Control method and system for automatic folding and unfolding of spray boom of self-propelled boom sprayer

Abstract

The invention discloses a control method and system for automatic folding and unfolding of a spray boom of a self-propelled boom sprayer, and relates to the technical field of automatic folding and unfolding of the spray boom, and the method comprises the following steps: calibrating the position and duration associated with the folding and unfolding of the spray boom of the self-propelled boom sprayer; the calibrated positions comprise the unfolding position of a left large arm, the folding position of the left large arm, the unfolding position of a right large arm, the folding position of the right large arm and the folding and unfolding position of a central section of the self-propelled boom sprayer, and the calibrated duration comprises the unfolding duration of the left large arm, the folding duration of the left large arm, the unfolding duration of the right large arm and the folding duration of the right large arm; and according to the calibrated position and time length, a spray boom of the self-propelled boom sprayer is controlled to be automatically unfolded or folded. According to the invention, the spray boom of the self-propelled boom sprayer can be controlled to be automatically unfolded or folded, the operation is simple, the learning cost is reduced, the time is saved, and the working efficiency is improved.

Description

Background Art

[0002] Pests and diseases that occur during agricultural production not only cause a significant reduction in the yield of food crops and major cash crops, but also endanger food safety and the sustainability of agricultural production and development. In recent years, self-propelled boom sprayers (especially large self-propelled boom sprayers) have been welcomed by farmers due to their efficient field performance and good field operation quality.

[0003] However, since the spray boom of a self-propelled boom sprayer is long, a series of operations such as raising the spray boom, folding the upper arm and the lower arm are required to completely fold the spray boom and put it into the spray boom bracket in scenarios such as transportation and transfer and adding water to the medicine box. In scenarios such as spraying operations and cleaning nozzles, the spray boom needs to be lowered, the upper arm and the lower arm unfolded, etc., to move the spray boom out of the spray boom bracket and fully unfold it. However, the current self-propelled boom sprayer has a low degree of automation. In terms of spray boom control, there are many buttons for controlling the spray boom movements. Manually controlling the spray boom to move in sequence will greatly affect the operating efficiency. In addition, the operation is cumbersome and the learning cost is high. Summary of the invention

[0004] The technical problem to be solved by the present invention is to address the deficiencies of the prior art and specifically provide a control method and system for the automatic folding and unfolding of a spray boom of a self-propelled spray boom sprayer, which are as follows:

[0005] 1) In the first aspect, the present invention provides a control method for automatically folding and unfolding a boom of a self-propelled boom sprayer, and the specific technical scheme is as follows:

[0006] Calibrate the positions and durations associated with the folding and extending of the boom of the self-propelled boom sprayer. The calibrated positions include: the extended position of the left boom, the folded position of the left boom, the extended position of the right boom, the folded position of the right boom, and the extended and folded position of the central section of the self-propelled boom sprayer. The calibrated durations include: the extended duration of the left boom, the folded duration of the left boom, the extended duration of the right boom, and the folded duration of the right boom.

[0007] The spray boom of a self-propelled boom sprayer can be automatically extended or folded according to the calibrated position and duration.

[0008] The beneficial effects of the control method for automatic folding and unfolding of a spray boom of a self-propelled spray boom sprayer provided by the present invention are as follows:

[0009] The spray boom of the self-propelled spray boom sprayer can be controlled to automatically unfold or fold, which is easy to operate, reduces learning costs, saves time and improves work efficiency.

[0010] On the basis of the above scheme, the control method for automatic folding and unfolding of a spray boom of a self-propelled spray boom sprayer of the present invention can be further improved as follows.

[0011] Further, according to the calibrated position and duration, the boom of the self-propelled boom sprayer is controlled to automatically unfold, including:

[0012] At the same time, the lifting positions of the left boom and the right boom are controlled until the lifting position of the left boom reaches the unfolded position of the left boom and the lifting position of the right boom reaches the unfolded position of the right boom; at the same time, the left boom, the right boom, the left forearm of the self-propelled boom sprayer and the right forearm of the self-propelled boom sprayer are controlled to perform the unfolding action until the duration of the unfolding action of the left boom and the left forearm reaches the unfolding time of the left boom and the duration of the unfolding action of the right boom and the right forearm reaches the unfolding time of the right boom, so that the boom of the self-propelled boom sprayer is automatically unfolded.

