Pesticide spraying control method and device, electronic equipment and storage medium

Abstract

The invention discloses a pesticide spraying control method and device, electronic equipment and a storage medium. The method is applied to a main controller of a vehicle pesticide spraying control system and comprises the steps that in the pesticide spraying work process, driving parameters and pesticide spraying work parameters of a pesticide spraying vehicle are collected, and the driving parameters comprise the driving speed and the vehicle position; according to the running speed and the pesticide spraying operation parameters, the real-time theoretical pesticide spraying amount and the real-time actual pesticide spraying amount at the current moment are determined; controlling the opening degree of a proportional control valve of the pesticide spraying control system according to the deviation between the real-time theoretical pesticide spraying amount and the real-time actual pesticide spraying amount so as to adjust the pesticide spraying flow; and according to the vehicle position, determining an abnormal condition of an actual pesticide spraying operation area, and according to the abnormal condition of the actual pesticide spraying operation area, correspondingly controlling to close a spraying rod of the pesticide spraying control system. According to the technical scheme, the pesticide spraying control precision is improved, and thus the pesticide spraying operation quality is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of crop spraying, and in particular to a spraying control method, device, electronic equipment and storage medium. Background Art

[0002] At present, towed sprayers, backpack sprayers and self-propelled sprayers are commonly used in field pesticide application. They use pressure pumps to increase the pressure of the liquid medicine, so that the liquid medicine is atomized and evenly sprayed through the nozzle, thereby achieving the purpose of weeding, fertilization and crop growth regulation. However, the operation effect depends on the operation experience of the operator. Some areas have problems such as over-spraying or under-spraying, which leads to waste of liquid medicine, pollution of the environment and reduced crop yields. Summary of the invention

[0003] The present invention provides a spraying control method, device, electronic equipment and storage medium to solve the problem that existing spraying operations rely on the experience of operators, and some areas are over-sprayed or under-sprayed, which leads to waste of spray liquid, environmental pollution and crop yield reduction.

[0004] According to one aspect of the present invention, a spraying control method is provided, which is applied to a main controller of a vehicle spraying control system, and the method comprises:

[0005] During the spraying process, the driving parameters and spraying operation parameters of the spraying vehicle are collected, wherein the driving parameters include the driving speed and the vehicle position;

[0006] Determine the real-time theoretical spraying amount and the real-time actual spraying amount at the current moment according to the driving speed and the spraying operation parameters;

[0007] According to the deviation between the real-time theoretical spraying amount and the real-time actual spraying amount, the opening of the proportional control valve of the spraying control system is controlled to adjust the spraying flow rate;

[0008] The abnormal situation of the actual spraying operation area is determined according to the position of the vehicle, and the spraying boom of the spraying control system is controlled to be closed accordingly according to the abnormal situation of the actual spraying operation area.

[0009] According to another aspect of the present invention, there is provided a spray control device, which is configured in a main controller of a vehicle spray control system, and the device comprises:

[0010] A parameter acquisition module is used to collect the driving parameters and spraying operation parameters of the spraying vehicle during the spraying operation, wherein the driving parameters include the driving speed and the vehicle position;

[0011] A real-time spraying amount determination module is used to determine the real-time theoretical spraying amount and the real-time actual spraying amount at the current moment according to the driving speed and the spraying operation parameters;

[0012] an opening control module, for controlling the opening of the proportional control valve of the spray control system according to the deviation between the real-time theoretical spraying amount and the real-time actual spraying amount, so as to adjust the spraying flow rate;

[0013] The spray boom control module is used to determine the abnormal situation of the actual spraying operation area according to the position of the vehicle, and control and close the spray boom of the spraying control system according to the abnormal situation of the actual spraying operation area.

[0014] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0015] at least one processor; and

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the spraying control method described in any embodiment of the present invention.

