A closed weeding system and method suitable for heavy clay soil in hilly areas

Abstract

This invention relates to the field of closed-loop weed control technology, and discloses a closed-loop weed control system and method suitable for heavy clay soils in hilly areas. The system includes: a data acquisition module for collecting terrain flatness and environmental information; a processing module for determining the initial spraying velocity of a precision direct seeding machine for rapeseed based on terrain flatness, determining whether to adjust the initial spraying velocity based on ambient humidity, and adjusting the initial spraying velocity based on ambient humidity to obtain a final spraying velocity value; the processing module is also used to determine the initial spraying pressure of the precision direct seeding machine for rapeseed based on wind speed, determining whether to adjust the initial spraying pressure based on ambient humidity, and adjusting the initial spraying pressure based on ambient humidity to obtain a final spraying pressure value; and a decision module for spraying herbicides on the ground based on the final spraying velocity and final spraying pressure values. This invention improves the accuracy and consistency of spraying, helps improve weed control in rapeseed fields in hilly areas, saves pesticides, and increases weed control efficiency.

Description

Technical Field

[0001] This invention relates to the field of closed weed control technology, and more specifically, to a closed weed control system and method suitable for heavy clay soils in hilly areas. Background Art

[0002] Pre-emergence herbicides are a method of weed control that forms a film of herbicide on the soil surface to prevent weed germination. Pre-emergence herbicides are sprayed onto the soil surface to form a film. When weed seeds germinate from the soil, they come into contact with this film and are killed, unable to grow. The key to pre-emergence herbicides is the integrity of the herbicide film. To ensure the effectiveness of the film, the soil must be level; otherwise, the film may be damaged, leading to pre-emergence failure. Furthermore, the mechanism of action of pre-emergence herbicides is that the herbicide forms a film on the soil surface; when young weed shoots or roots come into contact with this film, it is absorbed and killed, thus achieving the weed control effect.

[0003] In modern agricultural production, the precision and efficiency of weeding technology directly affect crop growth and yield. Traditional weeding methods often face numerous challenges in hilly areas with heavy clay soils. The complex terrain and high clay content of hilly soils make it difficult to control land leveling, affecting mechanical operations and resulting in uneven weeding. Furthermore, the large fluctuations in wind speed and humidity in hilly areas increase the difficulty of controlling pesticide spraying. Wind speed can cause pesticide dispersion, affecting spraying accuracy, while ambient humidity can affect the residence time and penetration of the pesticide solution on the soil surface. Especially in precision direct seeding operations such as rapeseed, precise control of pesticide spraying volume and pressure is crucial for the effectiveness of pre-emergence weed control. However, pre-emergence weed control technology requires a high degree of soil surface smoothness, and spraying speed and pressure play a key role in the integrity of the pesticide film formation. Spraying speeds that are too fast or too slow, or inappropriate spraying pressure, can lead to uneven pesticide film coverage, reduced efficacy, or even pesticide waste. In addition, the evaporation rate and soil penetration of the pesticide solution will vary under different ambient humidity conditions.

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

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

[0006] On the one hand, this invention proposes a closed weeding system suitable for heavy clay soils in hilly areas, comprising:

[0007] The data acquisition module is used to collect terrain flatness and environmental information, wherein the environmental information includes wind speed and ambient humidity;

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

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

[0010] The decision module is used to spray herbicides onto the ground based on the final values ​​of the spraying speed and spraying pressure.

[0011] Furthermore, when the acquisition module is used to acquire 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} based on the height of each point, where n = 1, 2, 3, ..., n;

[0014] Sort the values ​​in the height sequence in ascending order;

[0015] 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 differences, and evaluate the flatness based on the average value.