[0013] Further, according to the calibrated position and duration, the boom of the self-propelled boom sprayer is controlled to be automatically folded, including:

[0014] At the same time, the lifting and lowering positions of the central section, the left boom and the right boom are controlled until the lifting and lowering position of the central section is in the folded and extended position of the central section, the lifting and lowering position of the left boom is in the extended position of the left boom, and the lifting and lowering position of the right boom is in the extended position of the right boom; at the same time, the left boom, the right boom, the left forearm and the right forearm are controlled to perform the folding action until the duration of the folding action of the left boom and the left forearm reaches the folding duration of the left boom and the duration of the folding action of the right boom and the right forearm reaches the folding duration of the right boom; at the same time, the lifting and lowering positions of the left boom and the right boom are controlled until the lifting and lowering position of the left boom reaches the folding position of the left boom and the lifting and lowering position of the right boom reaches the folding position of the right boom.

[0015] Furthermore, the position and duration associated with the folding and unfolding of the boom of the self-propelled boom sprayer are calibrated, including:

[0016] The angle sensor and the counter are used to calibrate the position and duration of the boom of a self-propelled boom sprayer when it is folded or extended.

[0017] 2) In the second aspect, the present invention also provides a control system for automatically folding and unfolding a boom of a self-propelled boom sprayer, and the specific technical solution is as follows:

[0018] It includes a calibration module and an automatic folding control module;

[0019] The calibration module is used to: calibrate the positions and durations associated with the boom of the self-propelled boom sprayer when it is folded and extended. The calibrated positions include: the extended position of the left boom, the folded position of the left boom, the extended position of the right boom, the folded position of the right boom, and the extended position of the central section of the self-propelled boom sprayer. The calibrated durations include: the extended duration of the left boom, the folded duration of the left boom, the extended duration of the right boom, and the folded duration of the right boom.

[0020] The automatic folding control module is used to control the automatic unfolding or folding of the spray boom of the self-propelled spray boom sprayer according to the calibrated position and duration.

[0021] On the basis of the above scheme, the control system for automatic folding and unfolding of the spray boom of the self-propelled spray boom sprayer of the present invention can also be improved as follows.

[0022] Furthermore, the automatic folding control module is also specifically used for:

[0023] At the same time, the lifting positions of the left boom and the right boom are controlled until the lifting position of the left boom reaches the unfolded position of the left boom and the lifting position of the right boom reaches the unfolded position of the right boom; at the same time, the left boom, the right boom, the left forearm of the self-propelled boom sprayer and the right forearm of the self-propelled boom sprayer are controlled to perform the unfolding action until the duration of the unfolding action of the left boom and the left forearm reaches the unfolding time of the left boom and the duration of the unfolding action of the right boom and the right forearm reaches the unfolding time of the right boom, so that the boom of the self-propelled boom sprayer is automatically unfolded.

[0024] Furthermore, the automatic folding control module is also specifically used for:

[0025] At the same time, the lifting and lowering positions of the central section, the left boom and the right boom are controlled until the lifting and lowering position of the central section is in the folded and extended position of the central section, the lifting and lowering position of the left boom is in the extended position of the left boom, and the lifting and lowering position of the right boom is in the extended position of the right boom; at the same time, the left boom, the right boom, the left forearm and the right forearm are controlled to perform the folding action until the duration of the folding action of the left boom and the left forearm reaches the folding duration of the left boom and the duration of the folding action of the right boom and the right forearm reaches the folding duration of the right boom; at the same time, the lifting and lowering positions of the left boom and the right boom are controlled until the lifting and lowering position of the left boom reaches the folding position of the left boom and the lifting and lowering position of the right boom reaches the folding position of the right boom.

[0026] Furthermore, the calibration module is specifically used for:

[0027] The angle sensor and the counter are used to calibrate the position and duration of the boom of a self-propelled boom sprayer when it is folded or extended.

[0028] 3) In a third aspect, the present invention further provides an electronic device, comprising a processor, the processor being coupled to a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor, so that the electronic device implements any of the above-mentioned control methods for automatic folding and unfolding of a spray boom of a self-propelled spray boom sprayer.

[0029] 4) In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements any of the above-mentioned control methods for automatic folding and unfolding of a spray boom of a self-propelled spray boom sprayer.

