Spraying apparatus, control method of spraying apparatus, and computer storage medium

Abstract

The invention provides spraying equipment, a control method of the spraying equipment and a computer storage medium. The control method comprises the following steps: acquiring area edge information of a to-be-sprayed area; determining an initial spraying distance and a supplementary spraying distance of the spraying equipment according to the area edge information; controlling the spraying equipment to spray the to-be-sprayed area for the first time according to the initial spraying distance; after the first spraying is completed, the spraying device is controlled to conduct second spraying on the to-be-sprayed area according to the supplementary spraying distance, and the supplementary spraying distance corresponding to at least part of the to-be-sprayed area is smaller than or larger than the initial spraying distance.

Description

Technical Field

[0001] The present application relates to the technical field of spraying devices, and in particular to a spraying device, a control method for the spraying device, and a computer storage medium. Background Art

[0002] In recent years, with the increasing demand for intelligent and energy-saving irrigation equipment, precision irrigation equipment has been widely used. However, in the actual application process, there are still many problems that need to be solved. For example, the spraying uniformity of some irrigation equipment is insufficient, especially when the water curtain is long (for example, more than ten meters), the spraying amount near and far in the irrigation area is quite different, resulting in uneven water distribution in the irrigation area, and poor growth of vegetation such as grass due to local overwatering or drought. Summary of the invention

[0003] In view of the deficiencies of the above-mentioned prior art, the present application provides a control method for a spraying equipment, comprising: obtaining area edge information of an area to be sprayed; determining an initial spraying distance and a supplementary spraying distance of the spraying equipment according to the area edge information; controlling the spraying equipment to spray the area to be sprayed for the first time according to the initial spraying distance; after completing the first spraying, controlling the spraying equipment to spray the area to be sprayed for the second time according to the supplementary spraying distance, wherein the supplementary spraying distance corresponding to at least part of the area to be sprayed is less than or greater than the initial spraying distance.

[0004] Furthermore, the area edge information includes a map of the edge of the area to be sprayed, and a plurality of position points are arranged on the map of the edge, and each of the position points has a corresponding initial spraying distance and a corresponding supplementary spraying distance.

[0005] Furthermore, controlling the spraying device to spray the area to be sprayed for the first time according to the initial spraying distance includes controlling the spraying device to rotate and adjusting the pitch angle or water flow rate of the spraying device during the rotation process, so that the initial spraying distance of each position point is equal to or close to the distance from the spraying device to the edge of the area to be sprayed.

[0006] Furthermore, the spraying device is controlled to spray the area to be sprayed for a second time according to the supplementary spraying distance, including controlling the spraying device to rotate and adjusting the pitch angle or water flow rate of the spraying device during the rotation process, so that the supplementary spraying distance of each position point is less than or greater than the initial spraying distance.

[0007] Furthermore, the first spraying of the area to be sprayed has a first water concentrated area and a first water non-concentrated area, and the second spraying of the area to be sprayed has a second water concentrated area and a second water non-concentrated area, and the second water concentrated area at least partially overlaps with the first water non-concentrated area.

[0008] Furthermore, the first water concentration area and the second water concentration area are both related to the wind direction, pitch angle and / or water flow rate of the spraying equipment.

[0009] Furthermore, the correspondence between the first water concentration area or the second water concentration area and the wind direction, pitch angle and / or water flow rate of the spraying equipment is obtained through historical statistical data or preset by the user.

[0010] Furthermore, the spraying device rotates at least one circle during the first spraying or the second spraying.

[0011] The present application also discloses a spraying device, which can implement the control method described in any embodiment of the present application when executed.

[0012] The present application also discloses a computer storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0013] The embodiments described in this application have the following beneficial effects:

[0014] The control method of the spraying equipment provided by the present application can determine the initial spraying distance and the supplementary spraying distance of the spraying equipment according to the area edge information of the area to be sprayed, and control the spraying equipment to spray the area to be sprayed for the first time according to the initial spraying distance; at the same time, after completing the first spraying, according to the supplementary spraying distance, control the spraying equipment to spray the area to be sprayed for the second time. Through multiple supplementary spraying, the problem of large difference in spraying amount near and far in the spraying area is solved, and the spraying uniformity and spraying accuracy of the spraying equipment are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the present application, the following briefly introduces the drawings required for the description of the embodiments. The drawings described below are only exemplary embodiments of the present application.