[0016] Furthermore, when evaluating the flatness based on the average value, the process includes:

[0017] The standard deviation of the height values ​​is calculated based on the average value using the following formula:

[0018]

[0019] In the above formula, σ represents the standard deviation, n represents the number of values ​​in the altitude sequence, and Hi represents the i-th value in the altitude sequence. This represents the average value;

[0020] The coefficient of variation is calculated based on the standard deviation using the following formula:

[0021]

[0022] In the above formula, CV represents the coefficient of variation, and σ represents the standard deviation. This represents the average value;

[0023] The smoothness is inversely proportional to the coefficient of variation: P = 1 / CV, where P represents the smoothness and CV represents the coefficient of variation.

[0024] Furthermore, when the processing module determines the initial spraying velocity of the rapeseed precision direct seeding machine based on the terrain flatness, it includes:

[0025] A first flatness and a second flatness are set, wherein the first flatness is greater than the second flatness;

[0026] If the flatness is greater than the first flatness, then the rapeseed precision direct seeding machine is determined to spray at the first speed;

[0027] If the flatness is less than or equal to the first flatness and greater than or equal to the second flatness, then the rapeseed precision direct seeding machine is determined to spray at the second speed.

[0028] If the flatness is less than the second flatness, then the rapeseed precision direct seeding machine is determined to spray at the third speed;

[0029] Wherein, the first speed is greater than the second speed, and the second speed is greater than the third speed.

[0030] Furthermore, when determining whether to adjust the initial spraying speed based on the ambient humidity, the following steps are included:

[0031] If the minimum ambient humidity is set, and the ambient humidity is greater than or equal to the minimum ambient humidity, then it is determined that the initial spraying speed will not be adjusted.

[0032] If the ambient humidity is less than the minimum ambient humidity, then it is determined that the initial spraying speed should be adjusted.

[0033] Furthermore, if it is determined that adjustment is needed, adjusting the initial spraying speed according to the ambient humidity to obtain the final spraying speed includes:

[0034] A first humidity value and a second humidity value are set, wherein the minimum ambient humidity value is greater than the first humidity value, and the first humidity value is greater than the second humidity value;

[0035] If the ambient humidity is greater than the first humidity value, the initial spraying speed is adjusted using the first adjustment coefficient;

[0036] If the ambient humidity is less than or equal to the first humidity value and greater than or equal to the second humidity value, then the initial spraying speed is adjusted using a second adjustment coefficient.

[0037] If the ambient humidity is less than the second humidity value, the initial spraying speed is adjusted using a third adjustment coefficient;

[0038] Wherein, 1 > first adjustment coefficient > second adjustment coefficient > third adjustment coefficient > 0.

[0039] Furthermore, when determining the initial spray pressure of the rapeseed precision direct seeding machine based on the wind speed, the processing module also includes:

[0040] A first wind speed and a second wind speed are set, wherein the first wind speed is greater than the second wind speed;

[0041] If the wind speed is greater than the first wind speed, then the rapeseed precision direct seeding machine is determined to spray at the first pressure;

[0042] If the wind speed is less than or equal to the first wind speed and greater than or equal to the second wind speed, then the rapeseed precision direct seeding machine is determined to spray at the second pressure.

[0043] If the wind speed is less than the second wind speed, then the rapeseed precision direct seeding machine is determined to spray at the third pressure;

[0044] Wherein, the first pressure is less than the second pressure, and the second pressure is less than the third pressure.

[0045] Furthermore, when determining whether to adjust the initial spray pressure based on the ambient humidity, the following steps are included:

[0046] If the maximum ambient humidity is set, and the ambient humidity is less than or equal to the maximum ambient humidity, then it is determined that the initial spray pressure will not be adjusted.

[0047] If the ambient humidity is greater than the maximum ambient humidity, it is determined that the initial spray pressure needs to be adjusted.

[0048] Furthermore, if it is determined that adjustment is needed, adjusting the initial spray pressure according to the ambient humidity to obtain the final spray pressure includes:

[0049] A third humidity value and a fourth humidity value are set, wherein the third humidity value is less than the fourth humidity value;

[0050] If the ambient humidity is less than the third humidity value, the initial spray pressure is adjusted using the first adjustment coefficient.

[0051] 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.