[0030] 5) In a fifth aspect, the present invention further provides a novel self-propelled boom sprayer, comprising a self-propelled boom sprayer body, an angle sensor, a timer and an electronic device for implementing a control method for automatic folding and unfolding of a boom of a self-propelled boom sprayer of the present invention, wherein the angle sensor and the timer are used to calibrate the position and duration associated with the boom of the self-propelled boom sprayer when it is folded and unfolded, and the electronic device is mounted on the self-propelled boom sprayer body.

[0031] It should be noted that the beneficial effects achieved by the technical solutions of the second to fifth aspects of the present invention and the corresponding possible implementation methods can be found in the above-mentioned technical effects of the first aspect and its corresponding possible implementation methods, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments of the present invention:

[0033] Figure 1 A schematic flow chart of a method for controlling automatic folding and unfolding of a spray boom of a self-propelled spray boom sprayer according to an embodiment of the present invention;

[0034] Figure 2 The schematic diagram of the process of automatic deployment of the spray boom;

[0035] Figure 3 It is a schematic diagram of the process of automatic folding of the spray boom;

[0036] Figure 4 This is one of the structural schematic diagrams of a control system for automatic folding and unfolding of a spray boom of a self-propelled spray boom sprayer according to an embodiment of the present invention;

[0037] Figure 5 This is a second structural schematic diagram of a control system for automatic folding and unfolding of a spray boom of a self-propelled spray boom sprayer according to an embodiment of the present invention;

[0038] Figure 6 The figure is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0040] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0041] like Figure 1 As shown, a control method for automatically folding and unfolding a boom of a self-propelled boom sprayer according to an embodiment of the present invention comprises the following steps:

[0042] S1. Calibrate the positions and durations associated with the folding and unfolding of the spray boom of the self-propelled spray boom sprayer. The calibrated positions include: the unfolded position of the left boom, the folded position of the left boom, the unfolded position of the right boom, the folded position of the right boom, and the folded and unfolded position of the central section of the self-propelled spray boom sprayer. The calibrated durations include: the unfolding duration of the left boom, the folding duration of the left boom, the unfolding duration of the right boom, and the folding duration of the right boom;

[0043] Since the lifting position of the central section after folding is the same as the lifting position of the central section after unfolding, in the present invention, this position is uniformly referred to as the folding and unfolding position of the central section.

[0044] Among them, the position and duration associated with the folding and unfolding of the spray boom of the self-propelled spray boom sprayer are calibrated by an angle sensor and a counter, specifically:

[0045] The first angle sensor is used to obtain the folding and unfolding position of the central section, the second angle sensor is used to obtain the lifting and lowering position of the left boom, the third angle sensor is used to obtain the lifting and lowering position of the right boom, and the counter is used to obtain the unfolding time of the left boom, the folding time of the left boom, the unfolding time of the right boom and the folding time of the right boom.

[0046] The unfolded position of the left upper arm refers to: the lifting position of the left upper arm after unfolding;

[0047] The folding position of the left upper arm refers to: the lifting position of the left upper arm after folding;

[0048] The unfolded position of the right boom refers to: the lifting position of the right boom after unfolding;

[0049] The folding position of the right upper arm refers to: the lifting position of the right upper arm after folding;

[0050] The folding time of the left upper arm refers to: the time taken for the left upper arm to perform the folding action from the unfolded position of the left upper arm to the folded position of the left upper arm;

[0051] The unfolding time of the left upper arm refers to: the time taken by the left upper arm to perform the unfolding action from the folded position of the left upper arm to the unfolded position of the left upper arm;

[0052] The folding time of the right upper arm refers to: the time taken for the right upper arm to perform the folding action from the unfolded position of the right upper arm to the folded position of the right upper arm;

[0053] The extension time of the right upper arm refers to: the time taken by the right upper arm to perform the extension action from the folded position of the right upper arm to the extended position of the right upper arm.

[0054] The angle value collected by the angle sensor represents the lifting position.

[0055] Among them, the unfolded position of the left boom, the folded position of the left boom, the unfolded position of the right boom, the folded position of the right boom, the folded position of the central section, the unfolded time of the left boom, the folded time of the left boom, the unfolded time of the right boom, and the folded time of the right boom of the self-propelled boom sprayer are stored in the storage unit.

[0056] S2. According to the calibrated position and duration, the spray boom of the self-propelled spray boom sprayer is controlled to automatically unfold or fold.