[0018] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the spraying control method described in any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention collects driving parameters and spraying operation parameters of the spraying vehicle during the spraying operation, wherein the driving parameters include driving speed and vehicle position; determines the real-time theoretical spraying amount and the real-time actual spraying amount at the current moment according to the driving speed and the spraying operation parameters; controls the opening of the proportional control valve of the spraying control system according to the deviation between the real-time theoretical spraying amount and the real-time actual spraying amount to adjust the spraying flow rate; determines the abnormal situation of the actual spraying operation area according to the vehicle position, and controls and closes the spray rod of the spraying control system according to the abnormal situation of the actual spraying operation area. The technical means of adjusting the spraying flow rate according to the deviation between the theoretical spraying amount and the actual spraying amount and closing the spray rod with abnormality in the spraying operation area solves the problem that the existing spraying operation relies on the experience of the operator, and some areas have over-spraying or under-spraying, thereby causing waste of liquid medicine, polluting the environment, and reducing crop yields, improves the spraying control accuracy, and thus improves the spraying operation quality.

[0020] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1a A flow chart of a spray control method provided in Embodiment 1 of the present invention;

[0023] Figure 1b A schematic diagram of the structure of a spray control system provided in Embodiment 1 of the present invention;

[0024] Figure 1c A schematic diagram of the structure of a spraying vehicle provided in Embodiment 1 of the present invention;

[0025] Figure 1d A schematic diagram of a fuzzy PID control process provided in Example 1 of the present invention;

[0026] Figure 2 A flowchart of a spray control method provided by an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the structure of a spray control device provided in Embodiment 2 of the present invention;

[0028] Figure 4 It is a structural schematic diagram of an electronic device for implementing the spraying control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Embodiment 1

[0032] Figure 1a This is a flow chart of a spraying control method provided in Example 1 of the present invention. This embodiment can be applied to the situation of spraying control during the spraying operation of crops. The method can be executed by a spraying control device. The spraying control device can be implemented in the form of hardware and / or software. The spraying control device can be configured in the main controller of the vehicle spraying control system.

[0033] The spraying vehicle of this embodiment may include an automatic driving system and a spraying control system. Figure 1b The spray control system may include a main controller (spray controller), a main valve, an electric proportional valve, a flow meter (flow sensor), a spray rod valve group (section valve), a pressure gauge (pressure sensor) and a liquid level gauge. The specific principle is: ① The chemical liquid and the water solvent are mixed evenly in the medicine box in advance to form a liquid with a certain concentration; ② The liquid is filtered through a filter and pressurized into the pipeline by a pump. A part of the liquid is distributed to the nozzle through various branches for spraying, and the other part of the liquid is returned to the medicine box through a return pipeline connected in parallel with the spray pipeline at the water outlet of the pump; ③ The corresponding sensors and electric actuators are installed on the original spray pipeline to indirectly adjust the spray volume by adjusting the flow of the return pipeline.

[0034] refer to Figure 1c The spraying vehicle of this embodiment may include an automatic driving component and a spraying control component. The automatic driving component may include, for example, an electric steering wheel, a vehicle display, and a Beidou antenna, and the spraying vehicle may interact with the cloud service through the Beidou antenna; the spraying control component may include a spraying controller and a spraying valve group, and the like.

[0035] like Figure 1a As shown, the spraying control method includes:

[0036] S110. During the spraying process, driving parameters and spraying operation parameters of the spraying vehicle are collected. The driving parameters include driving speed and vehicle position.

[0037] The driving parameters of the spraying vehicle may refer to the vehicle's driving speed, real-time vehicle position, and driving status (straight or U-turn, etc.) parameters, and the driving parameters of the spraying vehicle may be obtained by exchanging information with the spraying vehicle's automatic driving system. The spraying operation parameters may refer to the parameters used to describe the spraying operation conditions.

[0038] In this embodiment, during the spraying operation, information interaction can be performed with the automatic driving system to collect real-time driving parameters of the spraying vehicle, and the spraying control system can be monitored in real time to collect real-time spraying operation parameters.

[0039] S120: Determine the real-time theoretical spraying volume and the real-time actual spraying volume at the current moment according to the driving speed and the spraying operation parameters.

[0040] The real-time theoretical spraying amount may be the theoretical value of the spraying amount at the current moment, and the real-time actual spraying amount may be the actual value of the spraying amount at the current moment.

