Spraying rod height profiling control method, device and equipment, medium and spraying machine

Abstract

The invention relates to a spray boom height profiling control method, device and equipment, a medium and a sprayer, and the method comprises the steps: for each spray boom, obtaining spray boom distance information based on an ultrasonic sensor corresponding to the spray boom, the spray boom distance information comprises a first distance, or the first distance and a second distance, the first distance is the distance between the spraying rod and the ground, and the second distance is the distance between the spraying rod and the top end of a plant; and for each spraying rod, based on a preset PID control algorithm, an adjusting signal corresponding to the spraying rod distance information is obtained, and based on the adjusting signal, the height of the spraying rod is adjusted. The height of the spraying rod can be automatically adjusted according to different terrains, the optimal spraying distance between the spraying rod and plants can be kept all the time, the phenomenon that the plants are not evenly sprayed is improved, the possibility of the phenomenon of over-spraying or missing spraying is reduced, and then the crop yield is conveniently increased.

Description

Technical Field

[0001] The present application relates to the technical field of spray equipment, and in particular to a spray boom height profiling control method, device, equipment, medium and spray machine. Background Art

[0002] In the agricultural field, sprayers, as important plant protection machinery, are widely used in the spraying of chemical pesticides and fertilizers, which is of great significance for increasing crop yields.

[0003] In actual operation, sprayers face many challenges. Especially when the sprayer is traveling on uneven ground, the spray boom is prone to irregular movement, especially the inclination of the spray boom, which will directly cause the distance between the nozzle on the spray boom and the ground to change. This change in distance will significantly affect the deposition distribution of the spray, and then cause overspray or missed spray. Overspraying not only wastes pesticide and fertilizer resources, but may also pollute the environment; missed spraying will cause uneven pesticide application to crops, affect the prevention and control effect, and ultimately reduce crop yields. Therefore, there is an urgent need for a technical solution that can improve the operation effect of sprayers on uneven ground. Summary of the invention

[0004] In order to enable the spray boom height to adapt to terrain changes, reduce the possibility of overspraying or missed spraying, and increase crop yield, the present application provides a spray boom height profiling control method, device, equipment, medium and sprayer.

[0005] In a first aspect, the present application provides a boom height profiling control method, comprising:

[0006] For each spray bar, based on the ultrasonic sensor corresponding to the spray bar, spray bar distance information is obtained, wherein the spray bar distance information includes a first distance, or the first distance and a second distance, wherein the first distance is the distance between the spray bar and the ground, and the second distance is the distance between the spray bar and the top of the plant;

[0007] For each spray boom, based on a preset PID control algorithm, an adjustment signal corresponding to the spray boom distance information is obtained, and based on the adjustment signal, the height of the spray boom is adjusted.

[0008] The beneficial effects of the present application are as follows: based on the PID control algorithm, the height of the spray boom is adjusted so that the height of the spray boom can adaptively change with the change of the spray boom distance information. The change of the spray boom distance information can be used to indicate the change of the terrain, so that the spray boom can automatically adjust the height according to different terrains, so that the optimal spraying distance between the spray boom and the plant can be maintained at all times, thereby improving the phenomenon of uneven drug distribution on the plants and reducing the possibility of overspraying or missed spraying, thereby facilitating the increase of crop yields.

[0009] Further, for each spray rod, the adjustment signal corresponding to the spray rod distance information is obtained based on a preset PID control algorithm, including:

[0010] For each spray bar, filtering the spray bar distance information to obtain filtered distance information;

[0011] For each spray rod, the distance error between the filtered distance information and the target distance information is calculated, and based on the PID control algorithm, the adjustment signal corresponding to the distance error is obtained, and the target distance information is a parameter characterizing the optimal spraying distance between the spray rod and the plant.

[0012] The beneficial effect of adopting the above further scheme is: by filtering the original spray boom distance information, interference factors can be removed, smoother and more accurate filtered distance information can be obtained, and the accuracy and stability of the measurement can be improved.

