Closed weeding system and method suitable for heavy soil in hilly area

Abstract

The invention relates to the technical field of closed weeding, and discloses a closed weeding system and method suitable for heavy soil in hilly areas, and the system comprises a collection module which is used for collecting terrain flatness and environment information; the processing module is used for determining the initial spraying speed of the precise rape direct seeding machine according to the terrain flatness, judging whether the initial spraying speed is adjusted or not according to the environment humidity, and adjusting the initial spraying speed according to the environment humidity to obtain a final spraying speed value; the processing module is also used for determining the spraying initial pressure of the rape precision direct seeding machine according to the wind speed, judging whether to adjust the spraying initial pressure according to the environment humidity, and adjusting the spraying initial pressure according to the environment humidity to obtain a spraying pressure final value; and the decision module is used for spraying weeding pesticide to the ground according to the spraying speed final value and the spraying pressure final value. The precision and consistency of spraying are improved, weed control of the rape field in the hilly area can be improved, pesticide is saved, and the weeding efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of closed weeding, and in particular to a closed weeding system and method suitable for heavy clay soil in hilly areas. Background Art

[0002] Closed weeding is a weed control method that forms a film on the soil surface to prevent weeds from germinating. Closed herbicides form a film by spraying the drug on the soil surface. When weed seeds sprout from the soil and come into contact with the film, they will be killed and unable to grow. The key to closed weeding is the integrity of the film. To ensure the effectiveness of the film, the soil must be kept flat, otherwise the film may be destroyed, resulting in closed failure. In addition, the mechanism of action of closed herbicides is to form a film on the soil surface through the drug. When the weed sprouts or roots touch this film, they will be absorbed and killed, thereby achieving the effect of weed control.

[0003] In modern agricultural production, the accuracy and efficiency of weed control technology directly affect the growth and harvest of crops. Traditional weed control methods often face many challenges for heavy clay soils in hilly areas. The hilly area has complex terrain, and the soil has high viscosity and heavy texture, which makes it difficult to control the flatness of the land, and mechanical operations are easily affected, resulting in uneven weed control. In addition, the wind speed and humidity in hilly areas fluctuate greatly, which makes it more difficult to control pesticide spraying. Wind speed may cause pesticides to drift, thereby affecting the accuracy of spraying, while ambient humidity may affect the residence time and penetration effect of the liquid on the soil surface. Especially in precision direct seeding operations such as rapeseed, precise control of pesticide spraying amount and pressure is crucial to the effect of closed weeding. However, closed weeding technology has high requirements for soil surface flatness, and spraying speed and pressure play a key role in the integrity of drug film formation. Too fast or too slow spraying speed, or improper spray pressure, may lead to uneven coverage of drug film, reduced efficacy, or even waste of drug solution. In addition, under different ambient humidity conditions, the evaporation rate of the drug solution and the soil penetration effect will also be different.

[0004] Therefore, it is necessary to provide a closed weeding system and method suitable for heavy clay soil in hilly areas to solve the problems of uneven spraying, reduced efficacy and waste of pesticides caused by factors such as complex terrain, high soil viscosity, and fluctuations in wind speed and humidity when closed weeding is performed on heavy clay soil in hilly areas in the existing technology. Summary of the invention

[0005] In view of this, the present invention proposes a closed weeding system and method suitable for heavy clay soil in hilly areas, aiming to solve the problems of uneven spraying, reduced efficacy and waste of pesticides caused by factors such as complex terrain, high soil viscosity, and fluctuations in wind speed and humidity in the existing technology when performing closed weeding on heavy clay soil in hilly areas.