[0052] If the ambient humidity is greater than the fourth humidity value, the spray pressure is adjusted using a third adjustment coefficient.

[0053] Where 1 > first adjustment coefficient > second adjustment coefficient > third adjustment coefficient > 0.

[0054] Compared with existing technologies, the advantages of this invention are as follows: First, the data acquisition module of this invention can monitor 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, ensuring the uniformity and effectiveness of the herbicide film coverage. In conditions of high or low humidity, the processing module automatically adjusts the spraying speed to adapt to different humidity conditions, preventing excessive penetration or runoff of the herbicide and maintaining the weeding effect. Furthermore, the processing module adjusts the initial spraying pressure based on wind speed information and further adjusts the pressure according to ambient humidity when necessary, making the spraying effect more precise. This adjustment effectively reduces spray drift and evaporation under changes in wind speed and humidity, allowing more herbicide to remain in the target area, thereby reducing environmental pollution and pesticide waste. This dual dynamic control not only optimizes the spraying 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 soils. Overall, the system improves the accuracy and consistency of spraying, helps improve weed control in rapeseed fields in hilly areas, saves pesticides, and increases weeding efficiency.

[0055] On the other hand, this application also provides a closed weed control method suitable for heavy clay soils in hilly areas, comprising:

[0056] Collect terrain flatness and environmental information, wherein the environmental information includes wind speed and ambient humidity;

[0057] The initial spraying speed of the rapeseed precision direct seeding machine is determined based on the terrain flatness. The initial spraying speed is then adjusted based on the ambient humidity. If adjustment is required, the initial spraying speed is adjusted based on the ambient humidity to obtain the final spraying speed value.

[0058] The initial spray pressure of the rapeseed precision direct seeding machine is determined based on the wind speed. The initial spray pressure is then adjusted based on the ambient humidity to obtain the final spray pressure value.

[0059] Herbicides are sprayed onto the ground based on the final values ​​of the spraying speed and spraying pressure.

[0060] It is understood that the closed weed control system and method provided in this application for heavy clay soils in hilly areas have the same beneficial effects, and will not be described in detail here. Attached Figure Description

[0061] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0062] Figure 1 A functional block diagram of a closed weeding system suitable for heavy clay soils in hilly areas, provided in an embodiment of the present invention;

[0063] Figure 2 A flowchart of a closed weed control method for heavy clay soils in hilly areas, provided as an embodiment of the present invention. Detailed Implementation

[0064] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0065] In some embodiments of this application, see Figure 1 As shown, this embodiment provides a closed weeding system suitable for heavy clay soils in hilly areas, including:

[0066] The data acquisition module is used to collect terrain flatness and environmental information, including wind speed and ambient humidity.

[0067] The processing module is used to determine the initial spraying speed of the rapeseed precision direct seeding machine based on the terrain flatness, and to determine whether the initial spraying speed needs to be adjusted based on the ambient humidity. If it is determined that adjustment is needed, the initial spraying speed is adjusted based on the ambient humidity to obtain the final spraying speed value.

[0068] The processing module is also used to determine the initial spray pressure of the rapeseed precision direct seeding machine based on the wind speed, and to determine whether the initial spray pressure needs to be adjusted based on the ambient humidity. If it is determined that adjustment is needed, the initial spray pressure is adjusted based on the ambient humidity to obtain the final spray pressure value.

[0069] The decision module is used to spray herbicides on the ground based on the final values ​​of spraying speed and spraying pressure.

[0070] Understandably, firstly, the data acquisition module of this invention can monitor terrain flatness and key environmental information such as wind speed and 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 based on terrain flatness, ensuring the uniformity and effectiveness of the herbicide film coverage. In conditions of high or low humidity, the processing module automatically adjusts the spraying speed to adapt to different humidity conditions, preventing excessive penetration or runoff of the herbicide and maintaining weed control effectiveness. Furthermore, the processing module adjusts the initial spray pressure based on wind speed information and further adjusts the pressure according to environmental humidity when necessary, making the spraying effect more precise. This adjustment effectively reduces spray drift and evaporation under changes in wind speed and humidity, allowing more herbicide to remain in the target area, thereby reducing environmental pollution and pesticide waste. This dual dynamic control not only optimizes the spray coverage rate but also ensures the stability of the closed herbicide film, making the system suitable for complex environmental conditions in hilly terrain and heavy clay soils. In summary, this system improves the accuracy and consistency of spraying, helps improve weed control in rapeseed fields in hilly areas, saves pesticides, and increases weed control efficiency.

