Pesticide spraying control method, control module, device, equipment and medium of silage harvester

Abstract

The invention provides a pesticide spraying control method, a control module, a device, equipment and a medium of a silage harvester, the method is applied to the control module of the device, and the method comprises the following steps: acquiring a target running speed of a target silage harvester acquired by a speed acquisition module and a target harvesting area image of the target silage harvester acquired by an image acquisition module; determining a target cutting width of the target silage harvester based on the target harvesting area image; based on the target driving speed and the target cutting width, determining a target spraying speed of the target silage machine for spraying the silage agent; and generating a first control signal according to the target spraying rate, and sending the first control signal to the diaphragm pump, so that the diaphragm pump controls the motor rotating speed of a driving motor of the diaphragm pump according to the first control signal, and spraying the silage agent according to the target spraying rate. In this way, the corresponding silage agent spraying rate is determined through the harvesting operation mode of the silage harvester, and the accuracy of silage agent spraying control can be improved.

Description

Technical Field

[0001] The present application relates to the field of agricultural machinery control technology, and in particular to a spraying control method, control module, device, equipment and medium for a silage machine. Background Art

[0002] The quality of silage has a vital impact on breeding benefits and livestock health. In order to meet the quality requirements of silage, the breeding industry has begun to widely use silage agents to improve the palatability and feeding value of silage such as corn straw. During the operation of the silage machine, how to spray the silage agent evenly and accurately has become one of the key factors in improving the quality of silage.

[0003] Existing silage machines use the same spraying method to spray pesticides in different operating modes and operating environments, which may result in excessive or insufficient spraying of silage agents. There is also a problem of low accuracy in silage agent spraying control, which affects the final quality of silage. Summary of the invention

[0004] In view of this, the embodiments of the present application at least provide a spraying control method, control module, device, equipment and medium for a silage machine, which can improve the accuracy of silage agent spraying control by determining the corresponding silage agent spraying rate through the harvesting operation mode of the silage machine.

[0005] This application mainly includes the following aspects:

[0006] In a first aspect, an embodiment of the present application provides a spraying control method for a silage machine, which is applied to a control module of a spraying control device for a silage machine, wherein the spraying control device includes a speed acquisition module, an image acquisition module, a diaphragm pump, and a control module; the speed acquisition module, the image acquisition module, and the diaphragm pump are electrically connected to the control module respectively; the spraying control method includes:

[0007] Acquire a target driving speed of the target silage machine acquired by the speed acquisition module and a target harvesting area image of the target silage machine acquired by the image acquisition module;

[0008] Determining a target cutting width of the target silage machine based on the target harvesting area image;

[0009] Determining a target spraying rate of the target silage machine for spraying the silage agent based on the target driving speed and the target cutting width;

[0010] A first control signal is generated according to the target spraying rate, and the first control signal is sent to the diaphragm pump, so that the diaphragm pump controls the motor speed of the driving motor of the diaphragm pump according to the first control signal to spray the silage agent according to the target spraying rate.

[0011] In a second aspect, the embodiment of the present application further provides a control module, which is applied to a spraying control device of a silage machine, wherein the spraying control device comprises a speed acquisition module, an image acquisition module, a diaphragm pump and a control module; the speed acquisition module, the image acquisition module and the diaphragm pump are electrically connected to the control module respectively; the control module comprises:

[0012] An acquisition unit, used for acquiring a target driving speed of the target silage machine acquired by the speed acquisition module and a target harvesting area image of the target silage machine acquired by the image acquisition module;

[0013] An image processing unit, configured to determine a target cutting width of the target silage machine based on the target harvesting area image;

[0014] A determination unit, configured to determine a target spraying rate of the target silage machine for spraying the silage agent based on the target travel speed and the target cutting width;

[0015] A sending unit is used to generate a first control signal according to the target spraying rate, and send the first control signal to the diaphragm pump, so that the diaphragm pump controls the motor speed of the driving motor of the diaphragm pump according to the first control signal to spray the silage agent according to the target spraying rate.