[0016] Figure 1 A flow chart showing a method for controlling a spraying device according to an embodiment of the present application is shown;

[0017] Figure 2 A schematic diagram of the structure of a spraying device according to an embodiment of the present application is shown;

[0018] Figure 3 A schematic diagram showing a spraying operation of a spraying device according to an embodiment of the present application is shown;

[0019] Figure 4a The schematic diagram shows the corresponding relationship between the spraying distance and the water volume of the spraying equipment of one embodiment of the present application. Figure 1 ;

[0020] Figure 4b The schematic diagram shows the corresponding relationship between the spraying distance and the water volume of the spraying equipment of one embodiment of the present application. Figure 2 ;

[0021] Figure 4c The schematic diagram shows the corresponding relationship between the spraying distance and the water volume of the spraying equipment of one embodiment of the present application. Figure 3 ;

[0022] Figure 5 A schematic diagram showing the amount of water after multiple supplementary spraying of a spraying device according to an embodiment of the present application is shown;

[0023] Figure 6 A schematic diagram of a spraying path of a method for controlling a spraying device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0024] The technical solutions in this application will be described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work belong to the protection scope of this application. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict.

[0025] The present application provides a control method for a spraying device. The spraying device of the present application can be applied to a variety of areas to be sprayed, such as grasslands, vegetation, gardens, etc. The spraying device has a flexible spraying sequence adjustment function, and can choose to spray from far to near or from near to far according to actual needs. In the mode of from far to near, spraying starts from the maximum spraying distance, and then gradually sprays to near, which is suitable for covering a large area first or giving priority to meeting the needs of distant targets; in the mode of from near to far, spraying starts from a close distance, and then gradually sprays to a distance, which is suitable for scenes that require fine spraying of nearby areas first. The flexible spraying order enables the spraying device to provide higher adaptability and operational flexibility in different application scenarios. The present application does not limit the specific presentation of the spraying equipment and the area to be sprayed, as long as the principle of the present application can be realized.

[0026] The control method 100 of the spraying equipment of the present application is described in detail below with reference to the accompanying drawings. Figure 1 The flowchart of the control method of the spraying device according to an embodiment of the present application is shown. The control method 100 includes steps S101 to S104. Steps S101 to S104 will be described below.

[0027] In step S101, the area edge information of the area to be sprayed is obtained.

[0028] Refer to the following Figure 2 , Figure 3 and Figure 4a Give a brief explanation of the spraying principle of the spraying equipment. Figure 2 FIG. 1 shows a schematic diagram of the structure of a spraying device according to an embodiment of the present application. Figure 2 As shown in , when the spraying device is spraying, the falling point of the water curtain can be adjusted by adjusting the angle of the spraying device (such as the rotation angle of the motor, the angle of the nozzle (such as the pitch angle), water pressure, and water flow rate to perform the spraying operation. It is understandable that the spraying device adjusts the spraying distance by adjusting various parameters (such as the angle of the nozzle, water pressure, water flow rate, etc.). In this application, unless otherwise specified, the spraying distance represents the farthest distance that can be sprayed under the specific parameter configuration of the spraying device.

[0029] Figure 3 FIG. 1 is a schematic diagram showing a spraying operation of a spraying device according to an embodiment of the present application. Figure 3 As shown in , the water curtain sprayed from the spraying device is generally arc-shaped, and the area to be sprayed is, for example, Figure 3 The water curtain sprayed is often uneven, especially when the water curtain is long, reaching more than ten meters, the amount of water near and far is different. Figure 4a As shown in the figure, the amount of water sprayed by the water curtain of the spraying equipment is the largest between 11 meters and 13 meters, and generally follows a trend of gradually decreasing from far to near, resulting in uneven spraying at far and near. Therefore, in order to achieve uniform spraying of the spraying equipment, it is necessary to obtain the regional edge information of the area to be sprayed so as to control the spraying.

[0030] By acquiring the area edge information of the area to be sprayed, the spraying device can know the basic situation of the working area, for example, the area of ​​the initial spraying area, the length and / or width of the initial spraying area, the area of ​​the supplementary spraying area, the length and / or width of the supplementary spraying area, etc. The initial spraying and supplementary spraying will be described in detail below in conjunction with specific embodiments.

[0031] In one embodiment, the area edge information refers to the description of the boundary features of the area to be sprayed. For example, a map of the area to be sprayed is constructed based on the acquired boundary features of the area to be sprayed, and multiple position points are marked on the boundary of the map to assist in the control of the spraying equipment.

[0032] In another embodiment, the area edge information may also include a map of the edge of the area to be sprayed, and a plurality of position points are set on the map of the edge. The case where the map of the edge is set with a plurality of position points will be further described below in conjunction with a specific embodiment.