[0013] Further, for each spray bar, filtering the spray bar distance information to obtain filtered distance information includes:

[0014] For each spray rod, the filter mode corresponding to the spray rod is obtained based on the current density of the plants, and the spray rod distance information is filtered based on the filter mode. The filter mode is a parameter that characterizes the processing process of the spray rod distance information.

[0015] The beneficial effect of adopting the above further scheme is that by selecting an appropriate filtering mode according to the density of plants, unnecessary noise and interference can be filtered out more effectively, thereby improving the measurement accuracy of the spray rod distance information. The filtering mode is dynamically adjusted according to the actual growth of plants in the farmland, thereby enhancing adaptability and flexibility.

[0016] Further, the current density includes a sparseness of plants or a density of plants, and the filtering mode includes a ground mode or a plant top mode, the ground mode is a mode for filtering out the first distance from the spray bar distance information, and the plant top mode is a mode for performing noise reduction processing on the spray bar distance information;

[0017] For each spray bar, the step of obtaining a filter mode corresponding to the spray bar based on the current density of the plants includes:

[0018] For each spray bar, if the current density is the plant sparseness, the filtering mode corresponding to the spray bar is the ground mode;

[0019] For each spray bar, if the current density is the plant density, the filtering mode corresponding to the spray bar is the plant top mode.

[0020] The beneficial effect of adopting the above further scheme is: according to the characteristics of the crop, two filtering modes, ground mode and plant top mode, are provided, which solves the problem of fluctuation of the height of the spray boom during the profiling process due to the height difference between the plant and the ground. By filtering the spray boom distance information collected by the ultrasonic sensor, the fluctuation of the spray boom height is reduced and the stability of the spray boom height is increased.

[0021] Further, for each spray bar, filtering the spray bar distance information to obtain filtered distance information further includes:

[0022] If the filtering mode is the ground mode, the spray rod distance information includes the first distance and the second distance. Based on the peak filtering algorithm, the first distance is filtered out from the spray rod distance information, and the first distance is used as the filtering distance information.

[0023] The beneficial effect of adopting the above further scheme is that the peak filtering algorithm can accurately separate the ground reflected signal (i.e., the first distance) from the spray boom distance information by identifying the peak characteristics in the spray boom distance information, thereby ensuring that the first distance can be accurately obtained, providing a reliable benchmark for subsequent contour spraying.

[0024] Further, for each spray bar, filtering the spray bar distance information to obtain filtered distance information further includes:

[0025] If the filtering mode is the plant top mode, the spray rod distance information is the second distance. Based on the first-order filtering algorithm, the second distance is subjected to noise reduction processing, and the noise-reduced second distance is used as the filtering distance information.

[0026] The beneficial effect of adopting the above further scheme is that the first-order filtering algorithm is a simple and effective signal processing method with relatively low computational complexity. By adopting the first-order filtering algorithm to perform noise reduction processing on the second distance, not only a good noise reduction effect can be achieved, but also the computational burden of the system can be reduced, and the real-time performance and response speed can be improved.

[0027] In a second aspect, the present application provides a boom height profiling control device, comprising:

[0028] A distance acquisition module is used to acquire, for each spray bar, spray bar distance information based on an ultrasonic sensor corresponding to the spray bar, wherein the spray bar distance information includes a first distance, or the first distance and a second distance, wherein the first distance is the distance between the spray bar and the ground, and the second distance is the distance between the spray bar and the top of the plant;

[0029] The adjustment module is used to obtain an adjustment signal corresponding to the spray bar distance information for each spray bar based on a preset PID control algorithm, and adjust the height of the spray bar based on the adjustment signal.

[0030] In a third aspect, the present application provides an electronic device, including a processor and a memory, wherein the processor is coupled to the memory;

[0031] The processor is used to execute the computer program stored in the memory so that the electronic device performs the method as described in any one of the first aspects.

