Automatic operation control method based on GNSS (Global Navigation Satellite System) spraying equipment and application

Abstract

The invention belongs to an automatic control technology, mainly relates to the field of agricultural vehicle automation, and particularly relates to an automatic operation control method based on GNSS spraying equipment and application. The invention provides an automatic control method. Three point positions, namely a left point, a center point and a right point, of each section of the current farm tool are obtained through GNSS positioning service, then according to the set repetition rate, the length proportion of each section in a sprayed area is calculated in real time and compared with the set repetition rate, the opening and closing of a spraying sub-valve of each section are controlled, and the spraying efficiency of the farm tool is improved. Therefore, the automatic control of the sub-valve and the control of re-injection and leakage injection are realized. The real-time operation breadth, the current vehicle speed and the set spraying dosage are calculated according to the opening and closing conditions of the sub-valves of all the sections, the opening and closing size of the proportional valve is dynamically adjusted, and the spraying dosage is automatically adjusted and controlled.

Description

Technical Field

[0001] The present invention belongs to automatic control technology, mainly relates to the field of agricultural machinery and vehicle automation, and in particular to an automatic operation control method and application of GNSS-based spray equipment. Background Art

[0002] Traditional agricultural spraying equipment lacks automated control methods, and some are even manually controlled. This method includes but is not limited to the following disadvantages: ①. Unable to automatically adjust the spray dosage: When the vehicle speed is fast, the regional spraying volume will be insufficient, and the effective spraying purpose will not be achieved; when the vehicle speed is slow, the regional spraying volume will be too much, wasting the agent, increasing costs, and even causing residues, affecting life safety. ②. The sprayed and unsprayed areas cannot be clearly marked: Because the sprayed liquid is colorless, under natural conditions, the sprayed liquid will gradually become blurred within a certain period of time until it disappears completely. Including but not limited to adding water and adding medicine in the middle of the operation, when spraying again, it will be impossible to distinguish between the sprayed and unsprayed areas, which may cause re-spraying or missed spraying. ③. Inconvenient to use: Manual control requires controlling the switches one by one, which is inconvenient to use. Summary of the invention

[0003] The present invention proposes an automatic spraying machine for agricultural machinery, which can automatically control the switch of the spraying equipment, automatically adjust the spray dosage, automatically identify the sprayed and unsprayed areas, and avoid repeated spraying and missed spraying, so as to realize a control system that can automatically control the spraying operation to solve the above problems.

[0004] In order to solve the above technical problems, we proposed an automatic operation control method and application based on GNSS spray equipment.

[0005] The present invention provides the following technical solutions:

[0006] The automatic operation control method of the GNSS spray equipment includes the following steps:

[0007] S100, obtaining three locations of each section of the current agricultural implement through a GNSS positioning service, namely, a left point, a center point, and a right point;

[0008] S200, calculating the line segments of each section in real time according to S100;

[0009] S300, saving the worked surface according to S100;

[0010] S400, setting a fixed repetition rate value R, wherein the repetition rate is the ratio of the length of the line segment of the working surface where each section is located to the width of the corresponding section; and calculating in real time the ratio R′ of the length of the line segment of each section in the working surface to the width of each section;

[0011] S500, judging whether R′ in S400 is greater than or equal to R, if so, closing the section switch, otherwise, keeping the section switch open.

[0012] Preferably, the steps include:

[0013] S600, dynamically adjusting a proportional valve of the agricultural implement according to a difference between a desired spraying amount and an actual spraying amount;

[0014] The dynamic adjustment process is as follows:

[0015] The speed of the implement V is obtained through the GNSS device, in kilometers per hour. The width of each section in the open state is accumulated in real time to obtain the working width WK, in meters. It is set that N liters of pesticides need to be sprayed per mu of land, that is, the spraying amount is N liters / mu. The theoretically expected spraying amount E is calculated in liters / minute. The calculation formula is:

[0016] E=N*60 / (666.67 / WK / (V / 3.6))

[0017] The real-time spraying volume R liters / minute is detected by the flow meter device on the farm implement. By comparing the difference D=ER between E and R, if D is greater than 0, the proportional valve on the farm implement is opened; if D is less than 0, the proportional valve on the farm implement is closed; if D is equal to 0, the proportional valve on the device is not adjusted.