[0006] In one aspect, the present invention provides a closed weeding system suitable for heavy clay soil in hilly areas, comprising:

[0007] A collection module, used to collect terrain flatness and environmental information, wherein the environmental information includes wind speed and environmental humidity;

[0008] A processing module is used to determine the initial spraying speed of the rapeseed precision direct seeding machine according to the terrain flatness, and to determine whether to adjust the initial spraying speed according to the ambient humidity. If it is determined that adjustment is required, the initial spraying speed is adjusted according to the ambient humidity to obtain a final value of the spraying speed;

[0009] The processing module is also used to determine the initial spray pressure of the rapeseed precision direct seeding machine according to the wind speed, and determine whether to adjust the initial spray pressure according to the ambient humidity. If it is determined that adjustment is required, the initial spray pressure is adjusted according to the ambient humidity to obtain a final spray pressure value;

[0010] The decision module is used to spray the herbicide on the ground according to the final value of the spraying speed and the final value of the spraying pressure.

[0011] Furthermore, when the acquisition module is used to collect terrain flatness and environmental information, it includes:

[0012] Select several points evenly on the ground where the herbicide is to be sprayed, and use a laser level to measure the height of each point;

[0013] Construct a height sequence H = {H1, H2, H3, ..., Hn} according to the height of each point, where n = 1, 2, 3, ..., n;

[0015] Arrange the values ​​in the height sequence in ascending order;

[0016] The height difference between each value except the minimum value in the height sequence and the minimum value is calculated, the average value of the height differences is calculated, and the flatness is evaluated according to the average value.

[0017] Further, the flatness is evaluated according to the average value, including:

[0018] The standard deviation of the height values ​​is calculated from the mean value by the following formula:

[0019]

[0020] In the above formula, σ represents the standard deviation, n represents the number of values ​​in the height sequence, and Hi represents the i-th value in the height sequence. represents the average value;

[0021] The coefficient of variation was calculated from the standard deviation by the following formula:

[0022]

[0023] In the above formula, CV represents the coefficient of variation, σ represents the standard deviation, represents the average value;

[0024] The flatness is inversely proportional to the coefficient of variation: P=1 / CV, where P represents the flatness and CV represents the coefficient of variation.

[0025] Furthermore, when the processing module is used to determine the initial spraying speed of the rapeseed precision direct seeding machine according to the terrain flatness, it includes:

[0026] Setting a first flatness and a second flatness, wherein the first flatness is greater than the second flatness;

[0027] If the flatness is greater than the first flatness, it is determined that the rapeseed precision direct seeding machine sprays at a first speed;

[0028] If the flatness is less than or equal to the first flatness and greater than or equal to the second flatness, it is determined that the rapeseed precision direct seeding machine sprays at the second speed;

[0029] If the flatness is less than the second flatness, it is determined that the rapeseed precision direct seeding machine sprays at a third speed;

[0030] The first speed is greater than the second speed, and the second speed is greater than the third speed.

[0031] Further, the determining whether to adjust the initial spraying velocity according to the ambient humidity includes:

[0032] Setting a minimum value of the ambient humidity, and if the ambient humidity is greater than or equal to the minimum value of the ambient humidity, determining not to adjust the initial spraying velocity;

[0033] If the ambient humidity is less than the minimum ambient humidity, it is determined that the initial spraying speed should be adjusted.

[0034] Furthermore, if it is determined that adjustment is required, the initial spraying speed is adjusted according to the ambient humidity to obtain a final value of the spraying speed, including:

[0035] Setting a first humidity value and a second humidity value, wherein the minimum humidity value of the environment is greater than the first humidity value, and the first humidity value is greater than the second humidity value;

[0036] If the ambient humidity is greater than the first humidity value, the first adjustment coefficient is used to adjust the initial spraying velocity;

[0037] If the ambient humidity is less than or equal to the first humidity value and greater than or equal to the second humidity value, the spraying initial velocity is adjusted using a second adjustment coefficient;

[0038] If the ambient humidity is less than the second humidity value, the initial spraying velocity is adjusted using a third adjustment coefficient;

[0039] Among them, 1>first adjustment coefficient>second adjustment coefficient>third adjustment coefficient>0.