[0016] In a third aspect, the present application also provides a spray control device for a silage machine, the spray control device comprising:

[0017] A speed acquisition module, an image acquisition module, a diaphragm pump and the control module as described above; the speed acquisition module, the image acquisition module and the diaphragm pump are electrically connected to the control module respectively.

[0018] In a fourth aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the silage machine spraying control method as described above.

[0019] In a fifth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the silage machine spraying control method as described above are executed.

[0020] The spraying control method, control module, device, equipment and medium of the silage machine provided in the embodiment of the present application, wherein the method is applied to the control module of the spraying control device of the silage machine, and the spraying control device includes a speed acquisition module, an image acquisition module, a diaphragm pump and a control module; the speed acquisition module, the image acquisition module and the diaphragm pump are electrically connected to the control module respectively; the spraying control method includes: obtaining the target driving speed of the target silage machine acquired by the speed acquisition module and the target harvesting area image of the target silage machine acquired by the image acquisition module; based on the target harvesting area image, determining the target cutting width of the target silage machine; based on the target driving speed and the target cutting width, determining the target spraying rate of the target silage machine for spraying silage agent; generating a first control signal according to the target spraying rate, and sending the first control signal to the diaphragm pump, so that the diaphragm pump controls the motor speed of the driving motor of the diaphragm pump according to the first control signal, so as to spray the silage agent according to the target spraying rate. In this way, the corresponding silage agent spraying rate is determined by the harvesting operation mode of the silage machine, which can improve the accuracy of the silage agent spraying control.

[0021] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 One of the functional module diagrams of a spraying control device for a silage machine provided in an embodiment of the present application is shown;

[0024] Figure 2 The second functional module diagram of a spray control device for a silage machine provided in an embodiment of the present application is shown;

[0025] Figure 3 A flow chart of a method for controlling spraying of a silage machine provided in an embodiment of the present application is shown;

[0026] Figure 4 One of the functional module diagrams of a control module provided in an embodiment of the present application is shown;

[0027] Figure 5 A second functional module diagram of a control module provided in an embodiment of the present application is shown;

[0028] Figure 6A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0030] The following will be combined with the attached Figure 1 and attached Figure 2 The implementation of the embodiment of the present application is described in detail; the embodiment of the present application provides a spraying control method for a silage machine, which is applied to a control module of a spraying control device of a silage machine.

[0031] See also Figure 1 , Figure 1 This is one of the functional module diagrams of a spray control device for a silage machine provided in an embodiment of the present application. The spray control method provided in an embodiment of the present application can be applied to Figure 1 In the control module of the spray control device shown. Figure 1 As shown, the spray control device 100 may include: a speed acquisition module 110, an image acquisition module 120, a diaphragm pump 130 and a control module 140; the speed acquisition module 110, the image acquisition module 120 and the diaphragm pump 130 are electrically connected to the control module 140 respectively.

[0032] In the preferred solution 1 of the embodiment of the present application, please refer to Figure 2 , Figure 2 This is a second functional module diagram of a silage machine spraying control device provided in an embodiment of the present application. Figure 2 As shown, the spray control device 100 may further include a liquid level sensor 150 installed in the silage agent storage tank; the liquid level sensor 150 is electrically connected to the control module 140 .

[0033] In the preferred solution 2 of the embodiment of the present application, Figure 2 As shown, the spray control device 100 may further include a pressure sensor 160 installed in the silage agent storage tank; the pressure sensor 160 is electrically connected to the control module 140 .

[0034] In the preferred solution 3 of the embodiment of the present application, Figure 2 As shown, the spray control device 100 may further include a flow monitoring module 170 installed at the nozzle valve position of the diaphragm pump 130 ; the flow monitoring module 170 is electrically connected to the control module 140 .

[0035] A spraying control method for a silage machine provided in an embodiment of the present application is described in detail below. The spraying control method can be applied to the control module of the above-mentioned spraying control device.