[0057] 1) Control the automatic deployment of the boom of a self-propelled boom sprayer according to the calibrated position and duration, including:

[0058] At the same time, the lifting positions of the left boom and the right boom are controlled until the lifting position of the left boom reaches the unfolded position of the left boom and the lifting position of the right boom reaches the unfolded position of the right boom; at the same time, the left boom, the right boom, the left forearm of the self-propelled boom sprayer and the right forearm of the self-propelled boom sprayer are controlled to perform the unfolding action until the duration of the unfolding action of the left boom and the left forearm reaches the unfolding time of the left boom and the duration of the unfolding action of the right boom and the right forearm reaches the unfolding time of the right boom, so that the boom of the self-propelled boom sprayer is automatically unfolded. The specific implementation process is as follows: Figure 2 As shown:

[0059] S101, data initialization:

[0060] Reading the unfolded position of the left upper arm, the folded position of the left upper arm, the unfolded position of the right upper arm, the folded position of the right upper arm, the unfolded time of the left upper arm, the folded time of the left upper arm, the unfolded time of the right upper arm and the folded time of the right upper arm in the storage unit;

[0061] S102, judging the status of the left upper arm and the right upper arm:

[0062] After receiving the automatic deployment button signal of the spray boom, the status of the left and right arms is obtained through two proximity switches to determine whether the left and right arms are both in a folded state. If so, the status of the left and right arms is changed to the "automatic deployment" state, and S103 is executed. If either arm is not in a folded state, a reminder is issued. After the user operates, the status of the left and right arms is obtained again and determined until the left and right arms are both in a folded state, and S103 is executed.

[0063] S103, left and right boom lifting control:

[0064] At the same time, the lifting positions of the left boom and the right boom are controlled until the lifting position of the left boom reaches the unfolded position of the left boom and the lifting position of the right boom reaches the unfolded position of the right boom. Specifically:

[0065] The current lifting position of the left boom and the right boom is obtained through the second angle sensor and the third angle sensor. If the current lifting position of the left boom is lower than the unfolded position of the left boom, the left boom lifting cylinder is controlled to move until the unfolded position of the left boom is reached (which may be higher than the unfolded position of the left boom). If the current lifting position of the left boom is not lower than the unfolded position of the left boom, the left boom lifting cylinder is controlled to stop moving.

[0066] Similarly, the right boom is controlled to rise and fall. The control of the rise and fall of the left and right booms is carried out simultaneously.

[0067] Through S103, the spray boom is moved out of the spray boom support.

[0068] S104, deployment control of the left upper arm, right upper arm, left lower arm and right lower arm:

[0069] Simultaneously control the left boom, the right boom, the left forearm of the self-propelled boom sprayer and the right forearm of the self-propelled boom sprayer to perform the unfolding action until the duration of the unfolding action of the left boom and the left forearm reaches the unfolding time of the left boom and the duration of the unfolding action of the right boom and the right forearm reaches the unfolding time of the right boom, specifically:

[0070] After the lifting control is completed, the left boom, right boom, left forearm and right forearm are controlled to unfold. When the unfolding duration of the left boom and left forearm reaches the unfolding duration of the left boom, the unfolding cylinder of the left boom and left forearm stops; similarly, the unfolding control of the right boom and right forearm is carried out according to the folding and unfolding time of the right boom. It is worth noting that the unfolding control of the left boom, right boom, left forearm and right forearm is carried out simultaneously.

[0071] S105. After the spray boom of the self-propelled spray boom sprayer is automatically deployed, the state of the spray boom is changed to a "spray boom automatically deployed" state.

[0072] 2) Control the automatic folding of the boom of a self-propelled boom sprayer according to the calibrated position and duration, including:

[0073] At the same time, the lifting and lowering positions of the central section, the left upper arm and the right upper arm are controlled until the lifting and lowering position of the central section is in the folded and unfolded position of the central section, the lifting and lowering position of the left upper arm is in the unfolded position of the left upper arm, and the lifting and lowering position of the right upper arm is in the unfolded position of the right upper arm; at the same time, the left upper arm, the right upper arm, the left forearm and the right forearm are controlled to perform the folding action until the duration of the folding action of the left upper arm and the left forearm reaches the folding duration of the left upper arm and the duration of the folding action of the right upper arm and the right forearm reaches the folding duration of the right upper arm; at the same time, the lifting and lowering positions of the left upper arm and the right upper arm are controlled until the lifting and lowering position of the left upper arm reaches the folding position of the left upper arm and the lifting and lowering position of the right upper arm reaches the folding position of the right upper arm. The specific implementation process is as follows: Figure 3 As shown:

[0074] S201, data initialization:

[0075] The unfolded position of the left boom, the folded position of the left boom, the unfolded position of the right boom, the folded position of the right boom, the folded position of the central section, the unfolded time of the left boom, the folded time of the left boom, the unfolded time of the right boom, and the folded time of the right boom of the self-propelled boom sprayer are read from the storage unit.