[0040] Furthermore, the processing module is also used to determine the initial spray pressure of the rapeseed precision direct seeding machine according to the wind speed, including:

[0041] Setting a first wind speed and a second wind speed, wherein the first wind speed is greater than the second wind speed;

[0042] If the wind speed is greater than the first wind speed, it is determined that the rapeseed precision direct seeding machine sprays at the first pressure;

[0043] If the wind speed is less than or equal to the first wind speed and greater than or equal to the second wind speed, it is determined that the rapeseed precision direct seeding machine sprays at the second pressure;

[0044] If the wind speed is less than the second wind speed, it is determined that the rapeseed precision direct seeding machine sprays at a third pressure;

[0045] The first pressure is lower than the second pressure, and the second pressure is lower than the third pressure.

[0046] Further, judging whether to adjust the initial spray pressure according to the ambient humidity includes:

[0047] Setting a maximum value of the ambient humidity, if the ambient humidity is less than or equal to the maximum value of the ambient humidity, then determining not to adjust the initial spray pressure;

[0048] If the ambient humidity is greater than the maximum ambient humidity, it is determined that the initial spray pressure needs to be adjusted.

[0049] Furthermore, if it is determined that adjustment is required, the initial spray pressure is adjusted according to the ambient humidity to obtain a final value of the spray pressure, including:

[0050] Setting a third humidity value and a fourth humidity value, wherein the third humidity value is less than the fourth humidity value;

[0051] If the ambient humidity is less than the third humidity value, adjusting the initial spray pressure by a first adjustment coefficient;

[0052] If the ambient humidity is greater than or equal to the third humidity value and less than or equal to the fourth humidity value, the initial spray pressure is adjusted by a second adjustment coefficient;

[0053] If the ambient humidity is greater than the fourth humidity value, adjusting the spray pressure by a third adjustment coefficient;

[0054] Among them, 1>first adjustment coefficient>second adjustment coefficient>third adjustment coefficient>0.

[0055] Compared with the prior art, the beneficial effects of the present invention are as follows: first, the acquisition module of the present invention can monitor the terrain flatness and key environmental information such as wind speed and ambient humidity in real time, providing detailed data for the precise operation of the rapeseed precision direct seeding machine. Through the processing module, the system can automatically set the initial spraying speed according to the terrain flatness to ensure the uniformity and effectiveness of the drug film coverage. In the case of high or low humidity, the processing module will automatically adjust the spraying speed to adapt to different humidity conditions, prevent the drug solution from penetrating too deep or running away, and maintain the weed control effect. In addition, the processing module adjusts the initial spray pressure through wind speed information, and further adjusts the pressure according to the ambient humidity when necessary, so that the spraying effect is more accurate. This adjustment effectively reduces the drift and evaporation of the spray under changes in wind speed and humidity, so that the drug solution remains more in the target area, thereby reducing environmental pollution and waste of drugs. This dual dynamic regulation not only optimizes the spray coverage, but also ensures the stability of the closed herbicide film, making the system suitable for complex environmental conditions in hilly terrain and heavy clay soil. Overall, the system improves the accuracy and consistency of spraying, helps improve weed control in rapeseed fields in hilly areas, saves pesticides, and improves weed control efficiency.

[0056] On the other hand, the present application also provides a closed weeding method suitable for heavy clay soil in hilly areas, comprising:

[0057] Collecting terrain flatness and environmental information, wherein the environmental information includes wind speed and ambient humidity;

[0058] Determine the initial spraying speed of the rapeseed precision direct seeding machine according to the terrain flatness, determine whether to adjust the initial spraying speed according to the environmental humidity, and if it is determined that adjustment is required, adjust the initial spraying speed according to the environmental humidity to obtain a final value of the spraying speed;

[0059] Determine the initial spray pressure of the rapeseed precision direct seeding machine according to the wind speed, determine whether to adjust the initial spray pressure according to the ambient humidity, and if it is determined that adjustment is required, adjust the initial spray pressure according to the ambient humidity to obtain a final value of the spray pressure;

[0060] The herbicide is sprayed on the ground according to the final value of the spraying speed and the final value of the spraying pressure.