[0036] See also Figure 3 , Figure 3 This is a flow chart of a method for controlling the spraying of a silage machine provided in an embodiment of the present application. Figure 3 As shown, the spraying control method of the silage machine provided in the embodiment of the present application includes the following steps:

[0037] S301, acquiring a target driving speed of a target silage machine acquired by the speed acquisition module and a target harvesting area image of the target silage machine acquired by the image acquisition module.

[0038] In the embodiment of the present application, in order to ensure the accuracy of silage agent spraying, it is necessary to determine the amount of silage material cut by the silage machine according to the cutting operation mode of the silage machine to judge the required amount of silage agent spraying. The silage machine cutting operation mode is mainly determined by the driving speed of the silage machine and the cutting width of the crops harvested by the silage machine. Therefore, the target driving speed of the target silage machine collected by the speed sampling module and the target harvesting area image of the target silage machine collected by the image acquisition module are first obtained.

[0039] Specifically, the speed sampling module 110 is a speed sensor installed on the target silage machine driving device, which is used to monitor the movement speed information of the target silage machine in real time and send the information to the control module 140; the image acquisition module 120 is a camera installed in the harvesting area of ​​the target silage machine, which is used to obtain image information of the width of the harvested swath left on the ground after harvesting in real time, and send the information to the control module 140.

[0040] S302: Determine a target cutting width of the target silage machine based on the target harvesting area image.

[0041] In this step, the control module uses image processing technology to extract the target cutting width of the target silage machine from the target harvesting area image. In the embodiment of the present application, in addition to being used to calculate the amount of silage material cut by the silage machine, the target cutting width can also be used to determine the effective working area of ​​the silage machine according to the target cutting width, so that the control module adjusts the spraying angle and direction of the nozzle of the diaphragm pump nozzle according to the effective working area to ensure that the silage agent is evenly distributed on the surface of the harvested crop under different operating conditions, avoiding overspray or missed spray, so as to improve the quality of silage.

[0042] S303: Determine a target spraying rate of the target silage machine for spraying the silage agent based on the target driving speed and the target cutting width.

[0043] In the embodiment of the present application, the target spraying rate of the silage agent is dynamically calculated based on the target driving speed and target cutting width of the silage machine, and is adjusted in real time to ensure the accuracy of the spraying.

[0044] S304, generating a first control signal according to the target spraying rate, and sending the first control signal to the diaphragm pump, so that the diaphragm pump controls the motor speed of the driving motor of the diaphragm pump according to the first control signal to spray the silage agent according to the target spraying rate.

[0045] In this step, a first control signal is generated according to the target spraying rate, where the first control signal is a control signal for the drive motor of the diaphragm pump, which is used to control the motor speed of the drive motor. In the embodiment of the present application, a diaphragm pump is used to adjust the flow rate of the spray, and the diaphragm pump can be accurately adjusted within a wide flow range to ensure accurate control of the spray volume under various operating conditions. Specifically, through the pre-established mapping relationship between the motor speed of the diaphragm pump drive motor and the spray flow rate, the motor is controlled to rotate at a speed corresponding to the target spraying rate through the first control signal, so that the diaphragm pump sprays the silage agent at the target spraying rate.

[0046] Further, the target spraying rate of the target silage machine for spraying the silage agent is determined based on the target driving speed and the target cutting width, including:

[0047] Step a1: determining a target mass flow rate of silage material harvested by the target silage machine according to the target driving speed and the target cutting width.

[0048] In the embodiment of the present application, the control of the spraying amount is mainly determined by two main variables: the mass flow rate of the harvested silage material and the ratio of the spraying amount to the mass; the mass flow rate M of the harvested silage material is the weight of the harvested silage material per second, in kilograms (kg / s), which is the target mass flow rate in the embodiment of the present application; the ratio R of the spraying amount to the mass is the dosage of the silage agent required per kilogram of material, in liters / kilograms (L / kg). By measuring the mass flow rate of the harvested silage material in real time, the control module can dynamically adjust the spraying amount per second.

[0049] Specifically, the mass of harvested silage can be obtained by multiplying the target driving speed of the silage machine with the target cutting width to obtain the real-time harvesting area of ​​the silage machine, and then multiplying it by the crop density per unit harvesting area to obtain the target mass flow rate of silage harvested by the target silage machine.