[0071] In some embodiments of this application, when the acquisition module is used to acquire terrain flatness and environmental information, it includes:

[0072] 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;

[0073] Construct a height sequence H = {H1, H2, H3, ..., Hn} based on the height of each point, where n = 1, 2, 3, ..., n;

[0074] Sort the values ​​in the height sequence in ascending order;

[0075] Calculate the height difference between each value in the height sequence except the minimum value and the minimum value, calculate the average height difference, and evaluate the flatness based on the average value.

[0076] In some embodiments of this application, the flatness is evaluated based on an average value, including:

[0077] The standard deviation of the height values ​​is calculated from the average value using the following formula:

[0078]

[0079] In the above formula, σ represents the standard deviation, n represents the number of values ​​in the altitude sequence, and Hi represents the i-th value in the altitude sequence. This represents the average value;

[0080] The coefficient of variation is calculated based on the standard deviation using the following formula:

[0081]

[0082] In the above formula, CV represents the coefficient of variation, and σ represents the standard deviation. This represents the average value;

[0083] Among them, the smoothness is inversely proportional to the coefficient of variation: P = 1 / CV, where P represents the smoothness and CV represents the coefficient of variation.

[0084] Understandably, this method involves using a laser level to collect topographic data, constructing and analyzing a flatness sequence based on height, calculating the height difference between each point and its relative minimum, and using the average value as the basis for flatness assessment. By calculating the standard deviation and coefficient of variation, the system can accurately quantify the degree of terrain undulation and derive an intuitive flatness index using the inverse relationship between flatness and the coefficient of variation, more effectively reflecting the flatness of the land. This method improves the accuracy and efficiency of flatness assessment, helps to precisely control the uniformity and effectiveness of pesticide spraying, reduces pesticide waste, and improves the overall quality of pre-emergence weed control.

[0085] In some embodiments of this application, when the processing module determines the initial spraying velocity of the rapeseed precision direct seeding machine based on the terrain flatness, it includes:

[0086] Set a first flatness and a second flatness, wherein the first flatness is greater than the second flatness;

[0087] If the flatness is greater than the first flatness, then the rapeseed precision direct seeding machine will be sprayed at the first speed.

[0088] If the flatness is less than or equal to the first flatness and greater than or equal to the second flatness, then the rapeseed precision direct seeding machine is determined to spray at the second speed.

[0089] If the flatness is less than the second flatness, then the rapeseed precision direct seeding machine will be sprayed at the third speed.

[0090] The first speed is greater than the second speed, and the second speed is greater than the third speed.

[0091] In some embodiments of this application, determining whether to adjust the initial spraying velocity based on ambient humidity includes:

[0092] Set a minimum ambient humidity value. If the ambient humidity is greater than or equal to the minimum ambient humidity value, then it is determined that the initial spraying speed will not be adjusted.

[0093] If the ambient humidity is less than the minimum ambient humidity, then the initial spraying speed should be adjusted.

[0094] In some embodiments of this application, if it is determined that adjustment is needed, adjusting the initial spraying speed according to the ambient humidity to obtain the final spraying speed includes:

[0095] Set a first humidity value and a second humidity value. The minimum ambient humidity is greater than the first humidity value, and the first humidity value is greater than the second humidity value.

[0096] If the ambient humidity is greater than the first humidity value, the initial spraying speed will be adjusted using the first adjustment coefficient.

[0097] 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 initial spraying speed is adjusted using the second adjustment coefficient.