[0061] It can be understood that the closed weeding system and method suitable for heavy clay soil in hilly areas provided in the present application have the same beneficial effects and will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0063] Figure 1 A functional block diagram of a closed weeding system suitable for heavy clay soil in hilly areas provided by an embodiment of the present invention;

[0064] Figure 2 A flow chart of a closed weeding method suitable for heavy clay soil in hilly areas provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0065] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0066] In some embodiments of the present application, see Figure 1 As shown, this embodiment provides a closed weeding system suitable for heavy clay soil in hilly areas, including:

[0067] A collection module is used to collect terrain flatness and environmental information, wherein the environmental information includes wind speed and environmental humidity;

[0068] A processing module is used to determine the initial spraying speed of the rapeseed precision direct seeding machine according to the flatness of the terrain, and to determine whether to adjust the initial spraying speed according to the ambient humidity. If it is determined that adjustment is required, the initial spraying speed is adjusted according to the ambient humidity to obtain a final value of the spraying speed;

[0069] The processing module is also used to determine the initial spray pressure of the rapeseed precision direct seeding machine according to the wind speed, and to determine whether to adjust the initial spray pressure according to the ambient humidity. If it is determined that adjustment is required, the initial spray pressure is adjusted according to the ambient humidity to obtain the final value of the spray pressure;

[0070] A decision module is used to spray herbicides on the ground according to a final value of spraying speed and a final value of spraying pressure.

[0071] It is understandable that, first of all, the acquisition module of the present invention can monitor the terrain flatness and key environmental information such as wind speed and ambient humidity in real time, providing detailed data for the precise operation of the rapeseed precision direct seeding machine. Through the processing module, the system can automatically set the initial speed of spraying according to the terrain flatness to ensure the uniformity and effectiveness of the drug film coverage. In the case of high or low humidity, the processing module will automatically adjust the spraying speed to adapt to different humidity conditions, prevent the drug solution from penetrating too deep or running off, and maintain the weeding effect. In addition, the processing module adjusts the initial spray pressure through wind speed information, and further adjusts the pressure according to the ambient humidity when necessary to make the spraying effect more accurate. This adjustment effectively reduces the drift and evaporation of the spray under changes in wind speed and humidity, so that the drug solution remains more in the target area, thereby reducing environmental pollution and waste of agents. This dual dynamic regulation not only optimizes the spray coverage, but also ensures the stability of the closed herbicide film, making the system suitable for hilly terrain and complex environmental conditions in heavy clay soils. In general, the system improves the accuracy and consistency of spraying, helps to improve weed control in rapeseed fields in hilly areas, saves agents, and improves weeding efficiency.

[0072] In some embodiments of the present application, when the acquisition module is used to collect terrain flatness and environmental information, it includes:

[0073] Select several points evenly on the ground where the herbicide is to be sprayed, and use a laser level to measure the height of each point;

[0074] Construct a height sequence H = {H1, H2, H3, ..., Hn} according to the height of each point, where n = 1, 2, 3, ..., n;

[0076] Arrange the values ​​in the height sequence in ascending order;

[0077] Calculate the height difference between each value in the height sequence except the minimum value and the minimum value, calculate the average value of the height difference, and evaluate the flatness based on the average value.

[0078] In some embodiments of the present application, when the flatness is evaluated according to the average value, it includes:

[0079] The standard deviation of the height values ​​is calculated from the mean using the following formula:

[0080]

[0081] In the above formula, σ represents the standard deviation, n represents the number of values ​​in the height sequence, and Hi represents the i-th value in the height sequence. represents the average value;

[0082] The coefficient of variation is calculated from the standard deviation using the following formula:

[0083]

[0084] In the above formula, CV represents the coefficient of variation, σ represents the standard deviation, represents the average value;

[0085] Among them, flatness is inversely proportional to the coefficient of variation: P=1 / CV, where P represents flatness and CV represents the coefficient of variation.