[0041] In this embodiment, the theoretical spraying amount and the actual spraying amount at the current moment can be determined according to the real-time vehicle driving parameters and spraying operation parameters collected from the spraying vehicle during the spraying operation.

[0042] Optionally, the spraying operation parameters may include the spraying operation width, the theoretical spraying amount per unit area, the real-time spraying flow rate and the real-time spray pressure.

[0043] The spraying operation width may refer to the effective spraying width during the operation of the spraying vehicle. The theoretical spraying volume per unit area may refer to the spraying volume per hectare, for example. The real-time spraying flow rate may refer to the real-time actual value of the spraying flow rate, such as the actual spraying volume per unit time. The real-time spray pressure may refer to the real-time pressure of the liquid medicine passing through the nozzle. The spraying operation width and the theoretical spraying volume per unit area of ​​this embodiment may be initialization parameters for the spraying operation.

[0044] Accordingly, determining the real-time theoretical spraying volume and the real-time actual spraying volume at the current moment according to the driving speed and the spraying operation parameters may include: calculating the real-time theoretical spraying volume at the current moment according to the driving speed, the spraying operation width and the theoretical spraying volume per unit area; and determining the real-time spraying flow rate as the real-time actual spraying volume at the current moment when the real-time spraying flow rate is verified to be normal according to the real-time spray pressure.

[0045] In this embodiment, the real-time theoretical spraying amount at the current moment can be calculated based on the product of the speed of the spraying vehicle, the spraying operation width, and the preset theoretical spraying amount per unit area. Calculate the real-time theoretical spraying volume, where v can represent the speed of the spraying vehicle, d can represent the width of the spraying operation, q can represent the theoretical spraying volume per unit area, and 600 can represent the unit planning coefficient, which can be used to process the unit of the real-time theoretical spraying volume A into liters / minute. In this embodiment, the purpose of verifying the real-time spraying flow rate according to the real-time spray pressure can be to verify whether the flow meter (flow sensor) inside the spraying pipeline or collecting the real-time spraying flow rate is normal, so as to determine whether the collected real-time spraying flow rate is normal. If it is normal, the real-time spraying flow rate can be used as the real-time actual spraying volume at the current moment.

[0046] S130. According to the deviation between the real-time theoretical spraying amount and the real-time actual spraying amount, the opening of the proportional control valve of the spraying control system is controlled to adjust the spraying flow rate.

[0047] In this embodiment, the opening degree of the proportional control valve can be controlled by fuzzy PID (Proportional Integral Derivative) processing according to the deviation between the real-time theoretical spraying amount and the real-time actual spraying amount, so as to adjust the spraying flow rate.

[0048] In an optional implementation, the opening of the proportional control valve of the spray control system is controlled based on the deviation between the real-time theoretical spray volume and the real-time actual spray volume, which can include: obtaining the control amount of the proportional control valve by subjecting the deviation to proportional integral differential PID operation; controlling the motor rotation direction of the proportional control valve according to the positive or negative value of the control amount; and controlling the motor speed of the proportional control valve according to the size of the control amount.

[0049] Specifically, refer to Figure 1d The fuzzy PID control process is as follows: the actual flow rate (i.e., the real-time actual spraying amount) detected in the pipeline is fed back to the controller through the flow sensor, and the controller compares it with the theoretical flow rate (i.e., the real-time theoretical spraying amount), and the deviation signal of the two is calculated by PID to obtain the control amount, and the opening of the electric proportional valve (i.e., the proportional control valve) is adjusted to keep the theoretical flow rate consistent with the actual flow rate, so as to achieve closed-loop control of the spraying flow rate. During the adjustment process, the positive and negative output control amount of the PID controller determines the rotation direction of the control motor in the electric proportional valve (the opening / closing of the valve), the size of the control amount determines the rotation speed of the motor in the electric proportional valve (the opening / closing response speed of the valve), and the speed of the motor determines the opening of the valve. Specifically, the faster the motor speed, the faster the valve core rotates, and the faster the opening of the valve changes; conversely, when the motor speed is slow, the opening of the valve changes slowly. This control method enables the electric proportional valve to accurately adjust the spraying flow rate as needed. At the same time, in order to ensure the spraying effect, when the system pressure is less than the set minimum spray pressure (determined by the nozzle), the opening of the electric proportional valve can no longer be reduced.

