Intelligently-controlled PWM (Pulse Width Modulation) targeted pesticide spraying system, method, equipment and medium

Abstract

The invention discloses an intelligent control PWM targeted pesticide spraying system, method and device and a medium, and relates to the technical field of agricultural machinery, and the method comprises the steps: obtaining the traveling speed of a spraying vehicle, the height of a spraying head of the spraying vehicle, and field image data in a preset range with the spraying vehicle as the center; generating a spraying strategy based on the field image data, the traveling speed of the spraying vehicle and the height of a PWM electromagnetic nozzle of the spraying vehicle, and generating a control strategy of the PWM electromagnetic nozzle based on the spraying strategy; and based on the control strategy, controlling a PWM electromagnetic nozzle of the spraying vehicle to work. By acquiring field image data, the system can identify information such as crop distribution, weed density and pest and disease damage conditions in the farmland. Therefore, the spraying strategy can be accurately adjusted according to actual requirements.

Description

Background Art

[0002] The technology of spraying pesticides on target is of great significance in saving pesticides and reducing pesticide damage to crops. Traditional pesticide spraying is still in a full-spray state, without distinguishing between weeds and crops. The technology of spraying pesticides on target differentiates weeds and crops according to the images transmitted by the camera, achieving the effect of spraying pesticides on areas with weeds and not spraying on areas without weeds, so as to achieve the purpose of saving usage. However, in actual agronomic research, it is found that weeds still grow in the areas where spraying is not carried out on target, and it is still necessary to re-spray for the second time. This not only wastes manpower and material resources, but also misses the best time for pesticide spraying. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent control PWM pesticide spraying system, method, device and medium for target spraying in view of the deficiencies of the prior art, specifically as follows:

[0004] 1) In the first aspect, the present invention provides an intelligent control PWM pesticide spraying system for target spraying, and the specific technical solution is as follows:

[0005] It includes: an external sensor module, a control module and an execution module;

[0006] The external sensor module is used to: obtain the traveling speed of the spraying vehicle, the height of the PWM electromagnetic nozzle of the spraying vehicle, and the field image data within a preset range centered on the spraying vehicle;

[0007] The control module is used to: generate a spraying strategy based on the field image data, the traveling speed of the spraying vehicle and the height of the PWM electromagnetic nozzle of the spraying vehicle, and generate a control strategy for the PWM electromagnetic nozzle based on the spraying strategy;

[0008] The execution module is used to: control the PWM electromagnetic nozzle of the spraying vehicle to work based on the control strategy.

[0009] The beneficial effects of the intelligent control PWM pesticide spraying system for target spraying provided by the present invention are as follows:

[0010] By acquiring field image data, the system can identify information such as crop distribution, weed density, and pest and disease conditions in the farmland. This enables the spraying strategy to be precisely adjusted according to actual needs. For example, increasing the amount of pesticide sprayed in areas with dense weeds and reducing the spraying amount in areas where the crops are healthy, thus achieving the goal of precision agriculture. The traveling speed and nozzle height of the spraying vehicle directly affect the uniformity and coverage of spraying. By real-time monitoring these parameters and incorporating them into the basis for generating the spraying strategy, the system can dynamically adjust the spraying amount and frequency to ensure uniform distribution of the pesticide and avoid uneven spraying caused by too high a speed or inappropriate nozzle height. Precision spraying can adjust the amount of pesticide used according to actual needs, avoiding overspraying, thereby reducing the waste of pesticides. This not only reduces the production cost of agriculture but also reduces the potential pollution to the environment. By optimizing the spraying strategy, the system can complete the spraying task in a shorter time, improve agricultural production efficiency, and reduce the problem of inconsistent crop growth caused by uneven spraying.

[0011] Based on the above solutions, the present invention can be further improved as follows.

[0012] Further, the external sensor module includes: a height sensor for acquiring the nozzle height of the spraying vehicle, a speed sensor for acquiring the traveling speed of the spraying vehicle, and at least two monocular cameras for acquiring field image data.

[0013] Further, it further includes: an image processing controller; for detecting weeds and crops in the field image data and generating a weed area and a crop area corresponding to each field image.