[0050] In a possible implementation, the target mass flow rate can also be directly obtained by placing a load sensor device directly under the silage machine crop conveyor belt.

[0051] Step a2, determining a target spraying rate of the target silage machine for spraying the silage agent according to the target mass flow rate and a preset unit mass spraying amount.

[0052] In this step, the target spraying rate of the target silage machine for spraying silage agent is determined according to the target mass flow rate and the preset unit mass spraying amount. Specifically, the relationship between the spraying amount Q (in liters per second, L / s) and the target mass flow rate M and the preset unit mass spraying amount R can be calculated by the following formula:

[0053] Q = M × R;

[0054] Where: Q is the amount of medicine that the spraying system needs to spray per second, in liters per second (L / s);

[0055] M is the real-time mass flow rate of harvested silage material, in kilograms per second (kg / s);

[0056] R is the preset dosage of medicine required per kilogram of silage material, in liters per kilogram (L / kg).

[0057] The control module obtains the target mass flow rate M in real time, and then calculates the current spraying volume Q per second according to the preset unit mass spraying volume R. The calculation result is transmitted to the diaphragm pump to adjust the spraying flow rate.

[0058] Specifically, when the mass of harvested silage material increases, the control module automatically increases the spraying amount Q to ensure that each kilogram of material obtains enough medicine; if the harvesting rate decreases, the spraying amount will also be reduced accordingly to prevent waste of medicine.

[0059] Furthermore, in actual application, the control module may further consider the following factors when calculating the spraying amount Q:

[0060] The first is the moisture or density of the silage material; if the moisture or density of the material varies greatly, it may affect the overall weight of the silage material, which in turn affects the calculation of the spray amount.

[0061] The second is the upper and lower limits of the spray flow rate; the control module needs to set a reasonable flow range to avoid excessive or insufficient spraying of the diaphragm pump under extreme conditions.

[0062] Therefore, the calculation formula of the spraying amount Q can be further expressed as:

[0063] Q=A(M×R)+B; Q∈[α1,α2];

[0064] Among them, A and B are environmental influencing factor parameters set according to actual conditions, and α1 and α2 are the upper and lower limits of the spray flow rate.

[0065] In the preferred solution 1 of the embodiment of the present application, the spray control method further includes:

[0066] Step b1, obtaining a liquid level signal collected by the liquid level sensor, and determining the liquid level height in the silage agent storage tank according to the liquid level signal.

[0067] In the embodiment of the present application, the control module monitors the storage condition of the silage agent in real time through the liquid level sensor. Specifically, the control module obtains the liquid level signal collected by the liquid level sensor and determines the liquid level height in the silage agent storage tank according to the liquid level signal.

[0068] Step b2: If the liquid level height is lower than the preset liquid level height threshold, it is determined that there is insufficient silage in the silage storage tank, and a second control signal is generated and sent to the diaphragm pump, so that the diaphragm pump controls the nozzle valve of the diaphragm pump to close and stop spraying according to the second control signal.

[0069] In this step, if the liquid level is lower than the preset liquid level threshold, it is determined that there is insufficient silage in the silage storage tank. At this time, a second control signal is generated and sent to the diaphragm pump, so that the diaphragm pump controls the nozzle valve of the diaphragm pump to close and stop spraying according to the second control signal, and at the same time, an alarm is sounded to remind the operator to replenish the silage in time to ensure that the continuity of the operation is not affected by insufficient liquid level during the spraying process. Specifically, the second control signal is a proportional-integral-derivative (PID) control signal, which is used to control the opening of the nozzle valve. The preset liquid level threshold is the minimum liquid level set according to the actual situation, and no specific restrictions are made here.

[0070] In the embodiment of the present application, in addition to adjusting the spraying flow rate of the silage machine by the motor speed of the diaphragm pump, it can also be jointly adjusted by controlling the opening of the nozzle valve of the diaphragm pump. In one possible implementation method, the adjustment of the valve opening is proportional to the speed of the silage machine, that is, when the speed increases, the valve opening increases and the spraying amount increases; when the speed decreases, the valve opening decreases and the spraying amount decreases.