[0076] S202, determining the status of the left upper arm and the right upper arm:

[0077] After receiving the automatic folding button signal of the spray boom, the status of the left and right arms is obtained through two proximity switches to determine whether the left and right arms are both in the unfolded state. If so, the status of the left and right arms is changed to the "automatic folding" state, and S203 is executed. If either arm is not in the folded state, a reminder is issued. After the user operates, the status of the left and right arms is re-obtained and judged until the left and right arms are both in the unfolded state, and S203 is executed.

[0078] S203, left boom, right boom and central section lifting control:

[0079] At the same time, the lifting positions of the central section, the left boom and the right boom are controlled until the lifting position of the central section reaches the folded and unfolded position of the central section, the lifting position of the left boom reaches the unfolded position of the left boom, and the lifting position of the right boom reaches the unfolded position of the right boom. Specifically:

[0080] Get the current lifting position of the left boom, right boom, and central section. If the current lifting position of the central section is lower than the folding position of the central section, control the central section lifting cylinder to move; if the current lifting position of the central section is higher than the folding position of the central section, control the central section lowering cylinder to move until the central section is in the folding position. Similarly, control the lifting of the left boom and the right boom until the left boom is in the extended position and the right boom is in the extended position. It is worth noting that the lifting and lowering control of the left boom, the right boom, and the central section are carried out simultaneously, which can prevent the subsequent folding control of the spray boom from hitting the tire or the cab.

[0081] S204, folding control of left upper arm, right upper arm, left lower arm and right lower arm:

[0082] Simultaneously control the left upper arm, the right upper arm, the left forearm of the self-propelled boom sprayer and the right forearm of the self-propelled boom sprayer to perform a folding action until the duration of the folding action of the left upper arm and the left forearm reaches the folding duration of the left upper arm and the duration of the folding action of the right upper arm and the right forearm reaches the folding duration of the right upper arm, specifically:

[0083] After the lifting control is completed, the left boom, right boom, left forearm and right forearm are controlled to fold. When the duration of the folding action of the left boom and left forearm reaches the folding time of the left boom, the folding cylinder action of the left boom and left forearm stops; similarly, the folding control of the right boom and right forearm is performed according to the folding and extending time of the right boom. It is worth noting that the folding control of the left boom, right boom, left forearm and right forearm is performed simultaneously.

[0084] S205, perform lifting and lowering control of the left and right booms again:

[0085] At the same time, the lifting positions of the left boom and the right boom are controlled until the lifting position of the left boom reaches the folding position of the left boom and the lifting position of the right boom reaches the folding position of the right boom. At this time, the spray boom enters the spray boom bracket and completes automatic folding.

[0086] Among them, the current lifting positions of the left and right booms are obtained. If the current lifting position of the left boom does not reach the folding position of the left boom, the lowering cylinder of the left boom is controlled to move until the current lifting position of the left boom reaches the folding position of the left boom. Similarly, the lifting and lowering of the right boom is controlled;

[0087] Among them, the lifting position of the left boom reaches the folding position of the left boom including: the lifting position of the left boom is in the folding position of the left boom and the lifting position of the left boom is lower than the folding position of the left boom; the lifting position of the right boom reaches the folding position of the right boom including: the lifting position of the right boom is in the folding position of the right boom and the lifting position of the right boom is lower than the folding position of the right boom.

[0088] S206: After the spray boom of the self-propelled spray boom sprayer is automatically folded, the state of the spray boom is changed to a "spray boom automatically folded complete" state.

[0089] The execution subject of the control method for automatic folding and unfolding of a spray boom of a self-propelled spray boom sprayer of the present invention may be a controller or a computer device.