[0086] It is understandable that the terrain data is collected using a laser level, the flatness sequence is constructed and analyzed by height, the height difference of each point relative to the minimum value is calculated, and the flatness is evaluated based on the average value. By calculating the standard deviation and coefficient of variation, the system can accurately quantify the degree of terrain undulation, and use the inverse relationship between flatness and coefficient of variation to derive an intuitive flatness index, which more effectively reflects the flatness of the land. This method improves the accuracy and efficiency of flatness assessment, helps to accurately control the uniformity and effect of pesticide spraying, reduce liquid waste, and improve the overall quality of closed weeding.

[0087] In some embodiments of the present application, when the processing module is used to determine the initial spraying velocity of the rapeseed precision direct seeding machine according to the terrain flatness, it includes:

[0088] Setting a first flatness and a second flatness, wherein the first flatness is greater than the second flatness;

[0089] If the flatness is greater than the first flatness, it is determined that the rapeseed precision direct seeding machine sprays at the first speed;

[0090] If the flatness is less than or equal to the first flatness and greater than or equal to the second flatness, it is determined that the rapeseed precision direct seeding machine sprays at the second speed;

[0091] If the flatness is less than the second flatness, the rapeseed precision direct seeding machine is determined to spray at the third speed;

[0092] The first speed is greater than the second speed, and the second speed is greater than the third speed.

[0093] In some embodiments of the present application, judging whether to adjust the initial spraying velocity according to the ambient humidity includes:

[0094] Set the minimum value of ambient humidity. If the ambient humidity is greater than or equal to the minimum value, the initial spraying velocity will not be adjusted.

[0095] If the ambient humidity is less than the minimum value of the ambient humidity, it is determined that the initial spraying speed should be adjusted.

[0096] In some embodiments of the present application, if it is determined that adjustment is required, the initial spraying speed is adjusted according to the ambient humidity to obtain the final value of the spraying speed, including:

[0097] Set a first humidity value and a second humidity value, the minimum humidity value of the environment is greater than the first humidity value, and the first humidity value is greater than the second humidity value;

[0098] If the ambient humidity is greater than the first humidity value, the first adjustment coefficient is used to adjust the initial spraying velocity;

[0099] If the ambient humidity is less than or equal to the first humidity value and greater than or equal to the second humidity value, the second adjustment coefficient is used to adjust the initial spraying velocity;

[0100] If the ambient humidity is less than the second humidity value, the third adjustment coefficient is used to adjust the initial spraying velocity;

[0101] Among them, 1>first adjustment coefficient>second adjustment coefficient>third adjustment coefficient>0.

[0102] It can be understood that the present invention dynamically adjusts the spraying speed of the rapeseed precision direct seeding machine according to the terrain flatness and ambient humidity through the processing module, so that the spraying speed is highly matched with the actual terrain conditions and humidity conditions. When the flatness is high, a higher spraying speed is adopted to increase the coverage area and improve efficiency; and when the flatness is low, the spraying speed is slowed down to improve the uniformity of spraying and ensure the weed control effect. In addition, the graded adjustment mechanism of the ambient humidity can accurately reduce the initial spraying speed through different adjustment coefficients when the humidity is low, prevent the liquid medicine from evaporating too quickly, thereby ensuring the durability of the drug effect and the closed weed control effect. This system not only improves the spraying efficiency, but also reduces the waste of pesticides, making the application of closed weeding in the heavy soil conditions of hilly areas more stable and adaptable.