[0071] In the preferred solution 2 of the embodiment of the present application, the spray control method further includes:

[0072] Step c1, obtaining the pressure signal collected by the pressure sensor, and determining the target spraying pressure in the silage agent storage tank according to the pressure signal.

[0073] In this step, the pressure sensor is used to monitor the spraying pressure inside the silage agent storage tank to ensure that the spraying process is carried out within the set pressure range. First, the pressure signal collected by the pressure sensor is obtained, and the target spraying pressure in the silage agent storage tank is determined according to the pressure signal.

[0074] Step c2, generating a third control signal according to the target spraying pressure and a preset first mapping relationship and sending it to the diaphragm pump, so that the diaphragm pump adjusts the valve opening of the nozzle valve to the valve opening corresponding to the target spraying pressure according to the third control signal; the preset first mapping relationship is the mapping relationship between the spraying pressure and the valve opening of the nozzle valve of the diaphragm pump.

[0075] In this step, according to the mapping relationship between the preset injection pressure and the valve opening of the nozzle valve of the diaphragm pump, the valve opening of the nozzle valve corresponding to different target injection pressures is determined, and a corresponding PID control signal, that is, a third control signal is generated and sent to the diaphragm pump, so that the diaphragm pump controls the nozzle valve to open to the corresponding valve opening according to the control signal, so as to avoid over- or under-spraying due to the spraying pressure in the silage agent storage tank.

[0076] Furthermore, the spraying control method further includes:

[0077] If the target spraying pressure is greater than a preset spraying pressure threshold, a fourth control signal is generated and sent to the diaphragm pump, so that the diaphragm pump controls the nozzle valve to close and stop spraying according to the fourth control signal.

[0078] In the embodiment of the present application, if the target spraying pressure is greater than the preset spraying pressure threshold, it means that the pressure in the silage agent storage tank is abnormal, and it is very dangerous to continue working, and it is necessary to stop working immediately for maintenance. At this time, a fourth control signal is generated and sent to the diaphragm pump, so that the diaphragm pump controls the nozzle valve to close and stop spraying according to the fourth control signal. The fourth control signal is a PID control signal.

[0079] In the preferred solution 3 of the embodiment of the present application, the spray control method further includes:

[0080] Step d1, obtaining the flow signal collected by the flow monitoring module, and determining the actual spraying rate of the diaphragm pump for spraying the silage agent according to the flow signal.

[0081] In the embodiment of the present application, due to environmental factors, sensor errors, equipment aging, etc., the actual spraying rate of the silage agent may not be equal to the set target spraying rate. Therefore, the embodiment of the present application fine-tunes the spraying rate of the diaphragm pump by setting negative feedback regulation to ensure that the actual injection amount is consistent with the decision amount. First, the flow signal collected by the flow monitoring module is obtained, and the actual spraying rate of the diaphragm pump spraying the silage agent is determined according to the flow signal.

[0082] Step d2, if the actual spraying rate is different from the target spraying rate, a fifth control signal is generated according to the actual spraying rate and the target spraying rate and sent to the diaphragm pump, so that the diaphragm pump adjusts the valve opening of the nozzle valve according to the fifth control signal until the actual spraying rate is equal to the target spraying rate.

[0083] In this step, if the actual spraying rate is different from the target spraying rate, a fifth control signal is generated according to the difference between the actual spraying rate and the target spraying rate, that is, a PID control signal controls the valve opening of the nozzle valve of the diaphragm pump. Specifically, if the actual spraying rate is greater than the target spraying rate, the valve opening of the nozzle valve is reduced; if the actual spraying rate is less than the target spraying rate, the valve opening of the nozzle valve is increased, and fine-tuning is repeated until the actual spraying rate is equal to the target spraying rate.