[0050] S140, determining an abnormal situation in the actual spraying operation area according to the position of the vehicle, and correspondingly controlling and closing a spray boom of the spraying control system according to the abnormal situation in the actual spraying operation area.

[0051] The abnormal situation of the actual spraying operation area may refer to that the actual spraying operation area exceeds the designated spraying operation area (ie, the preset operation area), or there is an area of ​​repeated spraying in the actual spraying operation area.

[0052] In an optional embodiment, abnormal conditions in the actual spraying operation area are determined based on the vehicle position, and the spray boom of the spray control system is controlled to be closed accordingly based on the abnormal conditions in the actual spraying operation area. This may include: when it is determined based on the vehicle position that the preset operation area is exceeded and / or the spraying area overlaps, the spray boom in the spray control system that exceeds the preset operation area and / or the spraying area overlaps is controlled to be closed.

[0053] In this embodiment, it can be determined based on the vehicle position whether the vehicle is within the preset working area and / or whether the spraying areas overlap. When the spraying areas overlap and / or the spray boom exceeds the working area (for example, turning at the end of the field), the spraying status of each spray boom can be automatically controlled. For example, the spray boom that overlaps and / or exceeds the working area is automatically closed to avoid excessive spraying or accidental spraying.

[0054] The technical solution of the embodiment of the present invention collects driving parameters and spraying operation parameters of the spraying vehicle during the spraying operation, wherein the driving parameters include driving speed and vehicle position; determines the real-time theoretical spraying amount and the real-time actual spraying amount at the current moment according to the driving speed and the spraying operation parameters; controls the opening of the proportional control valve of the spraying control system according to the deviation between the real-time theoretical spraying amount and the real-time actual spraying amount to adjust the spraying flow rate; determines the abnormal situation of the actual spraying operation area according to the vehicle position, and controls and closes the spray rod of the spraying control system according to the abnormal situation of the actual spraying operation area. The technical means of adjusting the spraying flow rate according to the deviation between the theoretical spraying amount and the actual spraying amount and closing the spray rod with abnormality in the spraying operation area solves the problem that the existing spraying operation relies on the experience of the operator, and some areas have over-spraying or under-spraying, thereby causing waste of liquid medicine, polluting the environment, and reducing crop yields, improves the spraying control accuracy, and thus improves the spraying operation quality.

[0055] Optionally, during the spraying process, before collecting the vehicle's driving parameters and spraying operation parameters, it can also include: real-time monitoring of the medicine tank liquid level and the spray switch status of the spray control system; when the medicine tank liquid level is higher than the preset liquid level threshold and the spray switch status is open, the main valve of the spray control system is controlled to open, the proportional control valve opening is adjusted to the middle position, and the sectional valve is closed.

[0056] Optionally, when the liquid level in the medicine tank is lower than or equal to the preset liquid level threshold or the spray switch status is closed, the operation of real-time monitoring of the medicine tank liquid level and the spray switch status of the spray control system can be returned to continue, and the main valve, proportional control valve and section valve can be closed.

[0057] The advantage of this setting is that it can monitor whether there is enough liquid medicine in the medicine box to ensure that the spraying work can proceed normally; it can also ensure that the spraying work can proceed normally through valve status monitoring and valve status control to ensure that the collection operation of spraying operation parameters can proceed normally.

[0058] Optionally, after collecting the driving parameters and spraying operation parameters of the spraying vehicle, the method may also include: opening the sectional valve when the driving speed is greater than a preset speed threshold.

[0059] Optionally, when the driving speed is less than or equal to a preset speed threshold, the main valve of the spray control system can be kept open, the opening of the proportional control valve can be adjusted to a middle position, and the sectional valve can be closed.

[0060] The advantage of this setting is that it can determine whether the spraying vehicle is in a driving state, so as to ensure that the driving state of the spraying vehicle can be effectively collected.