[0033] In one embodiment, the regional edge information of the area to be sprayed can be obtained by a sensor or an image recognition algorithm. For example, an image or edge image of the area to be sprayed can be collected by an image acquisition sensor (such as a camera), and the regional edge information can be extracted by an edge detection algorithm (such as Sobel operator or Canny edge detection), or other types of sensors (such as laser radar or ultrasonic sensor) can be used to extract the regional edge information. In order to improve the accuracy and reliability of edge detection, the initial edge information can be obtained by image recognition, and then corrected and supplemented by laser radar or ultrasonic sensor, so that more accurate regional edge information can be obtained. It is also possible to control the spraying equipment to spray along the edge of the area to be sprayed, and based on the equipment parameters (such as water flow parameters, rotation angle, pitch angle, etc.) when the spraying equipment sprays along the edge of the area to be sprayed, the distance between the edge of the area to be sprayed and the spraying equipment is obtained, and the regional edge information of the area to be sprayed is constructed.

[0034] It should be noted that the above description of the method for obtaining the area edge information of the area to be sprayed is only exemplary. The area edge information of the area to be sprayed protected by this application is not limited to the contents listed above. Those skilled in the art can set and plan the acquisition of the area edge information of the area to be sprayed according to actual conditions, as long as the technical principles of this application can be implemented.

[0035] Next, the process proceeds to step S102. In step S102, the initial spraying distance and the supplementary spraying distance of the spraying equipment are determined according to the area edge information.

[0036] In one embodiment, a spraying experiment may be conducted on the spraying equipment in advance to obtain the corresponding relationship between the spraying distance and the water flow parameters, the pitch angle of the spraying equipment, etc. The spraying distance (there may be multiple spraying distances), the pitch angle of the nozzle, and the water flow rate are pre-set and a spraying experiment is conducted to obtain the corresponding relationship between the spraying distance, the pitch angle of the nozzle, and the water volume.

[0037] Figure 4a , Figure 4b and Figure 4c The corresponding relationship between different spraying distances and water volumes is shown. Figure 4a , Figure 4b and Figure 4cIn the figure, the horizontal axis represents the spraying distance (in meters), and the corresponding vertical axis of the bar graph represents the amount of water sprayed (in millimeters).

[0038] For example, when the spraying distance is set to 14 meters, adjust the angle of the nozzle so that the nozzle can cover the spraying area at a distance of 14 meters at most, and adjust the water pressure to 100% (that is, the water valve is fully open, and the water flow rate is about 49.5L / min, for example). The water volume at different distances when the spraying distance is 14 meters can be obtained (refer to Figure 4a ). It should be noted that the water flow rate of the sprinkler head can be adjusted by adjusting the water pressure of the sprinkler equipment.

[0039] For example, when the spraying distance is set to 10 meters, adjust the angle of the nozzle so that the nozzle can cover the spraying area at a distance of 10 meters at most, and adjust the water pressure to 100% (that is, the water valve is fully open, and the water flow rate is about 49.5L / min, for example). The water volume at different distances when the spraying distance is 10 meters can be obtained (refer to Figure 4b ).

[0040] For example, when the spraying distance is set to 6 meters, adjust the angle of the nozzle so that the nozzle can cover the spraying area at 6 meters at most), adjust the water pressure to 100% (that is, the water valve is fully open, and the water flow rate is about 49.5L / min, for example), and you can get the water volume at different distances when the spraying distance is 6m (refer to Figure 4c ).

[0041] from Figure 4a , Figure 4b as well as Figure 4c It can be seen that the total water volume is the largest when the spraying distance is set to 14 meters, and the total water volume is the smallest when the spraying distance is set to 6 meters. Among the three spraying distances, when the spraying distance is set to 14 meters, the amount of water sprayed between 11 meters and 13 meters is the largest (i.e., the highest bar graph). In each of the three spraying distance settings, the water volume generally shows a trend of gradually decreasing from far to near.

[0042] It should be noted that in order to calculate the amount of water sprayed by the spraying equipment at a certain distance, several sampling points can be set at various distances in the working area (i.e., the area to be sprayed), and the amount of water received at the sampling points can be collected, and the amount of water sprayed at various distances in the working area can be calculated by statistical analysis methods. The sampling and calculation methods of the amount of water sprayed are not limited to the methods described above, and those skilled in the art can select them according to actual needs, as long as the technical principles of this application can be implemented.

