening adjustment step according to the ratio; The single spray bar opening adjustment step length is determined according to the plant protection water channel opening adjustment step length and the number of spray bars of the plant protection water channel.

4. The method according to claim 1, wherein The adjusting the opening of the proportional valve according to the real-time detected waterway flow value and waterway pressure value includes: When the water channel flow value is equal to the preset spraying flow value, if the water channel pressure value is outside the safety pressure range, determining at least one third opening adjustment amount according to the second step adjustment parameter and the first opening adjustment amount; The opening of the proportional valve is adjusted based on the at least one third opening adjustment amount until the water channel pressure value is within a safe pressure range and the water channel flow value is equal to a preset spraying flow value.

5. The method according to claim 4, characterized in that The method further comprises: After adjusting the opening of the proportional valve based on the at least one third opening adjustment amount, if the waterway flow value is less than the preset spraying flow value, generating a warning message and a vehicle speed prompt message; According to the vehicle speed prompt information, the speed of the operating vehicle carrying the plant protection waterway is reduced so that the water operation task for the target vegetation meets the total operating water volume per mu.

6. The method according to claim 1, characterized in that The field image is collected by a camera corresponding to the solenoid valve in the plant protection water channel; Generating a solenoid valve control signal according to the vegetation recognition result includes: According to the vegetation recognition result and the position of the camera for collecting the field image, a solenoid valve control signal associated with the camera position is generated.

7. The method according to claim 1, characterized in that The recognition frequency of the target vegetation recognition result is less than the adjustment frequency of the proportional valve.

8. A variable plant protection waterway constant pressure control device based on field image recognition, characterized in that: The device comprises: An image recognition module is used to identify target vegetation on field images acquired in real time using image recognition technology to obtain vegetation recognition results; a solenoid valve control module, configured to generate a solenoid valve control signal according to the vegetation recognition result; A solenoid valve regulating module, used to adjust the opening and closing state of the solenoid valve in the plant protection water circuit according to the solenoid valve control signal; a first proportional valve adjustment module, configured to adjust the opening of the proportional valve in the plant protection water channel using pre-calculated parameters of the proportional valve, wherein the adjustment of the opening of the proportional valve is triggered by the control signal of the solenoid valve, and the proportional valve is configured to control the return water condition of the entire plant protection water channel to adjust the water pressure of the plant protection water channel; and a second proportional valve regulating module, configured to regulate the opening of the proportional valve according to the real-time detected water channel flow value and water channel pressure value, until the water channel pressure value is within a safe pressure range and the water channel flow value is equal to a preset spraying flow value; The plant protection water channel includes a plurality of spray bars, each of which corresponds to one solenoid valve; the pre-calculated parameters of the proportional valve include an opening adjustment step; The method of adjusting the opening of the proportional valve in the plant protection water channel by using the pre-calculated parameters of the proportional valve includes: generating a first opening adjustment amount for the proportional valve according to a spray bar corresponding to at least one solenoid valve and the opening adjustment step, wherein the at least one solenoid valve is determined according to the solenoid valve control signal; adjusting the opening of the proportional valve according to the first opening adjustment amount; The device is also used for: Based on the first step adjustment parameter, generating a second opening adjustment amount according to the first opening adjustment amount, wherein the second opening adjustment amount is smaller than the first opening adjustment amount; The opening of the proportional valve is adjusted according to the second opening adjustment amount.

Images