[0103] In some embodiments of the present application, the processing module is also used to determine the initial spray pressure of the rapeseed precision direct seeding machine according to the wind speed, including:

[0104] Setting a first wind speed and a second wind speed, wherein the first wind speed is greater than the second wind speed;

[0105] If the wind speed is greater than the first wind speed, the rapeseed precision direct seeding machine is determined to spray at the first pressure;

[0106] If the wind speed is less than or equal to the first wind speed and greater than or equal to the second wind speed, it is determined that the rapeseed precision direct seeding machine sprays at the second pressure;

[0107] If the wind speed is less than the second wind speed, the rapeseed precision direct seeding machine is determined to spray at the third pressure;

[0108] The first pressure is lower than the second pressure, and the second pressure is lower than the third pressure.

[0109] In some embodiments of the present application, judging whether to adjust the initial spray pressure according to the ambient humidity includes:

[0110] Set the maximum value of the ambient humidity. If the ambient humidity is less than or equal to the maximum value, it is determined that the initial spray pressure will not be adjusted.

[0111] If the ambient humidity is greater than the maximum ambient humidity, it is determined that the initial spray pressure needs to be adjusted.

[0112] In some embodiments of the present application, if it is determined that adjustment is required, the initial spray pressure is adjusted according to the ambient humidity to obtain the final value of the spray pressure, including:

[0113] Setting a third humidity value and a fourth humidity value, wherein the third humidity value is less than the fourth humidity value;

[0114] If the ambient humidity is less than the third humidity value, the initial spray pressure is adjusted by the first adjustment coefficient;

[0115] If the ambient humidity is greater than or equal to the third humidity value and less than or equal to the fourth humidity value, the initial spray pressure is adjusted by the second adjustment coefficient;

[0116] If the ambient humidity is greater than the fourth humidity value, the spray pressure is adjusted by the third adjustment coefficient;

[0117] Among them, 1>first adjustment coefficient>second adjustment coefficient>third adjustment coefficient>0.

[0118] It is understandable that the spray pressure of the rapeseed precision direct seeding machine is dynamically adjusted according to the wind speed and ambient humidity through the processing module, making the spray more accurate and effective. When the wind speed is high, the risk of drift is reduced by reducing the spray pressure to prevent the liquid from spreading to non-target areas; when the wind speed is low, increasing the spray pressure will help the liquid to cover evenly and improve the closed weeding effect. The humidity control part further optimizes the spray pressure: when the humidity is high, the system adjusts the spray pressure according to different humidity levels to prevent the drug film from being unstable or the liquid from penetrating too deeply due to excessive humidity, affecting the weeding effect. Through this multi-level automatic adjustment mechanism, the system achieves efficient and uniform pesticide spraying, reduces drug waste and environmental impact, and makes closed weeding more suitable for heavy soil environments in hilly areas with large fluctuations in wind speed and humidity.

[0119] On the other hand, see Figure 2 As shown, the present application also provides a closed weeding method suitable for heavy clay soil in hilly areas, which is applied to the above-mentioned closed weeding system suitable for heavy clay soil in hilly areas, and includes the following steps:

[0120] S100, collecting terrain flatness and environmental information, wherein the environmental information includes wind speed and environmental humidity;

[0121] S200, determining the initial spraying speed of the rapeseed precision direct seeding machine according to the terrain flatness, judging whether to adjust the initial spraying speed according to the ambient humidity, and if it is judged that adjustment is needed, adjusting the initial spraying speed according to the ambient humidity to obtain a final value of the spraying speed;

[0122] S300, determining the initial spray pressure of the rapeseed precision direct seeding machine according to the wind speed, judging whether to adjust the initial spray pressure according to the ambient humidity, and if it is judged that adjustment is required, adjusting the initial spray pressure according to the ambient humidity to obtain a final value of the spray pressure;

[0123] S400: spraying the herbicide on the ground according to the final value of the spraying speed and the final value of the spraying pressure.