[0014] Further, the process of generating a spraying strategy based on the field image data, the traveling speed of the spraying vehicle, and the PWM electromagnetic nozzle height of the spraying vehicle is specifically as follows:

[0015] Monitor the field image data to determine the distance between the crop area in the current field image and the spraying vehicle. At the PWM electromagnetic nozzle height of the spraying vehicle, determine the start spraying time according to the distance.

[0016] 2) In the second aspect, the present invention also provides an intelligent control PWM target spraying method, and the specific technical solution is as follows:

[0017] Acquire the traveling speed of the spraying vehicle, the PWM electromagnetic nozzle height of the spraying vehicle, and the field image data within a preset range centered on the spraying vehicle;

[0018] Generate a spraying strategy based on the field image data, the traveling speed of the spraying vehicle, and the PWM electromagnetic nozzle height of the spraying vehicle, and generate a control strategy for the PWM electromagnetic nozzle based on the spraying strategy;

[0019] Based on the above control strategy, control the PWM electromagnetic nozzle of the spraying vehicle to work.

[0020] Based on the above solution, the present invention can be further improved as follows.

[0021] Further, the external sensor module includes: a height sensor for obtaining the height of the nozzle of the spraying vehicle, a speed sensor for obtaining the traveling speed of the spraying vehicle, and at least two monocular cameras for obtaining field image data.

[0022] Further, it further includes: performing weed and crop detection on the field image data through an image processing controller, and generating a weed area and a crop area corresponding to each field image.

[0023] Further, the process of generating a spraying strategy based on the field image data, the traveling speed of the spraying vehicle, and the height of the PWM electromagnetic nozzle of the spraying vehicle is specifically as follows:

[0024] Monitor the field image data, determine the distance between the crop area in the current field image and the spraying vehicle, and determine the start spraying time according to the distance at the height of the PWM electromagnetic nozzle of the spraying vehicle.

[0025] 3) In a third aspect, the present invention further provides an electronic device, which includes a processor. The processor is coupled to a memory, and at least one computer program is stored in the memory. The at least one computer program is loaded and executed by the processor to enable the electronic device to implement any one of the above methods.

[0026] 4) In a fourth aspect, the present invention further provides a computer-readable storage medium, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor to enable a computer to implement any one of the above methods.

[0027] It should be noted that for the beneficial effects obtained by the technical solutions and corresponding possible implementation manners of the second to fourth aspects of the present invention, reference can be made to the technical effects of the first aspect and its corresponding possible implementation manners above, which will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objects, and advantages of the present invention will become more obvious:

[0029] Figure 1 It is a schematic flowchart of a method for intelligent control of PWM target spraying of the present invention;

[0030] Figure 2 Schematic structural diagram of an intelligent controlled PWM target spraying system according to an embodiment of the present invention;

[0031] Figure 3 One of the schematic diagrams of the positions of the monocular camera, PWM electromagnetic nozzle, and height sensor of an intelligent controlled PWM target spraying system according to an embodiment of the present invention;

[0032] Figure 4 Another schematic diagram of the positions of the monocular camera, PWM electromagnetic nozzle, and height sensor of an intelligent controlled PWM target spraying system according to an embodiment of the present invention;

[0033] Figure 5 Schematic diagram of the PWM duty cycle of an intelligent controlled PWM target spraying system according to the present invention

[0034] Figure 6 Structural framework diagram of an electronic device according to the present invention. Detailed implementation manners

[0035] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0036] An intelligent controlled PWM target spraying system according to an embodiment of the present invention includes the following steps:

[0037] Including: an external sensor module, a control module, and an execution module;

[0038] The external sensor module is used to: obtain the traveling speed of the spraying vehicle, the height of the PWM electromagnetic nozzle of the spraying vehicle, and the field image data within a preset range centered on the spraying vehicle;

[0039] The control module is used to: generate a spraying strategy based on the field image data, the traveling speed of the spraying vehicle, and the height of the PWM electromagnetic nozzle of the spraying vehicle, and generate a control strategy for the PWM electromagnetic nozzle based on the spraying strategy;

[0040] The execution module is used to: control the PWM electromagnetic nozzle of the spraying vehicle to work based on the control strategy.