[0032] In a fourth aspect, the present application provides a computer-readable storage medium, comprising a computer program or instructions, which, when executed on a computer, enables the computer to execute the method as described in any one of the first aspects.

[0033] In a fifth aspect, the present application provides a sprayer, comprising the electronic device as described in the third aspect, a plurality of spray bars, and an ultrasonic sensor and a height adjustment drive member respectively corresponding to each of the spray bars, wherein the plurality of ultrasonic sensors are respectively electrically connected to the electronic device, and the plurality of height adjustment drives are respectively electrically connected to the electronic device;

[0034] Each of the ultrasonic sensors is used to collect spray bar distance information, the spray bar distance information includes a first distance, or the first distance and a second distance, the first distance is the distance between the spray bar and the ground, and the second distance is the distance between the spray bar and the top of the plant;

[0035] The electronic device is used to receive the spray bar distance information and output an adjustment signal to the height adjustment drive member corresponding to the spray bar distance information based on a preset PID control algorithm;

[0036] Each of the height driving members is used to adjust the height of the spray boom in response to the adjustment signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a flow chart of the boom height profiling control method according to an embodiment of the present application;

[0038] Figure 2 This is a structural block diagram of a boom height profiling control device according to an embodiment of the present application;

[0039] Figure 3 This is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0040] The present application is further described in detail below in conjunction with the accompanying drawings.

[0041] The embodiment of the present application provides a boom height profiling control method, which can be executed by a device, which can be a server or a terminal device, wherein the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a tablet computer, a desktop computer, etc., but is not limited thereto.

[0042] like Figure 1 As shown, a boom height profiling control method is implemented by an electronic device, and the main process of the method is described as follows (steps S101 to S102):

[0043] Step S101: For each spray boom, based on the ultrasonic sensor corresponding to the spray boom, the spray boom distance information is obtained, the spray boom distance information includes a first distance, or the first distance and a second distance, the first distance is the distance between the spray boom and the ground, and the second distance is the distance between the spray boom and the top of the plant.

[0044] In this embodiment, each spray bar corresponds to at least one ultrasonic sensor, and the ultrasonic sensor can be used to collect spray bar distance information. Exemplarily, the sprayer can include three spray bars respectively arranged in the left, middle and right sections, each spray bar corresponds to an ultrasonic sensor, and each ultrasonic sensor can detect the spray bar distance information.

[0045] Step S102: For each spray boom, based on a preset PID control algorithm, an adjustment signal corresponding to the spray boom distance information is obtained, and based on the adjustment signal, the height of the spray boom is adjusted.

[0046] In this embodiment, each spray boom corresponds to a height adjustment drive component for adjusting the height of the spray boom. The height adjustment drive component can be a hydraulic cylinder or a pneumatic cylinder. The hydraulic cylinder or the pneumatic cylinder corresponds to a solenoid valve for controlling the flow of fluid in the cylinder to achieve precise adjustment of the height of the spray boom. The adjustment signal can be a control current signal corresponding to the solenoid valve.

[0047] Based on the PID control algorithm, the height of the spray boom is adjusted so that it can adaptively change with the change of the spray boom distance information. The change of the spray boom distance information can be used to indicate the change of the terrain height, so that the spray boom can automatically adjust the height according to the different terrain heights, so that the best spraying distance can be maintained between the spray boom and the plant, which improves the phenomenon of uneven drug distribution of the plants and reduces the possibility of overspraying or missed spraying, thereby facilitating the increase of crop yields.

[0048] In this embodiment, step S102 specifically includes the following processing: for each spray rod, filtering the spray rod distance information to obtain filtered distance information; for each spray rod, calculating the distance error between the filtered distance information and the target distance information, and based on the PID control algorithm, obtaining the adjustment signal corresponding to the distance error, the target distance information is a parameter characterizing the optimal spraying distance between the spray rod and the plant.