[0124] It is understandable that the closed weeding method provided by the present invention realizes more accurate and efficient weeding operations in the heavy soil environment of hilly areas. It includes collecting terrain flatness and environmental information (wind speed and humidity) to automatically adjust the spraying speed and spray pressure of the rapeseed precision direct seeding machine, so that the spraying speed and pressure can dynamically adapt to the complex terrain and flatness differences, as well as wind speed and humidity changes, to ensure uniform coverage of the drug film and improve the weeding effect. Ultimately, this method effectively reduces agent drift and waste, improves the stability and adaptability of closed weeding in the hilly environment, and further ensures the optimal conditions for rapeseed growth.

[0125] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0126] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0127] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A closed weeding system suitable for heavy clay soil in hilly areas, characterized in that: include: A collection module, used to collect terrain flatness and environmental information, wherein the environmental information includes wind speed and environmental humidity; A processing module is used to determine the initial spraying speed of the rapeseed precision direct seeding machine according to the terrain flatness, and to determine whether to adjust the initial spraying speed according to the ambient humidity. If it is determined that adjustment is required, the initial spraying speed is adjusted according to the ambient humidity to obtain a final value of the spraying speed; The processing module is also used to determine the initial spray pressure of the rapeseed precision direct seeding machine according to the wind speed, and determine whether to adjust the initial spray pressure according to the ambient humidity. If it is determined that adjustment is required, the initial spray pressure is adjusted according to the ambient humidity to obtain a final spray pressure value; The decision module is used to spray the herbicide on the ground according to the final value of the spraying speed and the final value of the spraying pressure.

2. The closed weed control system suitable for heavy clay soil in hilly areas according to claim 1, characterized in that: When the acquisition module is used to collect terrain flatness and environmental information, it includes: Select several points evenly on the ground where the herbicide is to be sprayed, and use a laser level to measure the height of each point; According to the height of each point, a height sequence H = {H1, H2, H3, ..., Hn} is constructed, where n = 1, 2, 3, ..., n； Arrange the values ​​in the height sequence in ascending order; The height difference between each value except the minimum value in the height sequence and the minimum value is calculated, the average value of the height differences is calculated, and the flatness is evaluated according to the average value.

3. The closed weeding system suitable for heavy clay soil in hilly areas according to claim 2, characterized in that: When evaluating the flatness according to the average value, it includes: The standard deviation of the height values ​​is calculated from the mean value by the following formula: In the above formula, σ represents the standard deviation, n represents the number of values ​​in the height sequence, and Hi represents the i-th value in the height sequence. represents the average value; The coefficient of variation was calculated from the standard deviation by the following formula: In the above formula, CV represents the coefficient of variation, σ represents the standard deviation, represents the average value; The flatness is inversely proportional to the coefficient of variation: P=1 / CV, where P represents the flatness and CV represents the coefficient of variation.

4. The closed weed control system suitable for heavy clay soil in hilly areas according to claim 3, characterized in that: When the processing module is used to determine the initial spraying speed of the rapeseed precision direct seeding machine according to the terrain flatness, it includes: Setting a first flatness and a second flatness, wherein the first flatness is greater than the second flatness; If the flatness is greater than the first flatness, it is determined that the rapeseed precision direct seeding machine sprays at a first speed; If the flatness is less than or equal to the first flatness and greater than or equal to the second flatness, it is determined that the rapeseed precision direct seeding machine sprays at the second speed; If the flatness is less than the second flatness, it is determined that the rapeseed precision direct seeding machine sprays at a third speed; The first speed is greater than the second speed, and the second speed is greater than the third speed.

5. The closed weeding system suitable for heavy clay soil in hilly areas according to claim 4, characterized in that: The method of determining whether to adjust the initial spraying speed according to the ambient humidity includes: Setting a minimum value of the ambient humidity, and if the ambient humidity is greater than or equal to the minimum value of the ambient humidity, determining not to adjust the initial spraying velocity; If the ambient humidity is less than the minimum ambient humidity, it is determined that the initial spraying speed should be adjusted.