[0090] In the above embodiments, although the steps are numbered S1, S2, etc., these are only specific embodiments given by the present invention. Those skilled in the art may adjust the execution order of S1, S2, etc. according to actual conditions, which is also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0091] like Figure 4 As shown, a control system 200 for automatic folding and unfolding of a boom of a self-propelled boom sprayer according to an embodiment of the present invention comprises a calibration module 201 and an automatic folding control module 202;

[0092] The calibration module 201 is used to calibrate the positions and durations associated with the boom of the self-propelled boom sprayer when it is folded and extended. The calibrated positions include: the extended position of the left boom, the folded position of the left boom, the extended position of the right boom, the folded position of the right boom, and the extended position of the central section of the self-propelled boom sprayer. The calibrated durations include: the extended duration of the left boom, the folded duration of the left boom, the extended duration of the right boom, and the folded duration of the right boom.

[0093] The automatic folding control module 202 is used to control the automatic unfolding or automatic folding of the spray boom of the self-propelled spray boom sprayer according to the calibrated position and duration.

[0094] Optionally, in the above technical solution, the automatic folding control module 202 is further specifically used for:

[0095] At the same time, the lifting positions of the left boom and the right boom are controlled until the lifting position of the left boom reaches the unfolded position of the left boom and the lifting position of the right boom reaches the unfolded position of the right boom; at the same time, the left boom, the right boom, the left forearm of the self-propelled boom sprayer and the right forearm of the self-propelled boom sprayer are controlled to perform the unfolding action until the duration of the unfolding action of the left boom and the left forearm reaches the unfolding time of the left boom and the duration of the unfolding action of the right boom and the right forearm reaches the unfolding time of the right boom, so that the boom of the self-propelled boom sprayer is automatically unfolded.

[0096] Optionally, in the above technical solution, the automatic folding control module 202 is further specifically used for:

[0097] At the same time, the lifting and lowering positions of the central section, the left boom and the right boom are controlled until the lifting and lowering position of the central section is in the folded and extended position of the central section, the lifting and lowering position of the left boom is in the extended position of the left boom, and the lifting and lowering position of the right boom is in the extended position of the right boom; at the same time, the left boom, the right boom, the left forearm and the right forearm are controlled to perform the folding action until the duration of the folding action of the left boom and the left forearm reaches the folding duration of the left boom and the duration of the folding action of the right boom and the right forearm reaches the folding duration of the right boom; at the same time, the lifting and lowering positions of the left boom and the right boom are controlled until the lifting and lowering position of the left boom reaches the folding position of the left boom and the lifting and lowering position of the right boom reaches the folding position of the right boom.

[0098] Optionally, in the above technical solution, the calibration module 201 is specifically used for:

[0099] The angle sensor and the counter are used to calibrate the position and duration of the boom of a self-propelled boom sprayer when it is folded or extended.

[0100] In another embodiment, a controller is included, and three angle sensors are set to obtain the lifting position of the central section, the lifting position of the left boom, and the lifting position of the right boom; two proximity switches are set to detect the state of the left boom (expanded state and folded state) and the state of the right boom (expanded state and folded state). The automatic folding and unfolding control of the self-propelled boom sprayer is divided into automatic expansion control and automatic folding control. After the user presses the automatic expansion button or the automatic folding button, the controller obtains the position of each section of the boom through the angle sensor, controls the corresponding solenoid valve, and realizes automatic expansion or automatic folding. At the same time, the controller outputs the current automatic control state of the boom, and displays the boom action information prompt on the screen, such as Figure 5 shown.

[0101] It should be noted that the beneficial effects of the control system 200 for automatic folding and unfolding of the spray boom of a self-propelled spray boom sprayer provided in the above embodiment are the same as the beneficial effects of the control method for automatic folding and unfolding of the spray boom of a self-propelled spray boom sprayer, which will not be described in detail here. In addition, when the system provided in the above embodiment realizes its functions, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be described in detail here.

[0102] Among them, the control system for automatic folding and extending of the spray boom of the self-propelled spray boom sprayer of the present invention can be a computer program (including program code) running in a computer device. For example, the control system for automatic folding and extending of the spray boom of the self-propelled spray boom sprayer of the present invention is an application software that can be used to execute the corresponding steps in the control method for automatic folding and extending of the spray boom of the self-propelled spray boom sprayer of the present invention.

[0103] The beneficial effects of the present invention are as follows: through three angle sensors and two proximity switches, the lifting position and folding and unfolding state of the spray boom can be monitored in real time, and the structure is simple and easy to implement. In view of the complex problem of controlling the spray boom operation, the spray boom can be controlled to automatically fold and unfold corresponding actions only through the automatic folding button and the automatic unfolding button. The user operation is simplified, the learning cost is low, and the user experience is improved.