[0043] In the same area to be sprayed, carry out the above steps in sequence. Figure 4a , Figure 4b as well as Figure 4cThe spraying experiment shown in the figure (i.e. setting the spraying distance to 14 m, 10 m and 6 m respectively) can obtain the total amount of water sprayed after the three different spraying distance experiments (refer to Figure 5 , Figure 5 The horizontal axis is the spraying distance in meters, and the vertical axis is the spraying water volume corresponding to the spraying distance in millimeters. Figure 5 As shown in the figure, the bar graph with the highest gray level represents the amount of water sprayed when the spraying distance is set to 14 meters, the bar graph with the second highest gray level represents the amount of water sprayed when the spraying distance is set to 6 meters, and the bar graph with the lowest gray level represents the amount of water sprayed when the spraying distance is set to 6 meters. At the corresponding distance, the three spraying water volumes are summed to obtain the total amount of water sprayed at that distance.

[0044] According to the total amount of water sprayed, the uniformity of water distribution can be calculated by the following formula:

[0045]

[0046] In the formula, CU is the uniformity value of water distribution, X i The amount of water at sampling point i, n is the number of sampling points, The uniformity value ranges from 0 to 1. The closer the uniformity value is to 1, the more uniform the water distribution is.

[0047] According to the above formula, the uniformity of water distribution after initial spraying (i.e., setting the spraying distance to 14 meters) is 0.45. After that, after two supplementary sprayings (i.e., setting the spraying distance to 10 meters and 6 meters), the uniformity of water distribution is 0.53. It can be seen that after the second supplementary spraying at a spraying distance of 10 meters and a spraying distance of 6 meters, the uniformity of water distribution has improved significantly. The uniformity of water distribution calculated according to the above formula shows the uniformity of irrigation of the spraying equipment to the spraying area. It can be seen that the uniformity of spraying or watering the area to be sprayed can be improved by spraying the same area to be sprayed multiple times (initial spraying + one or more supplementary spraying).

[0048] According to the spraying experiment above, the initial spraying distance and the supplementary spraying distance can be determined. Because the spraying equipment has a flexible spraying sequence adjustment function, it can spray from far to near or from near to far. If the spraying equipment sprays from far to near, and the distance between the spraying equipment and the edge of the area to be sprayed is 14 meters, then the initial spraying distance can be set to 14 meters, and each supplementary spraying is retracted by 4 meters, that is, the second spraying distance is set to 10 meters, and the third spraying distance is set to 6 meters. According to the spraying experiment, it is found that the water volume is too small when the general spraying distance is less than 6 meters (refer to Figure 4c), so after one or more supplementary spraying and gradually shrinking the spraying distance, if the spraying distance after shrinking is less than 6 meters, the spraying is stopped.

[0049] According to the above settings, the initial spraying distance and the supplementary spraying distance for one or more supplementary spraying can be obtained. For example, when the spraying method from far to near is adopted, the distance from the spraying equipment to the edge of the area to be sprayed can be used as the initial spraying distance, and then the initial spraying distance can be reduced by a predetermined distance to obtain the supplementary spraying distance. Figure 6 As shown, the outermost box in the area to be sprayed (rectangle) represents the initial spraying (for example, the spraying distance is set to 14 meters), and the other two boxes in the area to be sprayed represent two supplementary sprayings (for example, the spraying distances are set to 10 meters and 6 meters respectively).

[0050] If the spraying equipment sprays from near to far, and the distance between the spraying equipment and the regional edge source of the area to be sprayed is 14 meters, then the initial spraying distance can be set to 6 meters, and each additional spraying is expanded by 4 meters, that is, the second spraying distance is set to 10 meters, and the third spraying distance is set to 14 meters. After the third spraying is completed, the spraying ends.

[0051] The above description of the method for determining the initial spraying distance and the supplementary spraying distance of the spraying equipment is only exemplary. The method for determining the initial spraying distance and the supplementary spraying distance of the spraying equipment protected by the present application is not limited to the contents listed above. Those skilled in the art can select the method for determining the initial spraying distance and the supplementary spraying distance of the spraying equipment according to actual conditions, as long as the technical principles of the present application can be implemented.

[0052] Afterwards, proceed to step S103 and step S104.

[0053] In step S103, the spraying device is controlled to spray the area to be sprayed for the first time according to the initial spraying distance. It should be noted that when performing the first spraying, various parameters of the spraying device (such as the angle of the nozzle, water pressure, water flow, etc.) need to match the setting of the initial spraying distance described above.