[0018] Preferably, in the above S600, the adjustment time T of the proportional valve is in milliseconds and is determined by the size of D. The calculation method is:

[0019] T=D*P / N

[0020] Where P is a coefficient and a fixed value.

[0021] Preferably, in the S100,

[0022] The center point coordinates (C(x), C(y)) of the implement, the angle ΔZ between the vehicle direction angle and the implement are obtained through GNSS. According to the width W of the implement, the coordinates of the leftmost point of the implement (L(x), L(y)) are calculated by the formula:

[0023] L(x)=C(x)+W / 2*Math.sin((ΔZ-90)*Math.PI / 180.0)

[0024] L(y)=C(y)+W / 2*Math.cos((ΔZ-90)*Math.PI / 180.0)

[0025] PI is a constant corresponding to pi.

[0026] Preferably, in the above S100, each section controls a spraying area of ​​a certain length, assuming that the leftmost section is S1;

[0027] The calculated coordinates of the leftmost point of the implement are the left coordinates of segment S1. The right coordinates of S1 (R1(x), R1(y)) are calculated based on the width W1 of segment S1. The calculation method is:

[0028] R1(x)=L(x)+W1*Math.sin((ΔZ+90)*Math.PI / 180.0)

[0029] R1(y)=L(y)+W1*Math.cos((ΔZ+90)*Math.PI / 180.0)

[0030] Since the farm implements are continuous, the coordinate points connecting the left and right are also continuous, so the right coordinate of S1 is the left coordinate of the adjacent right segment, and the left and right coordinates of each segment are calculated by analogy;

[0031] Calculation of the center point coordinates of S1 (C1(x), C1(y)):

[0032] C1(x)=L1(x)+W1 / 2*Math.sin((ΔZ+90)*Math.PI / 180.0)

[0033] C1(y)=L1(y)+W1 / 2*Math.cos((ΔZ+90)*Math.PI / 180.0)

[0034] And so on, calculate the coordinates of the center points of other segments.

[0035] Preferably, in the above S300, the calculation process of the operated surface is as follows:

[0036] The left coordinate and right coordinate calculated by S100 are known. When a section is opened, the left and right coordinates of the section are recorded. When the state of the section changes, the first coordinate point of the list is added to the end of the recorded coordinate list. These coordinate points are formed into a first-connected ring. The surface formed by the ring is the operated surface.

[0037] Preferably, the steps include:

[0038] S100, obtaining three locations of each section of the current agricultural implement through a GNSS positioning service, namely, a left point, a center point, and a right point;

[0039] S200, recording the working surface formed by opening the section;

[0040] S300, setting the repetition rate of a single side of each section to R;

[0041] S400, generating a left repetition rate point or a right repetition rate point of each section in real time according to S100 and S300;

[0042] S500, determining whether the left point and the left repetition rate point or the right point and the right repetition rate point are within the working surface generated in S200, if so, closing the section switch, otherwise, keeping the section switch open.

[0043] An automatic driving agricultural machine, comprising:

[0044] Memory for storing computer programs;

[0045] A processor is used to implement the automatic operation control method of the GNSS spray equipment based on any of the above-mentioned items when executing the computer program.

[0046] A computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the automatic operation control method based on a GNSS spray equipment as described in any of the above items.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] In order to solve the problems of automatically adjusting the spray dosage, re-spraying and missed spraying, and wasting manpower, the present invention provides an automated control method. The present invention uses GNSS positioning services to obtain three points of each section of the current agricultural implement, namely the left point, the center point, and the right point, and then controls the switch of the spray sub-valve of each section according to the set repetition rate by real-time calculating the length proportion of each section in the sprayed area and comparing it with the set repetition rate, thereby realizing automatic control of the sub-valve and control of re-spraying and missed spraying. According to the switch status of the sub-valve of each section, the real-time operating width, the current vehicle speed and the set spray dosage are calculated to dynamically adjust the switch size of the proportional valve to automatically control the spray dosage. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0050] Figure 1 is a schematic structural diagram of an embodiment of the present invention;

[0051] Figure 2 The structure of the embodiment of the present invention is shown in FIG. Figure 2 . DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] A GNSS antenna needs to be installed on the agricultural machinery body to obtain the center point (C), vehicle speed (V), and vehicle direction angle (Z) of the agricultural implement through the GNSS antenna.