[0098] If the ambient humidity is less than the second humidity value, the initial spraying speed is adjusted using the third adjustment coefficient;

[0099] Wherein, 1 > first adjustment coefficient > second adjustment coefficient > third adjustment coefficient > 0.

[0100] Understandably, this invention dynamically adjusts the spraying speed of the rapeseed precision direct seeding machine based on terrain flatness and ambient humidity through a processing module, ensuring a high degree of match between the spraying speed and actual terrain conditions and humidity levels. A higher spraying speed is used when the terrain is relatively flat to increase coverage area and improve efficiency; conversely, the spraying speed is slowed down when the terrain is relatively flat to improve spray uniformity and ensure weed control effectiveness. Furthermore, the tiered humidity adjustment mechanism precisely reduces the initial spraying speed through different adjustment coefficients when humidity is low, preventing excessive evaporation of the herbicide solution and thus ensuring long-lasting efficacy and effective pre-emergence weed control. This system not only improves spraying efficiency but also reduces pesticide waste, making pre-emergence weed control more stable and adaptable to the application of heavy clay soils in hilly areas.

[0101] In some embodiments of this application, the processing module is further configured to determine the initial spray pressure of the rapeseed precision direct seeding machine based on wind speed, including:

[0102] Set a first wind speed and a second wind speed, wherein the first wind speed is greater than the second wind speed;

[0103] If the wind speed is greater than the first wind speed, then the rapeseed precision direct seeding machine will spray at the first pressure.

[0104] If the wind speed is less than or equal to the first wind speed and greater than or equal to the second wind speed, then the rapeseed precision direct seeding machine is determined to spray at the second pressure.

[0105] If the wind speed is less than the second wind speed, then the rapeseed precision direct seeding machine will spray at the third pressure.

[0106] The first pressure is less than the second pressure, and the second pressure is less than the third pressure.

[0107] In some embodiments of this application, determining whether to adjust the initial spray pressure based on ambient humidity includes:

[0108] Set the maximum ambient humidity value. If the ambient humidity is less than or equal to the maximum ambient humidity value, then it is determined that the initial spray pressure will not be adjusted.

[0109] If the ambient humidity is greater than the maximum ambient humidity, it is determined that the initial spray pressure needs to be adjusted.

[0110] In some embodiments of this application, if it is determined that adjustment is needed, adjusting the initial spray pressure according to the ambient humidity to obtain the final spray pressure includes:

[0111] Set a third humidity value and a fourth humidity value, where the third humidity value is less than the fourth humidity value;

[0112] If the ambient humidity is less than the third humidity value, the initial spray pressure is adjusted using the first adjustment coefficient.

[0113] 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 using the second adjustment factor.

[0114] If the ambient humidity is greater than the fourth humidity value, the spray pressure is adjusted using the third adjustment factor.

[0115] Where 1 > first adjustment coefficient > second adjustment coefficient > third adjustment coefficient > 0.

[0116] Understandably, the processing module dynamically adjusts the spray pressure of the rapeseed precision direct seeding machine based on wind speed and ambient humidity, making spraying more precise and effective. At higher wind speeds, reducing spray pressure minimizes drift risk and prevents the herbicide from spreading to non-target areas; at lower wind speeds, increasing spray pressure helps ensure even coverage and improves the effectiveness of pre-emergence weed control. The humidity control section further optimizes the spray pressure: when humidity is high, the system adjusts the spray pressure according to different humidity levels to prevent unstable herbicide film or excessive penetration due to high humidity, which could affect weed control. Through this multi-layered automatic adjustment mechanism, the system achieves efficient and uniform pesticide spraying, reducing pesticide waste and environmental impact, making pre-emergence weed control more suitable for hilly areas with heavy clay soils where wind speed and humidity fluctuate significantly.

[0117] On the other hand, see Figure 2 As shown, this application also provides a closed-loop weed control method suitable for heavy clay soils in hilly areas, applied to the aforementioned closed-loop weed control system suitable for heavy clay soils in hilly areas, comprising the following steps:

[0118] S100. Collect terrain flatness and environmental information, including wind speed and ambient humidity.