[0041] The beneficial effects of an intelligent controlled PWM target spraying system provided by the present invention are as follows:

[0042] By obtaining field image data, the system can identify information such as crop distribution, weed density, and pest and disease conditions in the farmland. This enables the spraying strategy to be precisely adjusted according to actual needs. For example, increasing the amount of pesticide sprayed in areas with dense weeds and reducing the spraying amount in areas where the crops are healthy, thus achieving the goal of precision agriculture. The traveling speed and nozzle height of the spraying vehicle directly affect the uniformity and coverage of spraying. By real-time monitoring these parameters and incorporating them into the basis for generating the spraying strategy, the system can dynamically adjust the spraying amount and frequency to ensure uniform distribution of the pesticide and avoid uneven spraying caused by too high a speed or inappropriate nozzle height. Precision spraying can adjust the amount of pesticide used according to actual needs, avoiding over-spraying, thereby reducing the waste of pesticides. This not only reduces the agricultural production cost but also reduces the potential environmental pollution. By optimizing the spraying strategy, the system can complete the spraying task in a shorter time, improve agricultural production efficiency, and reduce the problem of inconsistent crop growth caused by uneven spraying.

[0043] The process of generating a spraying strategy based on the field image data, the traveling speed of the spraying vehicle, and the PWM electromagnetic nozzle height of the spraying vehicle is specifically as follows:

[0044] I. Data collection

[0045] Field image data:

[0046] Collection equipment: Use a camera or sensor module installed on the spraying vehicle to obtain the image data of the farmland in real time.

[0047] Data content: The image data contains information such as the terrain of the farmland, crop distribution, weed density, and pest and disease conditions.

[0048] Preprocessing: Perform preliminary processing on the image data, including but not limited to: denoising, enhancing contrast, segmentation, etc., for subsequent analysis.

[0049] Traveling speed of the spraying vehicle:

[0050] Collection equipment: Obtain the traveling speed of the spraying vehicle in real time through a speed sensor on the vehicle (such as a GPS module or a vehicle speed sensor).

[0051] Data content: The speed data is used to determine the spraying frequency and the dosage of the pesticide per unit area.

[0052] The specific implementation process is as follows:

[0053] (I) Determine the nozzle coverage area S

[0054] Nozzle coverage area:

[0055] The coverage area of a sprinkler head refers to the area that a single sprinkler head can cover during one spraying process. It is usually determined by the spraying angle and spraying distance of the sprinkler head.

[0056] Formula: S = π × r 2

[0057] Where:

[0058] S is the coverage area of the sprinkler head (unit: square meters); r is the spraying radius of the sprinkler head (unit: meters).

[0059] (II) Determine the total chemical flow rate Q

[0060] Total chemical flow rate:

[0061] The total chemical flow rate refers to the amount of chemical sprayed by the sprinkler head per unit time. It can be achieved through the flow control of the chemical pump.

[0062] Formula: Q = f × V

[0063] Where:

[0064] Q is the total chemical flow rate (unit: liters per second); f is the spraying frequency (unit: times per second); V is the amount of chemical sprayed each time (unit: liters).

[0065] (III) Calculate the spraying frequency f

[0066] Calculate the spraying frequency based on the speed and dosage per unit area:

[0067] The spraying frequency needs to be adjusted according to the traveling speed of the spraying vehicle and the dosage of the chemical per unit area.

[0068] Formula: f = Sv × C

[0069] Where: v is the traveling speed of the spraying vehicle (unit: meters per second); C is the dosage of the chemical per unit area (unit: liters per square meter); S is the coverage area of the sprinkler head (unit: square meters).

[0070] (IV) Calculate the dosage per unit area C

[0071] Calculate the dosage per unit area based on the speed and flow rate:

[0072] The dosage per unit area needs to be adjusted according to the traveling speed of the spraying vehicle and the total chemical flow rate.

[0073] Formula: C = v × SQ

[0074] Where: Q is the total chemical flow rate (unit: liters per second); v is the traveling speed of the spraying vehicle (unit: meters per second); S is the coverage area of the sprinkler head (unit: square meters).

[0075] II. Dynamic adjustment

[0076] Real-time monitoring and feedback:

[0077] During the spraying process, the speed of the spraying vehicle and the coverage area of the nozzles are monitored in real time.

[0078] If the speed changes, the spraying frequency and the dosage per unit area of the chemical agent are dynamically adjusted according to the above formula.