[0054] In step S104, after the first spraying is completed, the spraying equipment is controlled to spray the area to be sprayed for a second time according to the supplementary spraying distance, wherein the supplementary spraying distance corresponding to at least part of the area to be sprayed is less than or greater than the initial spraying distance.

[0055] In one embodiment, the area edge information includes a map of the edge of the area to be sprayed, and a plurality of position points are provided on the map of the edge, and each of the position points has the corresponding initial spraying distance and the corresponding supplementary spraying distance. According to the area edge information of the area to be sprayed, a position point can be set at a certain distance on the edge of the area to be sprayed, and each position point corresponds to an initial spraying distance and a supplementary spraying distance. For example, when constructing the edge map of the area to be sprayed, when the spraying device is rotated along the edge of the area to be sprayed, the position where the water curtain falls on the edge of the area to be sprayed at a certain rotation angle is taken as a position point, and based on the water flow parameters, pitch angle, etc. of the spraying device at this position, the initial spraying distance at the position point can be obtained, and then the initial spraying distance is retracted or increased by a predetermined distance to obtain the supplementary spraying distance of the position point. Among them, the initial spraying distance and the supplementary spraying distance of each position point can be the same or different, and can be specifically determined according to the shape of the area to be sprayed.

[0056] In this embodiment, an example of spraying from far to near by a spraying device will be used for illustration. The area to be sprayed is sprayed for the first time according to the initial spraying distance planned in the above step S102. For example: the distance between the spraying device and the edge of the area to be sprayed is 14 meters. When spraying for the first time, adjust the nozzle angle (such as the pitch angle) of the spraying device, and adjust the water pressure of the spraying device to 100% to ensure that the nozzle can cover the area to be sprayed 14 meters away from the device. While spraying, rotate the spraying device 360 ​​degrees to ensure that the spraying device can evenly cover the entire area to be sprayed, thereby completing the first spraying operation.

[0057] It is understandable that the term "first spraying" may be different depending on the shape of the area to be sprayed. For example, if the area to be sprayed is distributed in a circular shape around the spraying device, the first spraying may be spraying by controlling the spraying device to rotate 360 ​​degrees; if the area to be sprayed is distributed in a fan-shaped shape, the first spraying may be spraying by controlling the spraying device to rotate an angle corresponding to the fan-shaped area to be sprayed. Of course, depending on the shape of the area to be sprayed, the spraying distances corresponding to different position points may be different. When rotating the spraying device, the water flow parameters of the spraying device and / or the pitch angle of the nozzle may be adjusted according to the initial spraying distance of the position point corresponding to the rotation angle, so that the spraying distance of the spraying device at each position point matches the initial spraying distance corresponding to each position point.

[0058] The above description of the method for controlling the spraying device to perform the first spraying is only exemplary. The method for controlling the spraying device to perform the first spraying protected by the present application is not limited to the contents listed above. Those skilled in the art can select the method for controlling the spraying device to perform the first spraying according to actual conditions, as long as the technical principles of the present application can be implemented.

[0059] In one embodiment, the controlling of the spraying device to spray the area to be sprayed for the first time according to the initial spraying distance in step S103 includes controlling the spraying device to rotate, and adjusting the pitch angle or water flow rate of the spraying device during the rotation, so that the initial spraying distance of each position point is equal to or close to the distance from the spraying device to the edge of the area to be sprayed.

[0060] For example, when using the method of supplementary spraying from far to near, during the first spraying, the rotation speed can be reasonably set according to the size of the area to be sprayed. The rotation speed should be as moderate as possible, because too fast rotation of the spraying equipment will result in uneven distribution of the sprayed water. And during the rotation process, the pitch angle of the spraying equipment (such as the nozzle) (for example: the pitch angle is adjusted to 45 degrees) or the water flow rate (for example, the water pressure is adjusted to 80%) can be dynamically adjusted to make the initial spraying distance of the water spraying equipment match the edge of the area to be sprayed or as close as possible, so as to ensure that the area to be sprayed can be fully covered. In one embodiment, the area to be sprayed is as follows Figure 6 For the rectangular area shown in the figure, during the process of controlling the rotation of the spraying equipment, when spraying in the length direction of the rectangular area, the pitch angle of the nozzle can be appropriately increased, or the water flow rate can be increased, or the water pressure can be increased, so as to cover the area to be sprayed in the length direction of the rectangular area as much as possible; and when spraying in the width direction of the rectangular area, the pitch angle of the nozzle can be appropriately reduced, or the water flow rate can be reduced, or the water pressure can be reduced, so as to prevent spraying outside the area to be sprayed.