[0049] Since the boom distance information measured by the ultrasonic sensor may be affected by interference factors, the original boom distance information needs to be filtered to remove the interference factors and obtain smoother and more accurate filtered distance information, thereby improving the accuracy and stability of the measurement.

[0050] The filtered distance information is compared with the preset target distance information to calculate the distance error between the two. The distance error value reflects the difference between the current height of the spray boom and the target height. After the distance error is input into the PID control algorithm, the PID control algorithm can calculate the adjustment signal according to the current error, the integral of the error and the differential of the error. In this embodiment, the adjustment signal will be used to control the switch state of the solenoid valve, thereby adjusting the telescopic movement of the hydraulic cylinder or the cylinder so that the spray boom reaches the target height.

[0051] In this embodiment, the PID control algorithm can be expressed as:

[0052]

[0053] Among them, U(t) is the output regulation signal, K P is the proportional coefficient, e(k) is the signal of the distance error, K I is the integration coefficient, K D is the differential coefficient.

[0054] In this embodiment, for each spray rod, the spray rod distance information is filtered to obtain filtered distance information, which specifically includes the following processing: for each spray rod, based on the current density of plants, the filtering mode corresponding to the spray rod is obtained, and based on the filtering mode, the spray rod distance information is filtered, and the filtering mode is a parameter that characterizes the processing process of the spray rod distance information.

[0055] The electronic device may store the correspondence between the density of plants and the filtering mode, and the density may be expressed in a percentage format or a specific named format. By querying the correspondence, the filtering mode corresponding to the current density may be obtained, so as to filter the boom distance information according to the filtering mode.

[0056] In this embodiment, the electronic device can automatically analyze the image data from the farmland or measure the average distance or coverage area between the plants to obtain the current density, or the user can manually select the current density based on the human-computer interaction device by observing the growth of the plants. Different filtering modes may correspond to different target distance information in the PID control algorithm.

[0057] By selecting the appropriate filter mode according to the density of plants, unnecessary noise and interference can be filtered out more effectively, thereby improving the measurement accuracy of the spray boom distance information. The filter mode is dynamically adjusted according to the actual growth of plants in the farmland, thereby enhancing adaptability and flexibility.

[0058] In this embodiment, the current density degree includes the plant sparseness degree or the plant density degree, and the filtering mode includes the ground mode or the plant top mode. The ground mode is a mode for filtering out the first distance from the spray rod distance information, and the plant top mode is a mode for performing noise reduction processing on the spray rod distance information.

[0059] For each spray boom, the filtering mode corresponding to the spray boom is obtained based on the current density of the plants, which specifically includes the following processing: for each spray boom, if the current density is the sparseness of the plants, the filtering mode corresponding to the spray boom is the ground mode; for each spray boom, if the current density is the density of the plants, the filtering mode corresponding to the spray boom is the plant top mode.

[0060] When the current density is the plant sparseness, the plants are relatively sparse. During the movement of the sprayer, the ultrasonic sensor will simultaneously collect the first distance and the second distance, that is, the spray rod distance information includes the first distance and the second distance. At this time, if no filtering is performed, the height of the spray rod will also fluctuate with the first distance and the second distance. Therefore, the filtering mode corresponding to the plant sparseness is the ground mode. In the ground mode, the first distance is filtered out from the spray rod distance information, and the first distance is used as a reference for subsequent terrain height profiling.

[0061] When the current density is the plant density, the plants are dense and the ground is basically covered by plants. During the movement of the sprayer, the ultrasonic sensor will collect the second distance, that is, the spray boom distance information is the second distance. Therefore, the filtering mode corresponding to the plant density is the plant top mode. In the plant top mode, the noise of the collected second distance is reduced, so that the height of the spray boom can be kept stable during the subsequent terrain height profiling process.