[0079] For example:

[0080] Suppose the speed of the spraying vehicle increases from 2 m / s to 3 m / s and other parameters remain unchanged. Then the new spraying frequency and dosage per unit area are:

[0081] f = 3.143 × 0.5 ≈ 0.48 times per second C = 3 × 3.14 × 0.2 ≈ 0.021 liters per square meter

[0082] Control module adjustment:

[0083] The control module adjusts the frequency and pulse width of the PWM signal according to the results of real-time calculation to control the spraying frequency of the nozzles and the chemical agent flow rate.

[0084] If the speed increases, the spraying frequency increases and the dosage per unit area of the chemical agent decreases to ensure uniform distribution of the chemical agent.

[0085] Nozzle height:

[0086] Acquisition device: The height of the nozzle from the ground is obtained in real time through a height sensor (such as a laser rangefinder or a mechanical sensor) installed on the nozzle.

[0087] Data content: The nozzle height data is used to adjust the spraying coverage and the distribution uniformity of the chemical agent.

[0088] III. Data processing and analysis

[0089] Image data processing:

[0090] Target recognition: Use image recognition algorithms (such as convolutional neural networks, CNNs in deep learning) to identify key information in the field image, such as crop types, weed distribution, pest and disease areas, etc.

[0091] Region division: According to the image analysis results, the farmland is divided into different regions (such as weed-dense areas, high-incidence pest and disease areas, normal crop areas, etc.).

[0092] Generate a map: Generate a farmland map containing different regions and features from the processed image data for subsequent strategy generation.

[0093] Speed and height data processing:

[0094] Speed adjustment: Based on the traveling speed of the spraying vehicle, calculate the spraying area per unit time, and thus adjust the spraying frequency and chemical dosage.

[0095] Height adjustment: Based on the height of the nozzle, adjust the spraying coverage and the evenness of chemical distribution. If the nozzle height is too high, it may be necessary to increase the spraying frequency or adjust the nozzle angle.

[0096] IV. Spraying strategy generation

[0097] Area strategy:

[0098] Weed-dense area: Based on the weed-dense areas identified in the image data, increase the chemical spraying amount and raise the spraying frequency.

[0099] High-incidence area of pests and diseases: For the high-incidence areas of pests and diseases, adjust the chemical formula and increase the dosage of specific chemicals.

[0100] Normal crop area: In the normal crop area, maintain the standard spraying amount and avoid over-spraying.

[0101] Speed and height adjustment strategy:

[0102] Speed adjustment: If the traveling speed of the spraying vehicle is fast, it is necessary to increase the spraying frequency or chemical dosage to ensure the chemical coverage per unit area.

[0103] Height adjustment: If the nozzle height is too high, it may be necessary to adjust the nozzle angle or increase the spraying frequency to ensure even chemical distribution.

[0104] Comprehensive strategy generation:

[0105] Multi-factor integration: Integrate the field image data, traveling speed, and nozzle height data to generate a dynamic spraying strategy. For example:

[0106] When in a weed-dense area and the vehicle is traveling fast, increase the spraying frequency and chemical dosage.

[0107] When in a normal crop area and the nozzle height is high, adjust the nozzle angle to ensure even chemical distribution.

[0108] Real-time adjustment: The spraying strategy can be dynamically adjusted according to real-time data to adapt to the complex farmland environment and dynamic working conditions.

[0109] V. Control strategy generation

[0110] PWM electromagnetic nozzle control strategy:

[0111] Spraying frequency: According to the spraying strategy, generate the frequency and pulse width of the PWM signal to control the spraying frequency of the nozzle.

[0112] Dosage of the agent: According to the spraying strategy, adjust the flow rate of the agent pump to control the dosage per unit area of the agent.

[0113] Nozzle angle: Spray straight downwards.

[0114] Real-time feedback and adjustment:

[0115] Sensor feedback: Monitor the dosage of the agent, spraying frequency, and nozzle height in real-time during the spraying process, and dynamically adjust the control strategy according to the feedback data.

[0116] Abnormal handling: If the sensor detects an abnormal situation (such as nozzle blockage or insufficient agent), adjust the control strategy in a timely manner or issue an alarm.

[0117] VI. Execution module

[0118] Nozzle control:

[0119] According to the generated control strategy, the execution module controls the working state of the PWM electromagnetic nozzle, including spraying frequency, dosage of the agent, and nozzle angle.

[0120] Ensure that the nozzle works according to the preset spraying strategy to achieve precise spraying.