[0061] It should be noted that the spraying point of the spraying equipment may have a certain range of errors, but this error is controlled within an acceptable range, because in actual operation, the spraying distance may be limited by many factors, such as the accuracy of the spraying equipment, environmental conditions (wind speed, temperature, etc.), therefore, it is necessary to set a reasonable error range to ensure the uniformity of the spraying and the accuracy of the coverage. For example, the error of the distance from the spraying equipment to the edge of the area to be sprayed is 10-20 cm, that is, the spraying point of the spraying equipment can be on the edge of the area to be sprayed or near the edge (such as: 10-20 cm inside and outside the edge). The above description of the method for adjusting the pitch angle or water flow of the spraying equipment during the rotation process and the description of setting the error range are only exemplary. The method for adjusting the pitch angle or water flow of the spraying equipment during the rotation process and the description of setting the error range protected by this application are not limited to the contents listed above. Those skilled in the art can select the method for adjusting the pitch angle or water flow of the spraying equipment during the rotation process and the error range according to the actual situation, as long as the technical principle of this application can be realized.

[0062] In one embodiment, the spraying device rotates at least one circle during the first spraying process. For example, during the first spraying process, controlling the spraying device to rotate at least one circle can ensure that the spraying device sprays water evenly in different directions to avoid spraying dead angles or missed areas. Through all-round rotation, the spraying device can cover all parts of the area to be sprayed, thereby achieving a uniform spraying effect. It should be noted that the rotation speed of the spraying device will also affect the uniformity of watering the area to be sprayed. If the rotation speed of the spraying device is too fast, the spraying device can be controlled to rotate two or more circles.

[0063] In one embodiment, the first spraying of the area to be sprayed has a first water concentration area and a first water non-concentration area. Affected by the parameters of the spraying device itself, each spraying of the spraying device is uneven. Figure 4a As described, when the spraying distance is set to 14 meters, the amount of water sprayed is the largest within the range of 11 to 13 meters, and this area is the first water concentration area; other areas (for example, the range of 1 to 10 meters) are the first water non-concentrated areas, and the amount of water sprayed in the first water non-concentrated areas is less than the amount of water sprayed in the first water concentration area.

[0064] In one embodiment, the first water concentration area is related to the wind direction, pitch angle and / or water flow rate of the spraying device. During the first spraying process, the formation of the first water concentration area is closely related to the wind direction, pitch angle and water flow rate of the spraying device. Specifically: the wind direction will significantly change the distribution of the sprayed water volume. When the nozzle of the spraying device is in the downwind direction, the sprayed water droplets will be blown to a farther distance by the wind, resulting in an increase in the range, but the spraying intensity is relatively weakened. On the contrary, in the upwind direction, the spraying range will be shortened, but the spraying intensity will increase, thereby forming a water concentration area near the nozzle of the spraying device. The pitch angle of the nozzle of the spraying device directly affects the range and distribution of the sprayed water volume. As the pitch angle decreases, the thrust of the nozzle of the spraying device in the horizontal direction increases, the wind resistance is enhanced, but the range may decrease. On the contrary, increasing the pitch angle can increase the range, but due to the increase in the drift time of the water curtain in the air, the wind resistance is weakened. For example, under conditions of low wind speed, the pitch angle of the nozzle of the spraying equipment can be appropriately increased; and under conditions of high wind speed, the pitch angle of the nozzle can be appropriately reduced. Water flow / water pressure will also affect the spraying distance. A larger water flow / water pressure can achieve a longer spraying distance and cover a larger area in a shorter time. However, if the water flow is too large and is not adjusted according to the actual distance, it may cause excessive water near the nozzle or edge area of ​​the spraying equipment, or even spray outside the area to be sprayed. Among them, water flow and water pressure usually complement each other. The higher the water pressure, the greater the water flow. On the contrary, the lower the water pressure, the smaller the water flow. It can be seen that the setting and adjustment of the spraying distance is based on the comprehensive setting and adjustment of parameters such as the pitch angle of the nozzle, water flow, and water pressure.

[0065] In one embodiment, the correspondence between the first water concentration area and the wind direction, pitch angle and / or water flow rate of the spraying device is obtained through historical statistical data or pre-set by the user. For example, according to the above spraying experiment data (such as a water spraying experiment with a spraying distance of 14 meters), the corresponding relationship between the water concentration area of ​​11 meters to 13 meters and the wind direction, pitch angle and / or water flow rate of the spraying device when the spraying distance is 14 meters can be obtained. The spraying process and environmental changes can also be monitored in real time by sensors, and the obtained data can be uploaded to the cloud platform for analysis. Through the analysis of the data, the correspondence between the water concentration area of ​​the spraying device and the wind direction, pitch angle, water flow rate and water pressure can be obtained. Alternatively, the user can also determine the corresponding water concentration area when the wind direction, pitch angle and / or water flow rate of the spraying device are different based on experience, and then control the pitch angle and / or water flow rate of the spraying device according to the current wind direction and the required first water concentration area.