[0054] Embodiment 1:

[0055] This embodiment calculates the left and right points of each section based on GNSS and the width of the agricultural implement, and then calculates the points with set repetition rates through these points, and uses the relationship between points and surfaces to determine when to turn off or on the control switch. Finally, the final amount to be sprayed is calculated based on the working width, speed and set spray dosage. In this way, automatic control of the spray equipment switch, automatic adjustment of the spray dosage, automatic identification of sprayed and unsprayed areas, and avoidance of repeated spraying and missed spraying are realized.

[0056] 1. Calculate the left point, right point and center point of each segment:

[0057] The specific number of sections of the spray implement is determined when the implement is assembled, and each section controls a certain length of the spraying area. Figure 1 Five sections are set up. Assume that they are numbered S1, S2, S3, S4, and S5 from left to right, and their widths are marked W1, W2, W3, W4, and W5 respectively. Then it can be known that the width (W) of the working implement is W1+W2+W3+W4+W5. We install the GNSS positioning device at the exact center of the implement. Then, through the GNSS service, we can obtain the coordinates of the center point of the implement (C), the vehicle direction angle, and the angle between the implement (ΔZ). Given the coordinates of the center point (C), the width of the implement (W), and the angle between the vehicle direction angle and the implement (ΔZ), the coordinates of the leftmost point of the implement (L) can be calculated by the formula. The calculation method is:

[0058] L(x)=C(x)+W / 2*Math.sin((ΔZ-90)*Math.PI / 180.0)

[0059] L(y)=C(y)+W / 2*Math.cos((ΔZ-90)*Math.PI / 180.0)

[0060] Where L(x) represents the X coordinate of the leftmost point of the implement, C(x) represents the X coordinate of the center point of the implement, W represents the width of the implement, L(y) represents the Y coordinate of the leftmost point of the implement, C(y) represents the Y coordinate of the center point of the implement, and ΔZ represents the angle between the vehicle direction angle and the implement.

[0061] Math.PI, Math.sin, and Math.cos are all methods provided in the Java language standard library. PI is actually a constant, corresponding to the ratio of pi to 3.14159265358979323846. The other two are trigonometric functions.

[0062] The calculated L coordinate is the left coordinate (L1) of segment S1. The right coordinate (R1) of S1 can be calculated based on the width (W1) of the segment. The calculation method is:

[0063] R1(x)=L(x)+W1*Math.sin((ΔZ+90)*Math.PI / 180.0)

[0064] R1(y)=L(y)+W1*Math.cos((ΔZ+90)*Math.PI / 180.0)

[0065] Since the farm implement is continuous, the coordinate points connecting the left and right are also continuous, so the right coordinate (R1) of S1 is the left coordinate (L2) of S2, and so on, the left coordinate (Lx) and right coordinate (Rx) of each section are calculated, and ΔZ is the angle between the vehicle direction angle and the farm implement.

[0066] Calculation of center point coordinates:

[0067] C1(x)=L1(x)+W1 / 2*Math.sin((ΔZ+90)*Math.PI / 180.0)

[0068] C1(y)=L1(y)+W1 / 2*Math.cos((ΔZ+90)*Math.PI / 180.0)

[0069] Where C1(x) represents the X coordinate of the center point of segment S1, L1(x) represents the X coordinate of the left point of segment S1, W1 is the width of segment S1, C1(y) represents the Y coordinate of the center point of segment S1, L1(y) represents the Y coordinate of the left point of segment S1, and ΔZ is the angle between the vehicle direction angle and the implement. By analogy, the coordinates of the center points of other segments can be calculated.

[0070] In addition, the above calculation process can also be performed through the coordinates of the rightmost point of the agricultural implement to obtain the left coordinates, right coordinates and center point coordinates of each section.

[0071] 2. Calculate the points of repetition rate of each segment:

[0072] The repetition rate here refers to the repetition rate of a single side of each section. Set the repetition rate to (R), for example, the repetition rate is 20%, which means that when the repetition rate of the left or right side of a section of the spraying operation reaches 20%, the section needs to be closed.