[0062] In this embodiment, two filtering modes, ground mode and plant top mode, are provided according to crop characteristics, which solves the problem of boom height fluctuation during terrain height profiling due to the height difference between the plant and the ground. By filtering the boom distance information collected by the ultrasonic sensor, the boom height fluctuation is reduced and the boom height stability is increased.

[0063] In this embodiment, for each spray bar, filtering the spray bar distance information to obtain filtered distance information further includes the following processing:

[0064] If the filtering mode is the ground mode, the spray boom distance information includes the first distance and the second distance, and based on the peak filtering algorithm, the first distance is filtered out from the spray boom distance information, and the first distance is used as the filtering distance information;

[0065] If the filtering mode is the plant top mode, the spray rod distance information is the second distance. Based on the first-order filtering algorithm, the second distance is subjected to noise reduction processing, and the noise-reduced second distance is used as the filtering distance information.

[0066] In this embodiment, the peak filtering algorithm can accurately separate the ground reflected signal (i.e., the first distance) from the spray boom distance information by identifying the peak features in the spray boom distance information, thereby ensuring that the first distance can be accurately acquired, providing a reliable benchmark for subsequent terrain height profiling spraying.

[0067] The first-order filtering algorithm is a simple and effective signal processing method with relatively low computational complexity. By using the first-order filtering algorithm to reduce the noise of the second distance, not only can a good noise reduction effect be achieved, but also the calculation burden of the system can be reduced, and the real-time performance and response speed can be improved. By applying the first-order filtering algorithm to reduce the noise of the second distance, the fluctuation signal caused by sensor noise, environmental interference and other factors can be removed, so as to obtain a smoother and more stable second distance. It helps the spray rod to follow the top of the plant more accurately for spraying, and improves the accuracy and uniformity of spraying.

[0068] The peak filtering algorithm can be expressed as:

[0069]

[0070] Y(n)=α·X(n)+(1-α)·Y(n-1)

[0071] Among them, α is the first-order filter coefficient, X(n) is the spray rod distance information collected by the ultrasonic sensor, X(n-1) is the spray rod distance information signal collected by the ultrasonic sensor in the previous step, k is the minimum height of the plant, Y(n) is the output filter distance information, and Y(n-1) is the filter distance information of the previous step.

[0072] The first-order filtering algorithm can be expressed as:

[0073] Y(n)=α·X(n)+(1-α)·Y(n-1)

[0074] Among them, α is the first-order filter coefficient, X(n) is the second distance collected by the ultrasonic sensor, Y(n) is the output filtered distance information, and Y(n-1) is the filtered distance information of the previous step.

[0075] Based on the same technical concept, the present application also provides a boom height profiling control device, such as Figure 2 As shown, the boom height profiling control device 200 mainly includes:

[0076] The distance acquisition module 201 is used to acquire the distance information of the spray bar for each spray bar based on the ultrasonic sensor corresponding to the spray bar, wherein the spray bar distance information includes a first distance, or the first distance and a second distance, wherein the first distance is the distance between the spray bar and the ground, and the second distance is the distance between the spray bar and the top of the plant;

[0077] The adjustment module 202 is used to obtain, for each spray bar, an adjustment signal corresponding to the spray bar distance information based on a preset PID control algorithm, and adjust the height of the spray bar based on the adjustment signal.

[0078] Optionally, the adjustment module 202 includes:

[0079] A filtering submodule, for filtering the spray bar distance information of each spray bar to obtain filtered distance information;

[0080] The PID control submodule is used to calculate the distance error between the filtered distance information and the target distance information for each spray rod, and obtain the adjustment signal corresponding to the distance error based on the PID control algorithm, wherein the target distance information is a parameter characterizing the optimal spraying distance between the spray rod and the plant.

[0081] Optionally, the filtering submodule includes:

[0082] The acquisition mode submodule is used to obtain the filtering mode corresponding to each spray rod based on the current density of plants, and filter the spray rod distance information based on the filtering mode. The filtering mode is a parameter that characterizes the processing process of the spray rod distance information.