[0119] S200. Determine the initial spraying speed of the rapeseed precision direct seeding machine based on the terrain flatness. Determine whether to adjust the initial spraying speed based on the ambient humidity. If it is determined that adjustment is needed, adjust the initial spraying speed based on the ambient humidity to obtain the final spraying speed value.

[0120] S300. Determine the initial spray pressure of the rapeseed precision direct seeding machine based on the wind speed. Determine whether to adjust the initial spray pressure based on the ambient humidity. If it is determined that adjustment is needed, adjust the initial spray pressure based on the ambient humidity to obtain the final spray pressure value.

[0121] S400: Spray herbicides onto the ground based on the final values ​​of spraying speed and spraying pressure.

[0122] Understandably, the pre-emergence weed control method provided by this invention enables more precise and efficient weed control operations in hilly, heavy clay soil environments. This includes collecting terrain flatness and environmental information (wind speed and humidity) to automatically adjust the spraying speed and pressure of the rapeseed precision direct seeding machine. This allows the spraying speed and pressure to dynamically adapt to complex terrain and flatness differences, as well as changes in wind speed and humidity, ensuring uniform coverage of the herbicide film and improving weed control effectiveness. Ultimately, this method effectively reduces herbicide drift and waste, improves the stability and adaptability of pre-emergence weed control in hilly environments, and further guarantees optimal conditions for rapeseed growth.

[0123] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 a process or multiple processes and / or boxes Figure 1A device that provides the functions specified in one or more boxes.

[0125] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 The function specified in one or more boxes.

[0126] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do 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 soils in hilly areas, characterized in that, include: The data acquisition module is used to collect terrain flatness and environmental information, wherein the environmental information includes wind speed and ambient humidity; The processing module is used to determine the initial spraying speed of the rapeseed precision direct seeding machine based on the terrain flatness, and to determine whether to adjust the initial spraying speed based on the ambient humidity. If it is determined that adjustment is needed, the initial spraying speed is adjusted based on the ambient humidity to obtain the final spraying speed value. The processing module is also used to determine the initial spray pressure of the rapeseed precision direct seeding machine based on the wind speed, and to determine whether to adjust the initial spray pressure based on the ambient humidity. If it is determined that adjustment is needed, the initial spray pressure is adjusted based on the ambient humidity to obtain the final spray pressure value. The decision module is used to spray herbicides on the ground based on the final value of the spraying speed and the final value of the spraying pressure. When the acquisition module is used to acquire 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; Construct a height sequence H = {H1, H2, H3, ..., Hn} based on the height of each point, where n = 1, 2, 3, ..., n; Sort the values ​​in the height sequence in ascending order; 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 differences, and evaluate the flatness based on the average value; The process of evaluating the flatness based on the average value includes: The standard deviation of the height values ​​is calculated based on the average value using the following formula: In the above formula, σ represents the standard deviation, n represents the number of values ​​in the altitude sequence, and Hi represents the i-th value in the altitude sequence. This represents the average value; The coefficient of variation is calculated based on the standard deviation using the following formula: In the above formula, CV represents the coefficient of variation, and σ represents the standard deviation. This represents the average value; The smoothness is inversely proportional to the coefficient of variation: P = 1 / CV, where P represents the smoothness and CV represents the coefficient of variation.

2. The closed weeding system suitable for heavy clay soils in hilly areas according to claim 1, characterized in that, When the processing module determines the initial spraying velocity of the rapeseed precision direct seeding machine based on the terrain flatness, it includes: A first flatness and a second flatness are set, wherein the first flatness is greater than the second flatness; If the flatness is greater than the first flatness, then the rapeseed precision direct seeding machine is determined to spray at the first speed; If the flatness is less than or equal to the first flatness and greater than or equal to the second flatness, then the rapeseed precision direct seeding machine is determined to spray at the second speed. If the flatness is less than the second flatness, then the rapeseed precision direct seeding machine is determined to spray at the third speed; Wherein, the first speed is greater than the second speed, and the second speed is greater than the third speed.