[0104] A novel self-propelled boom sprayer according to an embodiment of the present invention comprises a self-propelled boom sprayer body, an angle sensor, a timer, and an electronic device for realizing a control method for automatic folding and unfolding of a boom of a self-propelled boom sprayer according to the present invention, wherein the angle sensor and the timer are used to calibrate the position and duration associated with the boom of the self-propelled boom sprayer when it is folded and unfolded, and the electronic device is installed on the self-propelled boom sprayer body. The self-propelled boom sprayer body is an existing self-propelled boom sprayer on the market.

[0105] In some embodiments, the control system for automatic folding and extending of the spray boom of the self-propelled spray boom sprayer of the present invention can be implemented by a combination of software and hardware. As an example, the control system for automatic folding and extending of the spray boom of the self-propelled spray boom sprayer of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the control method for automatic folding and extending of the spray boom of the self-propelled spray boom sprayer of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application specific integrated circuits (ASIC, Application Specific Integrated Circuit), DSP, programmable logic device (PLD, Programmable Logic Device), complex programmable logic device (CPLD, Complex Programmable Logic Device), field programmable gate array (FPGA, Field-Programmable Gate Array) or other electronic components.

[0106] The modules involved in the embodiments of the present invention may be implemented in software or hardware. The name of a module does not limit the module itself in some cases.

[0107] An electronic device according to an embodiment of the present invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any of the above-mentioned methods for controlling the automatic folding and unfolding of the spray boom of a self-propelled spray boom sprayer is implemented. That is to say, an electronic device according to an embodiment of the present invention may include but is not limited to: a processor and a memory; the memory is used to store the computer program; the processor is used to execute the method for controlling the automatic folding and unfolding of the spray boom of a self-propelled spray boom sprayer shown in any embodiment of the present invention by calling the computer program.

[0108] In an alternative embodiment, an electronic device is provided, such as Figure 6 As shown, Figure 6 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0109] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0110] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6In the figure, only one thick line is used to represent the bus 4002, but this does not mean that there is only one bus or one type of bus.

[0111] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0112] The memory 4003 is used to store the application code (computer program) for executing the solution of the present invention, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0113] Among them, the electronic device can also be a terminal device, and the terminal device can be any device that can install applications, including at least one of a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart car device.

[0114] It should be noted that Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0115] A computer-readable storage medium according to an embodiment of the present invention stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned control methods for automatically folding and unfolding a spray boom of a self-propelled spray boom sprayer is implemented.

[0116] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0117] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes any of the above-mentioned control methods for automatically folding a spray boom of a self-propelled spray boom sprayer.

[0118] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0119] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0120] The computer-readable storage medium provided by the embodiment of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or component.

[0121] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0122] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the disclosure scope involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

[0123] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0124] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0125] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for controlling the automatic folding and unfolding of a boom of a self-propelled boom sprayer, characterized in that: include: Calibrate the positions and durations associated with the boom of the self-propelled boom sprayer when it is folded and extended, the calibrated positions include: the extended position of the left boom of the self-propelled boom sprayer, the folded position of the left boom, the extended position of the right boom, the folded position of the right boom, and the extended position of the central section, and the calibrated durations include: the extended duration of the left boom, the folded duration of the left boom, the extended duration of the right boom, and the folded duration of the right boom; According to the calibrated position and duration, the spray boom of the self-propelled spray boom sprayer is controlled to automatically unfold or fold.

2. A control method for automatic folding and unfolding of a boom of a self-propelled boom sprayer according to claim 1, characterized in that: According to the calibrated position and duration, the spray boom of the self-propelled spray boom sprayer is controlled to automatically unfold, including: At the same time, the lifting and lowering positions of the left boom and the right boom are controlled until the lifting and lowering positions of the left boom reach the unfolded position of the left boom and the lifting and lowering positions of the right boom reach the unfolded position of the right boom; at the same time, the left boom, the right boom, the left forearm of the self-propelled boom sprayer and the right forearm of the self-propelled boom sprayer are controlled to perform the unfolding action until the duration of the unfolding action of the left boom and the left forearm reaches the unfolding duration of the left boom and the duration of the unfolding action of the right boom and the right forearm reaches the unfolding duration of the right boom, so that the boom of the self-propelled boom sprayer is automatically unfolded.