[0083] Optionally, the current density level includes the degree of plant sparseness or the degree of plant density, and the filtering mode includes a ground mode or a plant top mode, the ground mode is a mode for filtering out the first distance from the spray rod distance information, and the plant top mode is a mode for performing noise reduction processing on the spray rod distance information.

[0084] The acquisition mode submodules include:

[0085] A ground mode module, for each spray bar, if the current density is the plant sparseness, then the filtering mode corresponding to the spray bar is the ground mode;

[0086] The plant top mode module is used for each spray rod. If the current density is the plant density, the filtering mode corresponding to the spray rod is the plant top mode.

[0087] Optionally, the filtering submodule further includes:

[0088] The peak filtering submodule is used for filtering out the first distance from the spray boom distance information based on a peak filtering algorithm when the filtering mode is a ground mode, and using the first distance as the filtering distance information.

[0089] Optionally, the filtering submodule further includes:

[0090] The first-order filtering submodule is used to, when the filtering mode is the plant top mode, the spray rod distance information is the second distance, based on the first-order filtering algorithm, perform noise reduction processing on the second distance, and use the noise-reduced second distance as the filtering distance information.

[0091] In one example, the module in any of the above devices can be one or more integrated circuits configured to implement the above methods, such as: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0092] For another example, when the modules in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0093] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical scheme.

[0094] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0095] Those of ordinary skill in the art will appreciate that the modules and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0096] Based on the same technical concept, the present application also provides an electronic device, such as Figure 3 As shown, the electronic device 300 includes a processor 301 and a memory 302 , and may further include an information input / information output (I / O) interface 303 , one or more of a communication component 304 , and a communication bus 305 .

[0097] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned boom height profiling control method; the memory 302 is used to store various types of data to support the operation of the electronic device 300, and these data may include, for example, instructions for any application or method operated on the electronic device 300, and data related to the application. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0098] The I / O interface 303 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 304 is used to test the wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include: Wi-Fi components, Bluetooth components, NFC components.

[0099] The communication bus 305 may include a path to transmit information between the above components. The communication bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0100] The electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the spray boom height profiling control method given in the above embodiment.

[0101] The electronic device 300 may include but is not limited to mobile terminals such as digital broadcast receivers, PDAs (personal digital assistants), PMPs (portable multimedia players), etc., and fixed terminals such as digital TVs, desktop computers, etc., and may also be servers, etc.

[0102] Based on the same technical concept, the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned spray boom height profiling control method are implemented.

[0103] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0104] Based on the same technical concept, the present application also provides a sprayer, which can be a self-propelled spray boom sprayer, including the electronic device as described above, multiple spray booms, and ultrasonic sensors and height adjustment drive components corresponding to each of the spray booms, wherein the multiple ultrasonic sensors are electrically connected to the electronic device, and the multiple height adjustment drive components are electrically connected to the electronic device.

[0105] Each of the ultrasonic sensors is used to collect spray rod distance information, and the spray rod distance information includes a first distance, or the first distance and a second distance, the first distance is the distance between the spray rod and the ground, and the second distance is the distance between the spray rod and the top of the plant.

[0106] The electronic device is used to receive the spray bar distance information and output an adjustment signal to the height adjustment drive member corresponding to the spray bar distance information based on a preset PID control algorithm.

[0107] Each of the height driving members is used to adjust the height of the spray boom in response to the adjustment signal.

[0108] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0109] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0110] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0111] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A boom height profiling control method, characterized in that: include: For each spray bar, based on the ultrasonic sensor corresponding to the spray bar, spray bar distance information is obtained, wherein the spray bar distance information includes a first distance, or the first distance and a second distance, wherein the first distance is the distance between the spray bar and the ground, and the second distance is the distance between the spray bar and the top of the plant; For each spray boom, based on a preset PID control algorithm, an adjustment signal corresponding to the spray boom distance information is obtained, and based on the adjustment signal, the height of the spray boom is adjusted.