[0061] Optionally, when the spray switch is turned off or the vehicle stops, the spray control system can be turned off to stop spraying to prevent excessive spraying in the same area, which would result in reduced grain production.

[0062] Optionally, the spraying control method of this embodiment may further include: collecting statistics on actual spraying conditions during the spraying process, and storing the statistical results in the cloud to achieve traceability management.

[0063] In this embodiment, information such as the operation plot, operation time, operation area, pesticide type and ratio, spraying amount, spray pressure, real-time flow rate and operation speed can be monitored online and displayed in real time, so as to realize statistics of actual spraying conditions such as the number of acres of operation, spraying trajectory, total spraying amount, etc., and store the statistical results in the cloud to realize traceability management.

[0064] In order to enable those skilled in the art to better understand the spraying control method of this embodiment, Figure 2 A flowchart of a spray control method provided by an embodiment of the present invention.

[0065] After the spraying control system of the spraying vehicle is started, the system can perform self-checks and obtain initialization parameters such as the spraying operation width and the predefined spraying amount per hectare. The liquid level of the medicine box can be collected. If the liquid level of the medicine box is lower than the preset liquid level threshold, an alarm can be sounded and the liquid level of the medicine box can continue to be monitored. If the liquid level of the medicine box is not lower than the preset liquid level threshold, the spraying switch status can be further monitored. When the spraying switch is closed, the main valve, proportional control valve and sectional valve can be closed. When the spraying switch is turned on, the main valve can be controlled to open, the proportional control valve opening can be adjusted to the middle position, and the sectional valve can be closed to allow all the liquid to flow back. The driving speed of the spraying vehicle can be further collected. If the driving speed is less than or equal to the preset speed threshold, the main valve can be opened, the proportional control valve opening can be adjusted to the middle position, the sectional valve can be closed, and the driving speed of the spraying vehicle can continue to be monitored. If the driving speed is greater than the preset speed threshold, the sectional valve can be opened to confirm that the spraying vehicle is in the driving state, and to ensure that the sectional valve of the spraying vehicle is in the open state when the spraying vehicle is in the driving state, so as to ensure that the sectional valve is opened in advance when the spraying operation is required during the driving process of the vehicle; further, the actual flow rate can be collected, and the theoretical flow rate can be calculated according to the width of the spraying operation, the predefined spraying amount per hectare, and the driving speed; the deviation between the actual flow rate and the theoretical flow rate can be judged. If there is a deviation, the opening degree of the proportional control valve can be adjusted. If there is no deviation, it can be judged whether the spraying operation is to be ended. If the spraying operation is to be ended, all valves such as the main valve, the proportional control valve and the sectional valve can be closed. If the spraying operation is not to be ended, it can be returned to continue to collect the driving speed of the spraying vehicle. During the working process of the spraying vehicle, it can also be judged in real time whether there is an abnormality in the actual operation area according to the position of the spraying vehicle. If there is an abnormality, the spraying operation can be ended directly. If no abnormality is found, the spraying operation can be not ended and other operations at the same time can be performed.

[0066] Embodiment 2

[0067] Figure 3 This is a schematic diagram of the structure of a spray control device provided in the second embodiment of the present invention. The device can be configured in the main controller of the vehicle spray control system. Figure 3 As shown, the device includes: a parameter acquisition module 310, a real-time spraying amount determination module 320, an opening control module 330 and a spray bar control module 340. Among them:

[0068] The parameter acquisition module 310 is used to collect the driving parameters and spraying operation parameters of the spraying vehicle during the spraying operation, wherein the driving parameters include the driving speed and the vehicle position;

[0069] A real-time spraying amount determination module 320 is used to determine the real-time theoretical spraying amount and the real-time actual spraying amount at the current moment according to the driving speed and the spraying operation parameters;

[0070] The opening control module 330 is used to control the opening of the proportional control valve of the spraying control system according to the deviation between the real-time theoretical spraying amount and the real-time actual spraying amount, so as to adjust the spraying flow rate;

[0071] The spray boom control module 340 is used to determine the abnormal situation of the actual spraying operation area according to the vehicle position, and control and close the spray boom of the spraying control system according to the abnormal situation of the actual spraying operation area.