[0084] Furthermore, through the coordinated monitoring of the liquid level sensor, pressure sensor, and flow monitoring module, the control module can grasp the usage status of the silage agent and the operation of the silage machine in real time to ensure the safety and stability of the spraying process.

[0085] The embodiment of the present application provides a spraying control method for a silage machine, which is applied to a control module of a spraying control device for a silage machine, wherein the spraying control device includes a speed acquisition module, an image acquisition module, a diaphragm pump and a control module; the speed acquisition module, the image acquisition module and the diaphragm pump are electrically connected to the control module respectively; the spraying control method includes: obtaining a target driving speed of a target silage machine acquired by the speed acquisition module and a target harvesting area image of the target silage machine acquired by the image acquisition module; determining a target cutting width of the target silage machine based on the target harvesting area image; determining a target spraying rate of the target silage machine for spraying silage agent based on the target driving speed and the target cutting width; generating a first control signal according to the target spraying rate, and sending the first control signal to the diaphragm pump, so that the diaphragm pump controls the motor speed of the driving motor of the diaphragm pump according to the first control signal, so as to spray the silage agent according to the target spraying rate. In this way, the corresponding silage agent spraying rate is determined by the harvesting operation mode of the silage machine, and the accuracy of the silage agent spraying control can be improved.

[0086] Based on the same application concept, the embodiments of the present application also provide a spray control device for a silage machine corresponding to the spray control method for a silage machine provided in the above embodiments. Since the principle of solving the problem by the device in the embodiments of the present application is similar to the spray control method for a silage machine in the above embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0087] See also Figure 4 , Figure 4 This is one of the functional module diagrams of a control module provided in an embodiment of the present application. Figure 4 As shown, the control module 140 includes:

[0088] The acquisition unit 141 is used to acquire the target driving speed of the target silage machine acquired by the speed acquisition module and the target harvesting area image of the target silage machine acquired by the image acquisition module.

[0089] The image processing unit 142 is used to determine a target cutting width of the target silage machine based on the target harvesting area image.

[0090] The determination unit 143 is used to determine a target spraying rate of the target silage machine for spraying the silage agent based on the target driving speed and the target cutting width.

[0091] The sending unit 144 is used to generate a first control signal according to the target spraying rate, and send the first control signal to the diaphragm pump, so that the diaphragm pump controls the motor speed of the driving motor of the diaphragm pump according to the first control signal to spray the silage agent according to the target spraying rate.

[0092] Further, when the determination unit 143 is used to determine the target spraying rate of the target silage machine for spraying the silage agent based on the target driving speed and the target cutting width, the determination unit 143 is specifically used to:

[0093] Determining a target mass flow rate of silage material harvested by the target silage machine according to the target driving speed and the target cutting width;

[0094] The target spraying rate of the target silage machine for spraying the silage agent is determined according to the target mass flow rate and the preset unit mass spraying amount.

[0095] In the preferred solution 1 of the embodiment of the present application, the control module 140 further includes:

[0096] The second acquisition unit 145 is used to acquire the liquid level signal collected by the liquid level sensor, and determine the liquid level height in the silage agent storage tank according to the liquid level signal.

[0097] The second sending unit 146 is used to determine that the silage agent in the silage agent storage tank is insufficient if the liquid level height is lower than a preset liquid level height threshold, generate a second control signal and send it to the diaphragm pump, so that the diaphragm pump controls the nozzle valve of the diaphragm pump to close and stop spraying according to the second control signal.

[0098] In the preferred solution 2 of the embodiment of the present application, the control module 140 further includes:

[0099] A third acquisition unit 147 is used to acquire the pressure signal collected by the pressure sensor and determine the target spraying pressure in the silage agent storage tank according to the pressure signal;

[0100] The third sending unit 148 is used to generate a third control signal and send it to the diaphragm pump according to the target spraying pressure and a preset first mapping relationship, so that the diaphragm pump adjusts the valve opening of the nozzle valve to the valve opening corresponding to the target spraying pressure according to the third control signal; the preset first mapping relationship is the mapping relationship between the spraying pressure and the valve opening of the nozzle valve of the diaphragm pump.