[0066] In one embodiment, after the first spraying is completed, the spraying equipment is controlled to spray the area to be sprayed for the second time according to the supplementary spraying distance. For example: when the initial spraying distance is set to 14 meters and the first spraying is completed, when the second spraying is performed, the various parameters of the spraying equipment are adjusted so that the spraying distance is set to 10 meters, and the spraying equipment (such as a rotating nozzle) is rotated during the spraying process to ensure that the spraying equipment can evenly cover the area to be sprayed within the range of 10, thereby completing the second spraying operation. The second spraying can also be called a supplementary spraying to the first spraying, thereby increasing the uniformity of irrigation in the area to be sprayed. The principle of the second spraying can be found in the description of the first spraying above, which will not be repeated here.

[0067] In one embodiment, the supplementary spraying distance corresponding to at least part of the area to be sprayed is less than or greater than the initial spraying distance. Because the spraying equipment can choose to spray from far to near or from near to far according to actual needs. If the spraying equipment sprays from far to near, and the initial spraying distance is 14 meters, the supplementary spraying distance corresponding to the area to be sprayed is less than the initial spraying distance, for example, the second spraying distance is 10 meters, and the third spraying distance is 6 meters; if the spraying equipment sprays from near to far, and the initial spraying distance is 6 meters, the supplementary spraying distance corresponding to the area to be sprayed is greater than the initial spraying distance, for example, the second spraying distance is 10 meters, and the third spraying distance is 14 meters. The above description of the supplementary spraying distance corresponding to at least part of the area to be sprayed being less than or greater than the initial spraying distance is merely exemplary. The method protected by the present application for the supplementary spraying distance corresponding to at least part of the area to be sprayed being less than or greater than the initial spraying distance is not limited to the contents listed above. Those skilled in the art can select the method for the supplementary spraying distance corresponding to at least part of the area to be sprayed being less than or greater than the initial spraying distance according to actual conditions, as long as the technical principles of the present application can be realized.

[0068] In one embodiment, the spraying device rotates at least one circle during the second spraying process. For example, during the second spraying process, controlling the spraying device to rotate at least one circle can ensure that the spraying device sprays water evenly in different directions, avoiding spraying dead angles or missing areas. Through all-round rotation, the spraying device can cover all parts of the area to be sprayed, thereby achieving a uniform spraying effect.

[0069] In one embodiment, the second spraying of the area to be sprayed has a second water concentration area and a second water non-concentration area, and the second water concentration area at least partially overlaps with the first water non-concentration area. The second spraying aims to supplement the first spraying so as to improve the uniformity of watering the entire area to be sprayed. Affected by the parameters of the spraying equipment itself, the second spraying will have a water distribution area similar to that of the first spraying. As mentioned above with reference to Figure 4b As described above, when the spraying distance is set to 10 meters, the amount of water sprayed is the largest within the range of 7 to 10 meters, and this area is the second water concentration area; the other areas (e.g., the range of 1 to 6 meters) are the second water non-concentration areas, and the amount of water sprayed in the second water non-concentration areas is less than the amount of water sprayed in the second water concentration areas. Figure 4b ) and the first water volume non-concentrated area (e.g. Figure 4a There is a partial overlap (i.e., a range of 7 to 10 meters) between the 1 meter and 10 meter ranges shown in FIG.

[0070] Similarly, the third spraying (if any) for the area to be sprayed may also have a third water concentration area and a third water non-concentration area, and the third water concentration area at least partially overlaps with the second water non-concentration area. Figure 4c As shown in , the spraying distance is set to 6 meters and the third spraying is performed. The range of 5 to 6 meters targeted by the third spraying is the third water concentration area, and the third water concentration area partially overlaps with the second water non-concentrated area (1 to 6 meters).

[0071] In one embodiment, the second water concentration area is related to the wind direction, pitch angle and / or water flow rate of the spraying device. During the second spraying process, the formation of the second water concentration area is closely related to the wind direction, pitch angle and water flow rate of the spraying device, which is the same as the principle that the formation of the first water concentration area is closely related to the wind direction, pitch angle and water flow rate of the spraying device during the first spraying process in the above embodiment, and will not be repeated here.