[0072] The technical solution of the embodiment of the present invention collects driving parameters and spraying operation parameters of the spraying vehicle during the spraying operation, wherein the driving parameters include driving speed and vehicle position; determines the real-time theoretical spraying amount and the real-time actual spraying amount at the current moment according to the driving speed and the spraying operation parameters; controls the opening of the proportional control valve of the spraying control system according to the deviation between the real-time theoretical spraying amount and the real-time actual spraying amount to adjust the spraying flow rate; determines the abnormal situation of the actual spraying operation area according to the vehicle position, and controls and closes the spray rod of the spraying control system according to the abnormal situation of the actual spraying operation area. The technical means of adjusting the spraying flow rate according to the deviation between the theoretical spraying amount and the actual spraying amount and closing the spray rod with abnormality in the spraying operation area solves the problem that the existing spraying operation relies on the experience of the operator, and some areas have over-spraying or under-spraying, thereby causing waste of liquid medicine, polluting the environment, and reducing crop yields, improves the spraying control accuracy, and thus improves the spraying operation quality.

[0073] Optionally, the spraying operation parameters include spraying operation width, theoretical spraying amount per unit area, real-time spraying flow rate and real-time spray pressure;

[0074] Accordingly, the real-time spraying amount determination module 320 can be specifically used for:

[0075] Calculating the real-time theoretical spraying amount at the current moment according to the driving speed, the spraying operation width and the theoretical spraying amount per unit area;

[0076] When it is verified that the real-time spray flow rate is normal according to the real-time spray pressure, the real-time spray flow rate is determined as the real-time actual spray volume at the current moment.

[0077] Optionally, the opening control module 330 may be specifically used for:

[0078] The deviation is subjected to proportional-integral-differential (PID) operation to obtain a control amount for the proportional control valve;

[0079] Controlling the motor rotation direction of the proportional control valve according to the positive and negative values ​​of the control amount;

[0080] The motor speed of the proportional control valve is controlled according to the size of the control amount.

[0081] Optionally, the boom control module 340 may be used to:

[0082] When it is determined according to the vehicle position that the preset working area is exceeded and / or the spraying area overlaps, the spraying rods in the spraying control system that exceed the preset working area and / or the spraying area overlap are controlled to be closed.

[0083] Optionally, the spraying control device further includes a first valve control module, which is used for collecting the driving parameters of the vehicle and the spraying operation parameters before the spraying operation:

[0084] Real-time monitoring of the liquid level of the medicine box and the state of the medicine spray switch of the medicine spray control system;

[0085] When the liquid level in the medicine box is higher than the preset liquid level threshold and the spray switch is in the open state, the main valve of the spray control system is controlled to open, the opening degree of the proportional control valve is adjusted to the middle position, and the sectional valve is closed.

[0086] Optionally, the spraying control device further includes a second valve control module, which is used for, after collecting the driving parameters and spraying operation parameters of the spraying vehicle:

[0087] When the driving speed is greater than a preset speed threshold, the sectional valve is opened.

[0088] Optionally, the spray control device further includes a spray condition storage module, which is used to:

[0089] The actual spraying situation during the spraying process is counted, and the statistical results are stored in the cloud to achieve traceability management.

[0090] The spray control device provided in the embodiment of the present invention can execute the spray control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0091] Embodiment 3

[0092] Figure 4 A schematic diagram of the structure of an electronic device 400 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers or various forms of mobile devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0093] like Figure 4As shown, the electronic device 400 includes at least one processor 401, and a memory connected to the at least one processor 401 in communication, such as a read-only memory (ROM) 402, a random access memory (RAM) 403, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 401 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 402 or the computer program loaded from the storage unit 408 to the random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 can also be stored. The processor 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0094] Multiple components in the electronic device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the electronic device 400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0095] The processor 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 401 executes the various methods and processes described above, such as the spraying control method.

[0096] In some embodiments, the spray control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 408. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 400 via the ROM 402 and / or the communication unit 409. When the computer program is loaded into the RAM 403 and executed by the processor 401, one or more steps of the spray control method described above may be performed. Alternatively, in other embodiments, the processor 401 may be configured to perform the spray control method in any other appropriate manner (e.g., by means of firmware).