3. The control method for automatic folding and unfolding of a boom of a self-propelled boom sprayer according to claim 2, characterized in that: According to the calibrated position and duration, the spray boom of the self-propelled spray boom sprayer is controlled to be automatically folded, including: The lifting and lowering positions of the central section, the left upper arm and the right upper arm are controlled at the same time until the lifting and lowering position of the central section is in the folded and unfolded position of the central section, the lifting and lowering position of the left upper arm is in the unfolded position of the left upper arm, and the lifting and lowering position of the right upper arm is in the unfolded position of the right upper arm; the left upper arm, the right upper arm, the left forearm and the right forearm are controlled at the same time to perform a folding action until the duration of the folding action of the left upper arm and the left forearm reaches the folding duration of the left upper arm and the duration of the folding action of the right upper arm and the right forearm reaches the folding duration of the right upper arm; the lifting and lowering positions of the left upper arm and the right upper arm are controlled at the same time until the lifting and lowering position of the left upper arm reaches the folding position of the left upper arm and the lifting and lowering position of the right upper arm reaches the folding position of the right upper arm.

4. A control method for automatic folding and unfolding of a boom of a self-propelled boom sprayer according to any one of claims 1 to 3, characterized in that: Calibrate the position and duration of the boom of a self-propelled boom sprayer when it is folded and extended, including: The positions and durations associated with the folding and unfolding of the spray boom of the self-propelled spray boom sprayer are calibrated by means of an angle sensor and a counter.

5. A control system for automatic folding and unfolding of a boom of a self-propelled boom sprayer, characterized in that: It includes a calibration module and an automatic folding control module; The calibration module is used to calibrate the positions and durations associated with the boom of the self-propelled boom sprayer when it is folded and extended, the calibrated positions include: the extended position of the left boom of the self-propelled boom sprayer, the folded position of the left boom, the extended position of the right boom, the folded position of the right boom, and the extended position of the central section, and the calibrated durations include: the extended duration of the left boom, the folded duration of the left boom, the extended duration of the right boom, and the folded duration of the right boom; The automatic folding control module is used to control the automatic unfolding or automatic folding of the spray boom of the self-propelled spray boom sprayer according to the calibrated position and duration.

6. A control system for automatic folding and unfolding of a boom of a self-propelled boom sprayer according to claim 5, characterized in that: The automatic folding control module is also specifically used for: At the same time, the lifting and lowering positions of the left boom and the right boom are controlled until the lifting and lowering positions of the left boom reach the unfolded position of the left boom and the lifting and lowering positions of the right boom reach the unfolded position of the right boom; at the same time, the left boom, the right boom, the left forearm of the self-propelled boom sprayer and the right forearm of the self-propelled boom sprayer are controlled to perform the unfolding action until the duration of the unfolding action of the left boom and the left forearm reaches the unfolding duration of the left boom and the duration of the unfolding action of the right boom and the right forearm reaches the unfolding duration of the right boom, so that the boom of the self-propelled boom sprayer is automatically unfolded.

7. A control system for automatic folding and unfolding of a boom of a self-propelled boom sprayer according to claim 6, characterized in that: The automatic folding control module is also specifically used for: The lifting and lowering positions of the central section, the left upper arm and the right upper arm are controlled at the same time until the lifting and lowering position of the central section is in the folded and unfolded position of the central section, the lifting and lowering position of the left upper arm is in the unfolded position of the left upper arm, and the lifting and lowering position of the right upper arm is in the unfolded position of the right upper arm; the left upper arm, the right upper arm, the left forearm and the right forearm are controlled at the same time to perform a folding action until the duration of the folding action of the left upper arm and the left forearm reaches the folding duration of the left upper arm and the duration of the folding action of the right upper arm and the right forearm reaches the folding duration of the right upper arm; the lifting and lowering positions of the left upper arm and the right upper arm are controlled at the same time until the lifting and lowering position of the left upper arm reaches the folding position of the left upper arm and the lifting and lowering position of the right upper arm reaches the folding position of the right upper arm.

8. A control system for automatic folding and unfolding of a boom of a self-propelled boom sprayer according to any one of claims 5 to 7, characterized in that: The calibration module is specifically used for: The positions and durations associated with the folding and unfolding of the spray boom of the self-propelled spray boom sprayer are calibrated by means of an angle sensor and a counter.

9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a control method for automatic folding and unfolding of a spray boom of a self-propelled spray boom sprayer according to any one of claims 1 to 4 is implemented.

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 method for controlling the automatic folding and unfolding of a spray boom of a self-propelled spray boom sprayer according to any one of claims 1 to 4 is implemented.

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