[0101] Furthermore, the third sending unit 148 is further configured to:

[0102] If the target spraying pressure is greater than a preset spraying pressure threshold, a fourth control signal is generated and sent to the diaphragm pump, so that the diaphragm pump controls the nozzle valve to close and stop spraying according to the fourth control signal.

[0103] In the preferred solution 3 of the embodiment of the present application, the control module 140 further includes:

[0104] The fourth acquisition unit 149 is used to acquire the flow signal collected by the flow monitoring module, and determine the actual spraying rate of the diaphragm pump for spraying the silage agent according to the flow signal.

[0105] The fourth sending unit 1410 is used to generate a fifth control signal and send it to the diaphragm pump according to the actual spraying rate and the target spraying rate if the actual spraying rate is different from the target spraying rate, so that the diaphragm pump adjusts the valve opening of the nozzle valve according to the fourth control signal until the actual spraying rate is equal to the target spraying rate.

[0106] The control module provided in the embodiment of the present application is applied to the spraying control device of the silage machine, and the spraying control device includes a speed acquisition module, an image acquisition module, a diaphragm pump and a control module; the speed acquisition module, the image acquisition module and the diaphragm pump are electrically connected to the control module respectively; the control module includes: an acquisition unit, which is used to acquire the target driving speed of the target silage machine acquired by the speed acquisition module and the target harvesting area image of the target silage machine acquired by the image acquisition module; an image processing unit, which is used to determine the target cutting width of the target silage machine based on the target harvesting area image; a determination unit, which is used to determine the target spraying rate of the target silage machine for spraying silage agent based on the target driving speed and the target cutting width; a sending unit, which is used to generate a first control signal according to the target spraying rate, and send the first control signal to the diaphragm pump, so that the diaphragm pump controls the motor speed of the driving motor of the diaphragm pump according to the first control signal, so as to spray the silage agent according to the target spraying rate. In this way, the corresponding silage agent spraying rate is determined by the harvesting operation mode of the silage machine, which can improve the accuracy of the silage agent spraying control.

[0107] Based on the same application concept, an embodiment of the present application also provides a silage machine, which includes the silage machine spraying control device as described above, and adopts the silage machine spraying control method as described above to control the silage machine spraying, and the repeated parts will not be repeated.

[0108] Based on the same application idea, please refer to Figure 6 , Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 6 As shown, the electronic device 600 includes a processor 610 , a memory 620 and a bus 630 .

[0109] The memory 620 stores machine-readable instructions executable by the processor 610. When the electronic device 600 is running, the processor 610 communicates with the memory 620 through the bus 630. When the processor 610 is running, the machine-readable instructions are executed by the steps of the silage machine spraying control method provided in the above embodiment. The specific implementation method can be found in the method embodiment, which will not be repeated here.

[0110] Based on the same application concept, an embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the silage machine spraying control method provided in the above embodiment are executed. The specific implementation method can be found in the method embodiment, which will not be repeated here.

[0111] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0112] In the embodiments provided in the present application, it should be understood that the disclosed methods, modules and devices can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0113] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0114] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0115] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as 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.

[0116] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0117] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application. They should all be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for controlling spraying of a silage machine, characterized in that: A control module for a spray control device applied to a silage machine, the spray control device comprising a speed acquisition module, an image acquisition module, a diaphragm pump and a control module; The speed acquisition module, the image acquisition module and the diaphragm pump are electrically connected to the control module respectively; the spraying control method includes: Acquire a target driving speed of the target silage machine acquired by the speed acquisition module and a target harvesting area image of the target silage machine acquired by the image acquisition module; Determining a target cutting width of the target silage machine based on the target harvesting area image; Determining a target spraying rate of the target silage machine for spraying the silage agent based on the target driving speed and the target cutting width; A first control signal is generated according to the target spraying rate, and the first control signal is sent to the diaphragm pump, so that the diaphragm pump controls the motor speed of the driving motor of the diaphragm pump according to the first control signal to spray the silage agent according to the target spraying rate.