[0097] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0098] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0099] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0100] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0101] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0102] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0103] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0104] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A spray control method, applied to a main controller of a vehicle spray control system, characterized in that: include: During the spraying process, the driving parameters and spraying operation parameters of the spraying vehicle are collected, wherein the driving parameters include the driving speed and the vehicle position; Determine the real-time theoretical spraying amount and the real-time actual spraying amount at the current moment according to the driving speed and the spraying operation parameters; According to the deviation between the real-time theoretical spraying amount and the real-time actual spraying amount, the opening of the proportional control valve of the spraying control system is controlled to adjust the spraying flow rate; The abnormal situation of the actual spraying operation area is determined according to the position of the vehicle, and the spraying boom of the spraying control system is controlled to be closed accordingly according to the abnormal situation of the actual spraying operation area.

2. The method according to claim 1, characterized in that The spraying operation parameters include spraying operation width, theoretical spraying amount per unit area, real-time spraying flow rate and real-time spray pressure; Determining the real-time theoretical spraying amount and the real-time actual spraying amount at the current moment according to the driving speed and the spraying operation parameters includes: Calculating the real-time theoretical spraying amount at the current moment according to the driving speed, the spraying operation width and the theoretical spraying amount per unit area; When it is verified that the real-time spray flow rate is normal according to the real-time spray pressure, the real-time spray flow rate is determined as the real-time actual spray volume at the current moment.

3. The method according to claim 1, characterized in that According to the deviation between the real-time theoretical spraying amount and the real-time actual spraying amount, the opening of the proportional control valve of the spraying control system is controlled, including: The deviation is subjected to proportional-integral-differential (PID) operation to obtain a control amount for the proportional control valve; Controlling the motor rotation direction of the proportional control valve according to the positive and negative values ​​of the control amount; The motor speed of the proportional control valve is controlled according to the size of the control amount.

4. The method according to claim 1, characterized in that Determining an abnormal situation in an actual spraying operation area according to the position of the vehicle, and correspondingly controlling and closing a spray boom of the spraying control system according to the abnormal situation in the actual spraying operation area, including: When it is determined according to the vehicle position that the preset working area is exceeded and / or the spraying area overlaps, the spraying rods in the spraying control system that exceed the preset working area and / or the spraying area overlap are controlled to be closed.

5. The method according to claim 1, characterized in that During the spraying operation, before collecting the driving parameters of the vehicle and the spraying operation parameters, the method further includes: Real-time monitoring of the liquid level of the medicine box and the state of the medicine spray switch of the medicine spray control system; When the liquid level in the medicine box is higher than the preset liquid level threshold and the spray switch is in the open state, the main valve of the spray control system is controlled to open, the opening degree of the proportional control valve is adjusted to the middle position, and the sectional valve is closed.

6. The method according to claim 5, characterized in that After collecting the driving parameters and spraying operation parameters of the spraying vehicle, it also includes: When the driving speed is greater than a preset speed threshold, the sectional valve is opened.

7. The method according to claim 1, characterized in that Also includes: The actual spraying situation during the spraying process is counted, and the statistical results are stored in the cloud to achieve traceability management.

8. A spray control device, configured in a main controller of a vehicle spray control system, characterized in that: include: A parameter acquisition module is used to collect the driving parameters and spraying operation parameters of the spraying vehicle during the spraying operation, wherein the driving parameters include the driving speed and the vehicle position; A real-time spraying amount determination module is used to determine the real-time theoretical spraying amount and the real-time actual spraying amount at the current moment according to the driving speed and the spraying operation parameters; an opening control module, for controlling the opening of the proportional control valve of the spray control system according to the deviation between the real-time theoretical spraying amount and the real-time actual spraying amount, so as to adjust the spraying flow rate; The spray boom control module is used to determine the abnormal situation of the actual spraying operation area according to the position of the vehicle, and control and close the spray boom of the spraying control system according to the abnormal situation of the actual spraying operation area.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the spray control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the spraying control method according to any one of claims 1 to 7 when executed.

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