2. A boom height profiling control method according to claim 1, characterized in that: For each spray bar, the step of obtaining the adjustment signal corresponding to the spray bar distance information based on the preset PID control algorithm includes: For each spray bar, filtering the spray bar distance information to obtain filtered distance information; For each spray rod, the distance error between the filtered distance information and the target distance information is calculated, and based on the PID control algorithm, the adjustment signal corresponding to the distance error is obtained, and the target distance information is a parameter characterizing the optimal spraying distance between the spray rod and the plant.

3. A boom height profiling control method according to claim 2, characterized in that: For each spray bar, filtering the spray bar distance information to obtain filtered distance information includes: For each spray rod, the filter mode corresponding to the spray rod is obtained based on the current density of the plants, and the spray rod distance information is filtered based on the filter mode. The filter mode is a parameter that characterizes the processing process of the spray rod distance information.

4. A boom height profiling control method according to claim 3, characterized in that: The current density includes a sparseness of plants or a density of plants, and the filtering mode includes a ground mode or a plant top mode, wherein the ground mode is a mode for filtering out the first distance from the spray bar distance information, and the plant top mode is a mode for performing noise reduction processing on the spray bar distance information; For each spray bar, the step of obtaining a filter mode corresponding to the spray bar based on the current density of the plants includes: For each spray bar, if the current density is the plant sparseness, the filtering mode corresponding to the spray bar is the ground mode; For each spray bar, if the current density is the plant density, the filtering mode corresponding to the spray bar is the plant top mode.

5. A boom height profiling control method according to claim 4, characterized in that: For each spray bar, filtering the spray bar distance information to obtain filtered distance information further includes: If the filtering mode is the ground mode, the spray rod distance information includes the first distance and the second distance. Based on the peak filtering algorithm, the first distance is filtered out from the spray rod distance information, and the first distance is used as the filtering distance information.

6. A boom height profiling control method according to claim 4 or 5, characterized in that: For each spray bar, filtering the spray bar distance information to obtain filtered distance information further includes: If the filtering mode is the plant top mode, the spray rod distance information is the second distance. Based on the first-order filtering algorithm, the second distance is subjected to noise reduction processing, and the noise-reduced second distance is used as the filtering distance information.

7. A boom height profiling control device, characterized in that: include: A distance acquisition module is used to acquire, for each spray bar, spray bar distance information based on an ultrasonic sensor corresponding to the spray bar, wherein the spray bar distance information includes a first distance, or the first distance and a second distance, wherein the first distance is the distance between the spray bar and the ground, and the second distance is the distance between the spray bar and the top of the plant; The adjustment module is used to obtain an adjustment signal corresponding to the spray bar distance information for each spray bar based on a preset PID control algorithm, and adjust the height of the spray bar based on the adjustment signal.

8. An electronic device, characterized in that: comprising a processor and a memory, wherein the processor is coupled to the memory; The processor is configured to execute a computer program stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The method comprises a computer program or an instruction, which, when executed on a computer, causes the computer to execute the method according to any one of claims 1 to 6.

10. A spray machine, characterized in that: The electronic device comprises the electronic device as claimed in claim 8, a plurality of spray bars, and an ultrasonic sensor and a height adjustment drive member respectively corresponding to each of the spray bars, wherein the plurality of ultrasonic sensors are respectively electrically connected to the electronic device, and the plurality of height adjustment drives are respectively electrically connected to the electronic device; Each of the ultrasonic sensors is used to collect spray bar distance information, the spray bar distance information includes a first distance, or the first distance and a second distance, the first distance is the distance between the spray bar and the ground, and the second distance is the distance between the spray bar and the top of the plant; The electronic device is used to receive the spray bar distance information and output an adjustment signal to the height adjustment drive member corresponding to the spray bar distance information based on a preset PID control algorithm; Each of the height driving members is used to adjust the height of the spray boom in response to the adjustment signal.

Images