6. The closed weeding system suitable for heavy clay soil in hilly areas according to claim 5, characterized in that: If it is determined that adjustment is required, the initial spraying speed is adjusted according to the ambient humidity to obtain a final value of the spraying speed, including: Setting a first humidity value and a second humidity value, wherein the minimum humidity value of the environment is greater than the first humidity value, and the first humidity value is greater than the second humidity value; If the ambient humidity is greater than the first humidity value, the first adjustment coefficient is used to adjust the initial spraying velocity; If the ambient humidity is less than or equal to the first humidity value and greater than or equal to the second humidity value, the spraying initial velocity is adjusted using a second adjustment coefficient; If the ambient humidity is less than the second humidity value, the initial spraying velocity is adjusted using a third adjustment coefficient; Among them, 1>first adjustment coefficient>second adjustment coefficient>third adjustment coefficient>0.

7. The closed weeding system suitable for heavy clay soil in hilly areas according to claim 6, characterized in that: When the processing module is also used to determine the initial spray pressure of the rapeseed precision direct seeding machine according to the wind speed, it includes: Setting a first wind speed and a second wind speed, wherein the first wind speed is greater than the second wind speed; If the wind speed is greater than the first wind speed, it is determined that the rapeseed precision direct seeding machine sprays at the first pressure; If the wind speed is less than or equal to the first wind speed and greater than or equal to the second wind speed, it is determined that the rapeseed precision direct seeding machine sprays at the second pressure; If the wind speed is less than the second wind speed, it is determined that the rapeseed precision direct seeding machine sprays at a third pressure; The first pressure is lower than the second pressure, and the second pressure is lower than the third pressure.

8. The closed weed control system suitable for heavy clay soil in hilly areas according to claim 7, characterized in that: The method of judging whether to adjust the initial spray pressure according to the ambient humidity includes: Setting a maximum value of the ambient humidity, if the ambient humidity is less than or equal to the maximum value of the ambient humidity, then determining not to adjust the initial spray pressure; If the ambient humidity is greater than the maximum ambient humidity, it is determined that the initial spray pressure needs to be adjusted.

9. The closed weed control system suitable for heavy clay soil in hilly areas according to claim 8, characterized in that: If it is determined that adjustment is required, the initial spray pressure is adjusted according to the ambient humidity to obtain a final value of the spray pressure, including: Setting a third humidity value and a fourth humidity value, wherein the third humidity value is less than the fourth humidity value; If the ambient humidity is less than the third humidity value, adjusting the initial spray pressure by a first adjustment coefficient; If the ambient humidity is greater than or equal to the third humidity value and less than or equal to the fourth humidity value, the initial spray pressure is adjusted by a second adjustment coefficient; If the ambient humidity is greater than the fourth humidity value, adjusting the spray pressure by a third adjustment coefficient; Among them, 1>first adjustment coefficient>second adjustment coefficient>third adjustment coefficient>0.

10. A closed weeding method suitable for heavy clay soil in hilly areas, applied to the closed weeding system suitable for heavy clay soil in hilly areas as claimed in any one of claims 1 to 9, characterized in that: include: Collecting terrain flatness and environmental information, wherein the environmental information includes wind speed and ambient humidity; Determine the initial spraying speed of the rapeseed precision direct seeding machine according to the terrain flatness, determine whether to adjust the initial spraying speed according to the environmental humidity, and if it is determined that adjustment is required, adjust the initial spraying speed according to the environmental humidity to obtain a final value of the spraying speed; Determine the initial spray pressure of the rapeseed precision direct seeding machine according to the wind speed, determine whether to adjust the initial spray pressure according to the ambient humidity, and if it is determined that adjustment is required, adjust the initial spray pressure according to the ambient humidity to obtain a final value of the spray pressure; The herbicide is sprayed on the ground according to the final value of the spraying speed and the final value of the spraying pressure.

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