[0073] The calculation formula for the repetition rate point L1R on the left side of segment S1 is:

[0074] L1R(x)=C1(x)+W1 / 2*(1-R)*Math.sin((ΔZ-90)*Math.PI / 180.0)

[0075] L1R(y)=C1(y)+W1 / 2*(1-R)*Math.cos((ΔZ-90)*Math.PI / 180.0)

[0076] Where L1R(x) represents the X coordinate of the point (L1R) with the repetition rate of segment S1, C1(x) represents the X coordinate of the center point of segment S1, L1R(y) represents the Y coordinate of the point with the repetition rate of segment S1, C1(y) represents the Y coordinate of the center point of segment S1, W1 is the width of segment S1, R is the repetition rate, and ΔZ is the angle between the vehicle direction angle and the implement.

[0077] The calculation formula for the repetition rate point R1R on the right side of segment S1 is:

[0078] R1R(x)=C1(x)+W1 / 2*(1-R)*Math.sin((ΔZ+90)*Math.PI / 180.0)

[0079] R1R(y)=C1(y)+W1 / 2*(1-R)*Math.cos((ΔZ+90)*Math.PI / 180.0)

[0080] Where R1R(x) represents the X coordinate of the point (R1R) of the repetition rate of segment S1, C1(x) represents the X coordinate of the center point of segment S1, R1R(y) represents the Y coordinate of the repetition rate point of segment S1, C1(y) represents the Y coordinate of the center point of segment S1, W1 is the width of segment S1, R is the repetition rate, and ΔZ is the angle between the vehicle direction angle and the implement.

[0081] 3. Save the worked surface

[0082] Alternatively, given the left and right coordinate points calculated above, when a certain section is opened, start recording the left and right coordinate points of this section. When the status of this section changes, the driving distance is greater than a certain value, or a turn occurs (this scenario includes but is not limited to the above examples), add the first coordinate point of the list to the end of the recorded coordinate list, and form a ring with these coordinate points connected end to end. The surface formed by this ring is the surface that has been operated on.

[0083] 4. Judgment of the relationship between points and surfaces and control of section switches

[0084] Here, mainly use the relationship between the left coordinate points and the points with left repetition rate or the right coordinate points and the points with right repetition rate of each section and the surface described above to judge whether the point is inside the surface. If the left coordinate points and the points with left repetition rate or the right coordinate points and the points with right repetition rate are inside the surface, it means that the condition for closing the section is met, and at this time, the section needs to be closed. The method for judging whether a point is inside the surface is as follows:

[0085] 1). Emit a ray from any direction of the point, usually in the horizontal or vertical direction;

[0086] 2). Count the number of times the ray intersects the edges of the surface: If the number of intersections is odd, the point is inside the surface; if the number of intersections is even, the point is outside the surface.

[0087] Calculation method: Assume the point is (px, py), and the endpoints of the edge are (x1, y1) and (x2, y2). Calculate the abscissa x of the intersection point through the formula x = x1 + (py - y1) * (x2 - x1) / (y2 - y1). If px < x, it means that the ray passes through this edge.

[0088] 5. Communication method for section switch control

[0089] Use a certain communication method, such as CAN communication, serial communication, etc., to send the control status to the control device on the agricultural implement. After receiving the control instruction of the switch, the control device performs the action of opening or closing the section switch.

[0090] 6. Calculate the difference between the expected spraying amount and the actual spraying amount

[0091] After the above steps, we can clearly determine which sections are open or closed. We add up the widths of the sections in the open state, and then we can get the working width (WK). For example, sections S1, S2, and S3 are open, and sections S4 and S5 are closed, then WK = W1 + W2 + W3, in meters. The speed (V) can be obtained through the GNSS device, in kilometers per hour. It is known that N liters of pesticides need to be sprayed per acre, that is, the spraying amount is N liters / acre. From this, the theoretically expected spraying amount E can be calculated in liters / minute, and the calculation formula is:

[0092] E=N*60 / (666.67 / WK / (V / 3.6))

[0093] The flow meter device on the farm implement can detect the real-time spraying volume R liters / minute. By comparing the values ​​of E and R, it can be determined whether the current spraying is too much or too little. For example, D=ER. If D is greater than 0, it means that the actual spraying is too little, and the proportional valve on the device needs to be opened. If D is less than 0, it means that the actual spraying is too much, and the proportional valve on the device needs to be closed. If D is equal to 0, it means that the actual spraying volume is consistent with the expected spraying volume, and there is no need to adjust the proportional valve on the device.