2. The spray control method according to claim 1, characterized in that: The step of determining a target spraying rate of the target silage machine for spraying the silage agent based on the target driving speed and the target cutting width includes: Determining a target mass flow rate of silage material harvested by the target silage machine according to the target driving speed and the target cutting width; The target spraying rate of the target silage machine for spraying the silage agent is determined according to the target mass flow rate and the preset unit mass spraying amount.

3. The spray control method according to claim 1, characterized in that: The spray control device further includes a liquid level sensor installed in the silage agent storage tank; the liquid level sensor is electrically connected to the control module; the spray control method further includes: Acquiring a liquid level signal collected by the liquid level sensor, and determining a liquid level height in the silage agent storage tank according to the liquid level signal; If the liquid level height is lower than the preset liquid level height threshold, it is determined that there is insufficient silage in the silage storage tank, and a second control signal is generated and sent to the diaphragm pump, so that the diaphragm pump controls the nozzle valve of the diaphragm pump to close and stop spraying according to the second control signal.

4. The spray control method according to claim 1, characterized in that: The spray control device further includes a pressure sensor installed in the silage agent storage tank; the pressure sensor is electrically connected to the control module; the spray control method further includes: Acquiring a pressure signal collected by the pressure sensor, and determining a target spraying pressure in the silage agent storage tank according to the pressure signal; According to the target spraying pressure and the preset first mapping relationship, a third control signal is generated and sent to the diaphragm pump, so that the diaphragm pump adjusts the valve opening of the nozzle valve to the valve opening corresponding to the target spraying pressure according to the third control signal; the preset first mapping relationship is the mapping relationship between the spraying pressure and the valve opening of the nozzle valve of the diaphragm pump.

5. The spray control method according to claim 4, characterized in that: The spray control method also includes: If the target spraying pressure is greater than a preset spraying pressure threshold, a fourth control signal is generated and sent to the diaphragm pump, so that the diaphragm pump controls the nozzle valve to close and stop spraying according to the fourth control signal.

6. The spray control method according to claim 1, characterized in that: The spray control device further comprises a flow monitoring module installed at the nozzle valve position of the diaphragm pump; the flow monitoring module is electrically connected to the control module; the spray control method further comprises: Acquiring the flow signal collected by the flow monitoring module, and determining the actual spraying rate of the diaphragm pump for spraying the silage agent according to the flow signal; If the actual spraying rate is different from the target spraying rate, a fifth control signal is generated according to the actual spraying rate and the target spraying rate and sent to the diaphragm pump, so that the diaphragm pump adjusts the valve opening of the nozzle valve according to the fifth control signal until the actual spraying rate is equal to the target spraying rate.

7. A control module, characterized in that: A spray control device applied to a silage machine, the spray control device comprising a speed acquisition module, an image acquisition module, a diaphragm pump and a control module; The speed acquisition module, the image acquisition module and the diaphragm pump are electrically connected to the control module respectively; the control module comprises: An acquisition unit, used for acquiring a target driving speed of the target silage machine acquired by the speed acquisition module and a target harvesting area image of the target silage machine acquired by the image acquisition module; An image processing unit, configured to determine a target cutting width of the target silage machine based on the target harvesting area image; A determination unit, configured to determine a target spraying rate of the target silage machine for spraying the silage agent based on the target travel speed and the target cutting width; A sending unit is used to generate a first control signal according to the target spraying rate, and send the first control signal to the diaphragm pump, so that the diaphragm pump controls the motor speed of the driving motor of the diaphragm pump according to the first control signal to spray the silage agent according to the target spraying rate.

8. A spray control device for a silage machine, characterized in that: The spray control device comprises: A speed acquisition module, an image acquisition module, a diaphragm pump and a control module as claimed in claim 7; the speed acquisition module, the image acquisition module and the diaphragm pump are electrically connected to the control module respectively.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate via the bus, and the machine-readable instructions are executed by the processor to execute the steps of the silage machine spraying control method as described in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the silage machine spraying control method according to any one of claims 1 to 6 are executed.

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