3. The closed weeding system suitable for heavy clay soils in hilly areas according to claim 2, characterized in that, When determining whether to adjust the initial spraying speed based on the ambient humidity, the following steps are included: If the minimum ambient humidity is set, and the ambient humidity is greater than or equal to the minimum ambient humidity, then it is determined that the initial spraying speed will not be adjusted. If the ambient humidity is less than the minimum ambient humidity, then it is determined that the initial spraying speed should be adjusted.

4. The closed weeding system suitable for heavy clay soils in hilly areas according to claim 3, characterized in that, If it is determined that adjustment is needed, adjusting the initial spraying speed according to the ambient humidity to obtain the final spraying speed includes: A first humidity value and a second humidity value are set, wherein the minimum ambient humidity value 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 initial spraying speed is adjusted using the first adjustment coefficient; If the ambient humidity is less than or equal to the first humidity value and greater than or equal to the second humidity value, then the initial spraying speed is adjusted using a second adjustment coefficient. If the ambient humidity is less than the second humidity value, the initial spraying speed is adjusted using a third adjustment coefficient; Wherein, 1 > first adjustment coefficient > second adjustment coefficient > third adjustment coefficient > 0.

5. The closed weeding system suitable for heavy clay soils in hilly areas according to claim 4, characterized in that, The processing module is further configured to determine the initial spray pressure of the rapeseed precision direct seeding machine based on the wind speed, including: A first wind speed and a second wind speed are set, wherein the first wind speed is greater than the second wind speed; If the wind speed is greater than the first wind speed, then the rapeseed precision direct seeding machine is determined to spray 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, then the rapeseed precision direct seeding machine is determined to spray at the second pressure. If the wind speed is less than the second wind speed, then the rapeseed precision direct seeding machine is determined to spray at the third pressure; Wherein, the first pressure is less than the second pressure, and the second pressure is less than the third pressure.

6. The closed weeding system suitable for heavy clay soils in hilly areas according to claim 5, characterized in that, When determining whether to adjust the initial spray pressure based on the ambient humidity, the following steps are included: If the maximum ambient humidity is set, and the ambient humidity is less than or equal to the maximum ambient humidity, then it is determined that the initial spray pressure will not be adjusted. If the ambient humidity is greater than the maximum ambient humidity, it is determined that the initial spray pressure needs to be adjusted.

7. The closed weeding system suitable for heavy clay soils in hilly areas according to claim 6, characterized in that, If it is determined that adjustment is needed, adjusting the initial spray pressure according to the ambient humidity to obtain the final spray pressure includes: A third humidity value and a fourth humidity value are set, wherein the third humidity value is less than the fourth humidity value; If the ambient humidity is less than the third humidity value, the initial spray pressure is adjusted using the 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 the second adjustment coefficient. If the ambient humidity is greater than the fourth humidity value, the spray pressure is adjusted using a third adjustment coefficient. Where 1 > first adjustment coefficient > second adjustment coefficient > third adjustment coefficient > 0.

8. A closed-loop weed control method suitable for heavy clay soils in hilly areas, applied to the closed-loop weed control system for heavy clay soils in hilly areas as described in any one of claims 1-7, characterized in that, include: Collect terrain flatness and environmental information, wherein the environmental information includes wind speed and ambient humidity; The initial spraying speed of the rapeseed precision direct seeding machine is determined based on the terrain flatness. The initial spraying speed is then adjusted based on the ambient humidity. If adjustment is required, the initial spraying speed is adjusted based on the ambient humidity to obtain the final spraying speed value. The initial spray pressure of the rapeseed precision direct seeding machine is determined based on the wind speed. The initial spray pressure is then adjusted based on the ambient humidity to obtain the final spray pressure value. Herbicides are sprayed onto the ground based on the final values ​​of the spraying speed and spraying pressure.

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