[0094] 7. Automatically control the spray dosage

[0095] Through step 6, we can know whether the proportional valve needs to be adjusted. The adjustment time T (in milliseconds) can be determined by the size of D. The calculation method is:

[0096] T=D*P / N

[0097] Where P is a coefficient and a fixed value.

[0098] After the control time is calculated, the proportional valve can be controlled to open or close for T milliseconds through the above communication method. After continuous adjustment, the values ​​of E and R are the same. In this way, no matter whether the vehicle speed changes or the width WK of the operation changes, the purpose of automatically controlling the spraying dosage can be achieved.

[0099] Embodiment 2:

[0100] This embodiment calculates the left and right points of each section based on GNSS and the width of the agricultural implement, and then connects the left and right points of each section into a line segment. The relationship between the length ratio of the line segment in the surface and the set repetition rate R is used to determine when to turn off or on the control switch. Finally, the final amount to be sprayed is calculated based on the working width, speed and set spray dosage. In this way, automatic control of the spray equipment switch, automatic adjustment of the spray dosage, automatic identification of sprayed and unsprayed areas, and avoidance of repeated spraying and missed spraying are realized.

[0101] 1. Calculate the left point, right point and center point of each segment:

[0102] The specific number of sections of the spray implement is determined when the implement is assembled, and each section controls a certain length of the spraying area. Figure 1 Five sections are set up. Assume that they are numbered S1, S2, S3, S4, and S5 from left to right, and their widths are marked W1, W2, W3, W4, and W5 respectively. Then it can be known that the width (W) of the working implement is W1+W2+W3+W4+W5. We install the GNSS positioning device at the exact center of the implement. Then, through the GNSS service, we can obtain the coordinates of the center point of the implement (C), the vehicle direction angle, and the angle between the implement (ΔZ). Given the coordinates of the center point (C), the width of the implement (W), and the angle between the vehicle direction angle and the implement (ΔZ), the coordinates of the leftmost point of the implement (L) can be calculated by the formula. The calculation method is:

[0103] L(x)=C(x)+W / 2*Math.sin((ΔZ-90)*Math.PI / 180.0)

[0104] L(y)=C(y)+W / 2*Math.cos((ΔZ-90)*Math.PI / 180.0)

[0105] Where L(x) represents the X coordinate of the leftmost point of the implement, C(x) represents the X coordinate of the center point of the implement, W represents the width of the implement, L(y) represents the Y coordinate of the leftmost point of the implement, C(y) represents the Y coordinate of the center point of the implement, and ΔZ represents the angle between the vehicle direction angle and the implement.

[0106] Math.PI, Math.sin, and Math.cos are all methods provided in the Java language standard library. PI is actually a constant, corresponding to the ratio of pi to 3.14159265358979323846. The other two are trigonometric functions.

[0107] The calculated L coordinate is the left coordinate (L1) of segment S1. The right coordinate (R1) of S1 can be calculated based on the width (W1) of the segment. The calculation method is:

[0108] R1(x)=L(x)+W1*Math.sin((ΔZ+90)*Math.PI / 180.0)

[0109] R1(y)=L(y)+W1*Math.cos((ΔZ+90)*Math.PI / 180.0)

[0110] Since the farm implement is continuous, the coordinate points connecting the left and right are also continuous, so the right coordinate (R1) of S1 is the left coordinate (L2) of S2, and so on, the left coordinate (Lx) and right coordinate (Rx) of each section are calculated, and ΔZ is the angle between the vehicle direction angle and the farm implement.

[0111] Calculation of center point coordinates:

[0112] C1(x)=L1(x)+W1 / 2*Math.sin((ΔZ+90)*Math.PI / 180.0)

[0113] C1(y)=L1(y)+W1 / 2*Math.cos((ΔZ+90)*Math.PI / 180.0)

[0114] Where C1(x) represents the X coordinate of the center point of segment S1, L1(x) represents the X coordinate of the left point of segment S1, W1 is the width of segment S1, C1(y) represents the Y coordinate of the center point of segment S1, L1(y) represents the Y coordinate of the left point of segment S1, and ΔZ is the angle between the vehicle direction angle and the implement. By analogy, the coordinates of the center points of other segments can be calculated.