[0072] In one embodiment, after the second spraying is completed, the method further includes: controlling the spraying device to perform multiple supplementary spraying on the spraying area according to the supplementary spraying distance until the spraying distance is less than the minimum water spraying distance, and the spraying is terminated. For example, the spraying distance during the first spraying is set to 14 meters, and the spraying distance during the second spraying is set to 10 meters. According to the spraying experiment, it can be concluded that the amount of water is too small when the spraying distance is set to less than 6 meters, so the minimum spraying distance can be set to 6 meters. When the spraying distance of the supplementary spraying needs to be set to less than 6 meters according to the above control method, the spraying is terminated.

[0073] The control method 100 of the spraying device provided in the present application can determine the initial spraying distance and the supplementary spraying distance of the spraying device according to the area edge information of the area to be sprayed, and control the spraying device to spray the area to be sprayed for the first time according to the initial spraying distance; after completing the first spraying, according to the supplementary spraying distance, control the spraying device to spray the area to be sprayed for the second time (i.e., supplementary spraying). Through one or more supplementary spraying, the problem of large difference in spraying water volume near and far in the spraying area is solved, and the irrigation uniformity and spraying accuracy of the area to be sprayed are improved. In addition, the control method of the spraying device provided in the present application is highly windproof, thereby improving the user experience.

[0074] The present application also provides a spraying device, which can execute the control method described in the above embodiments.

[0075] This embodiment discloses a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the control method described in the above embodiments is implemented.

[0076] It should be understood that, in this embodiment, the computer storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0077] It should be noted that the sequence of the above embodiments of the present application is only for description and does not represent the advantages or disadvantages of the embodiments.

[0078] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0079] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0080] In the present application, unless otherwise specified, directional words such as "up" and "down" are generally used with reference to the directions shown in the drawings, or with reference to the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "left" and "right" are generally used with reference to the left and right shown in the drawings; "inside" and "outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present application.

[0081] The above is only an exemplary embodiment of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope recorded in the present application, which should 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 a spraying device, comprising: Obtaining the area edge information of the area to be sprayed; Determining an initial spraying distance and a supplementary spraying distance of the spraying equipment according to the area edge information; Controlling the spraying equipment to spray the area to be sprayed for the first time according to the initial spraying distance; After the first spraying is completed, the spraying equipment is controlled to spray the area to be sprayed for a second time according to the supplementary spraying distance, wherein the supplementary spraying distance corresponding to at least part of the area to be sprayed is smaller than or larger than the initial spraying distance.

2. The control method according to claim 1, wherein: The area edge information includes a map of the edge of the area to be sprayed, and a plurality of position points are arranged on the map of the edge, each of the position points having a corresponding initial spraying distance and a corresponding supplementary spraying distance.

3. The control method according to claim 2, wherein: Controlling the spraying device to spray the area to be sprayed for the first time according to the initial spraying distance includes controlling the spraying device to rotate, and adjusting the pitch angle or water flow rate of the spraying device during the rotation process, so that the initial spraying distance of each position point is equal to or close to the distance from the spraying device to the edge of the area to be sprayed.

4. The control method according to claim 2, wherein: Controlling the spraying device to spray the area to be sprayed for a second time according to the supplementary spraying distance includes controlling the spraying device to rotate, and adjusting the pitch angle or water flow rate of the spraying device during the rotation process, so that the supplementary spraying distance of each position point is less than or greater than the initial spraying distance.

5. The control method according to any one of claims 1 to 4, wherein: The first spraying of the area to be sprayed has a first water concentrated area and a first water non-concentrated area, and the second spraying of the area to be sprayed has a second water concentrated area and a second water non-concentrated area, and the second water concentrated area at least partially overlaps with the first water non-concentrated area.

6. The control method according to claim 5, wherein: The first water concentration area and the second water concentration area are both related to the wind direction, pitch angle and / or water flow rate of the spraying equipment.

7. The control method according to claim 5, wherein: The corresponding relationship between the first water concentration area or the second water concentration area and the wind direction, pitch angle and / or water flow rate of the spraying equipment is obtained through historical statistical data or preset by the user.

8. The control method according to any one of claims 1, wherein: The spraying device rotates at least one circle during the first spraying or the second spraying.

9. A spraying device, wherein: The spraying device is capable of executing the control method according to any one of claims 1-8.

10. A computer storage medium storing a computer program, wherein the computer program implements the method according to any one of claims 1 to 8 when executed by a processor.

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