[0115] In addition, the above calculation process can also be performed through the coordinates of the rightmost point of the agricultural implement to obtain the left coordinates, right coordinates and center point coordinates of each section.

[0116] 2. Calculate the line segments of each section in real time

[0117] According to the above-calculated left coordinate point and right coordinate point, the line segment of each section can be calculated in real time, that is, the connecting line between the left coordinate point and the right coordinate point of each section.

[0118] 3. Save the worked surface

[0119] The left and right coordinate points calculated above are known. When a section is opened, the left and right coordinate points of the section are recorded. When the state of the section changes or the driving distance is greater than a certain value or a turn occurs (this scenario includes but is not limited to the above examples), the first coordinate point of the list is added to the end of the recorded coordinate list, and these coordinate points are formed into a ring connected in the first place. The surface formed by the ring is the operated surface.

[0120] 4. Section switch control

[0121] Through the line segments of each section calculated in step 2 and the work surface saved in step 3, the length of a section in the surface can be calculated. For example, in the first section, the length in the surface is L1, and the section width is W1. Then the ratio R1 of the length of the section in the surface to the section width is L1 / W1. If R1≥R, R is the set repetition rate, then the section needs to be closed, otherwise it needs to be opened. Figure 2 The example is for the fourth segment, where the length in the surface is L4 and the segment width is W4.

[0122] 5. Communication method for section switch control

[0123] A communication method such as CAN communication or serial communication can be used to send the control state to a control device on the agricultural implement. After receiving the control instruction of the switch, the control device executes the action of opening or closing the section switch.

[0124] 6. Calculate the difference between the expected spraying amount and the actual spraying amount

[0125] After the above steps, we can clearly determine which sections are open or closed. We add up the widths of the sections in the open state, and then we can get the working width (WK). For example, sections S1, S2, and S3 are open, and sections S4 and S5 are closed, then WK = W1 + W2 + W3, in meters. The speed (V) can be obtained through the GNSS device, in kilometers per hour. It is known that N liters of pesticides need to be sprayed per acre, that is, the spraying amount is N liters / acre. From this, the theoretically expected spraying amount E can be calculated in liters / minute, and the calculation formula is:

[0126] E=N*60 / (666.67 / WK / (V / 3.6))

[0127] The flow meter device on the farm implement can detect the real-time spraying volume R liters / minute. By comparing the values ​​of E and R, it can be determined whether the current spraying is too much or too little. For example, D=ER. If D is greater than 0, it means that the actual spraying is too little, and the proportional valve on the device needs to be opened. If D is less than 0, it means that the actual spraying is too much, and the proportional valve on the device needs to be closed. If D is equal to 0, it means that the actual spraying volume is consistent with the expected spraying volume, and there is no need to adjust the proportional valve on the device.

[0128] 7. Automatically control the spray dosage

[0129] Through step 6, we can know whether the proportional valve needs to be adjusted. The adjustment time T (in milliseconds) can be determined by the size of D. The calculation method is:

[0130] T=D*P / N

[0131] Where P is a coefficient and a fixed value.

[0132] After the control time is calculated, the proportional valve can be controlled to open or close for T milliseconds through the above communication method. After continuous adjustment, the values ​​of E and R are the same. In this way, no matter whether the vehicle speed changes or the width WK of the operation changes, the purpose of automatically controlling the spraying dosage can be achieved.

[0133] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0134] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic operation control method for a spraying device based on GNSS, characterized in that: The following steps are involved: S100, obtaining three locations of each section of the current agricultural implement through a GNSS positioning service, namely, a left point, a center point, and a right point; S200, calculating the line segments of each section in real time according to S100; S300, saving the worked surface according to S100; S400, setting a fixed repetition rate value R, wherein the repetition rate is the ratio of the length of the line segment of the working surface where each section is located to the width of the corresponding section; and calculating in real time the ratio R′ of the length of the line segment of each section in the working surface to the width of each section; S500, judging whether R′ in S400 is greater than or equal to R, if so, closing the section switch, otherwise, keeping the section switch open.

2. The automatic operation control method based on GNSS spray equipment according to claim 1 is characterized in that: The following steps are involved: S600, dynamically adjusting a proportional valve of the agricultural implement according to a difference between a desired spraying amount and an actual spraying amount; The dynamic adjustment process is as follows: The speed of the implement V is obtained through the GNSS device, in kilometers per hour. The width of each section in the open state is accumulated in real time to obtain the working width WK, in meters. It is set that N liters of pesticides need to be sprayed per mu of land, that is, the spraying amount is N liters / mu. The theoretically expected spraying amount E is calculated in liters / minute. The calculation formula is: E=N*60 / (666.67 / WK / (V / 3.6)) The real-time spraying volume R liters / minute is detected by the flow meter device on the farm implement. By comparing the difference D=ER between E and R, if D is greater than 0, the proportional valve on the farm implement is opened; if D is less than 0, the proportional valve on the farm implement is closed; if D is equal to 0, the proportional valve on the device is not adjusted.

3. The automatic operation control method based on GNSS spray equipment according to claim 2 is characterized in that: In the above S600, the adjustment time T of the proportional valve is in milliseconds and is determined by the size of D. The calculation method is: T=D*P / N Where P is a coefficient and a fixed value.

4. The automatic operation control method based on GNSS spray equipment according to claim 1 is characterized in that: In the S100, The center point coordinates (C(x), C(y)) of the implement, the angle ΔZ between the vehicle direction angle and the implement are obtained through GNSS. According to the width W of the implement, the coordinates of the leftmost point of the implement (L(x), L(y)) are calculated by the formula: L(x)=C(x)+W / 2*Math.sin((ΔZ-90)*Math.PI / 180.0) L(y)=C(y)+W / 2*Math.cos((ΔZ-90)*Math.PI / 180.0) PI is a constant corresponding to pi.

5. The automatic operation control method based on GNSS spray equipment according to claim 4 is characterized in that: In the above S100, each section controls a spraying area of ​​a certain length, assuming that the leftmost section is S1; The calculated coordinates of the leftmost point of the implement are the left coordinates of segment S1. The right coordinates of S1 (R1(x), R1(y)) are calculated based on the width W1 of segment S1. The calculation method is: R1(x)=L(x)+W1*Math.sin((ΔZ+90)*Math.PI / 180.0) R1(y)=L(y)+W1*Math.cos((ΔZ+90)*Math.PI / 180.0) Since the farm implements are continuous, the coordinate points connecting the left and right are also continuous, so the right coordinate of S1 is the left coordinate of the adjacent right segment, and the left and right coordinates of each segment are calculated by analogy; Calculation of the center point coordinates of S1 (C1(x), C1(y)): C1(x)=L1(x)+W1 / 2*Math.sin((ΔZ+90)*Math.PI / 180.0) C1(y)=L1(y)+W1 / 2*Math.cos((ΔZ+90)*Math.PI / 180.0) And so on, calculate the coordinates of the center points of other segments.

6. The automatic operation control method based on GNSS spray equipment according to claim 5 is characterized in that: In the above-mentioned S300, the calculation process of the operated surface is as follows: The left coordinate and right coordinate calculated by S100 are known. When a section is opened, the left and right coordinates of the section are recorded. When the state of the section changes, the first coordinate point of the list is added to the end of the recorded coordinate list. These coordinate points are formed into a first-connected ring. The surface formed by the ring is the operated surface.

7. The automatic operation control method of the GNSS spray equipment is characterized in that: The following steps are involved: S100, obtaining three locations of each section of the current agricultural implement through a GNSS positioning service, namely, a left point, a center point, and a right point; S200, recording the working surface formed by opening the section; S300, setting the repetition rate of a single side of each section to R; S400, generating a left repetition rate point or a right repetition rate point of each section in real time according to S100 and S300; S500, determining whether the left point and the left repetition rate point or the right point and the right repetition rate point are within the working surface generated in S200, if so, closing the section switch, otherwise, keeping the section switch open.

8. An automatic driving agricultural machine, characterized in that: include: Memory for storing computer programs; A processor, used to implement the automatic operation control method based on GNSS spray equipment as described in any one of claims 1 to 7 when executing the computer program.

9. 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 automatic operation control method based on the GNSS spray equipment as claimed in any one of claims 1 to 7 is implemented.

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