[0121] Real-time monitoring and adjustment:

[0122] The execution module monitors various parameters in the spraying process in real-time and dynamically adjusts the working state of the nozzle according to the feedback data.

[0123] If an abnormal situation is detected, adjust or issue an alarm in a timely manner to ensure the smooth progress of the spraying process.

[0124] Furthermore, the external sensor module includes: a height sensor for obtaining the height of the nozzle of the spraying vehicle, a speed sensor for obtaining the traveling speed of the spraying vehicle, and at least two monocular cameras for obtaining the image data of the field.

[0125] Furthermore, it further includes: an image processing controller; for detecting weeds and crops in the field image data, and generating a weed area and a crop area corresponding to each field image.

[0126] Furthermore, the process of generating the spraying strategy based on the field image data, the traveling speed of the spraying vehicle, and the height of the PWM electromagnetic nozzle of the spraying vehicle is specifically as follows:

[0127] Monitor the field image data, determine the distance between the crop area in the current field image and the spraying vehicle, and determine the start spraying time according to the distance at the height of the PWM electromagnetic nozzle of the spraying vehicle.

[0128] Example 1, asFigure 2 As shown in the figure, the external sensor module includes: a height sensor, a speed sensor, and a monocular camera. The height sensor obtains the boom height information, the speed sensor is used to obtain the vehicle traveling speed information, and the monocular camera is used to obtain the field image information;

[0129] The control module includes: an image processing controller and a PWM electromagnetic nozzle controller. The image processing controller is used to process the field image information and send the decision result to the PWM electromagnetic nozzle controller. The PWM electromagnetic nozzle controller is used to receive the result from the image processing controller and control the action of the PWM electromagnetic nozzle;

[0130] The execution module: PWM electromagnetic nozzles;

[0131] The overall design scheme: The monocular camera collects the field image, and the field image information is transmitted to the image processing controller. The image processing controller processes the image data according to the boom height information and the vehicle speed information, and transmits the detection result to the PWM electromagnetic nozzle controller. The PWM electromagnetic nozzle controller controls the action of the PWM electromagnetic nozzle.

[0132] As Figure 1 shown, the present invention also provides a PWM target spraying method for intelligent control, and the specific technical solution is as follows:

[0133] S1, obtain the traveling speed of the spraying vehicle, the height of the PWM electromagnetic nozzle of the spraying vehicle, and the field image data within a preset range centered on the spraying vehicle;

[0134] S2, generate a spraying strategy based on the field image data, the traveling speed of the spraying vehicle, and the height of the PWM electromagnetic nozzle of the spraying vehicle, and generate a control strategy for the PWM electromagnetic nozzle based on the spraying strategy;

[0135] S3, control the PWM electromagnetic nozzle of the spraying vehicle to work based on the control strategy.

[0136] Based on the above solution, the present invention can also be improved as follows.

[0137] Further, the external sensor module includes: a height sensor for obtaining the height of the spraying vehicle nozzle, a speed sensor for obtaining the traveling speed of the spraying vehicle, and at least two monocular cameras for obtaining the field image data.

[0138] Further, it further includes: detecting weeds and crops in the field image data through the image processing controller, and generating a weed area and a crop area corresponding to each field image.

[0139] Further, the process of generating a spraying strategy based on the field image data, the traveling speed of the spraying vehicle, and the height of the PWM electromagnetic nozzle of the spraying vehicle is specifically as follows:

[0140] Monitor the field image data to determine the distance between the crop area in the current field image and the spraying vehicle. At the height of the PWM electromagnetic nozzle of the spraying vehicle, determine the start spraying time according to the distance.

[0141] Embodiment 2, as Figure 3 and Figure 4 shown, the overall hardware architecture of the PWM target spraying system is that a single image processing controller controls multiple cameras. The image processing control processes the image data according to the boom height information and the vehicle speed information, and transmits the processed result to the PWM electromagnetic nozzle controller. The PWM electromagnetic nozzle controller controls the PWM electromagnetic nozzle. The camera is located directly above the electromagnetic nozzle, the height sensor is located on the positive side of the camera and the electromagnetic nozzle, and the GPS is on the vehicle, not on the boom, as Figure 4 shown. The software architecture solution is that the image processing controller uses a deep learning vision detection algorithm to detect weeds and crops, calculates whether to increase the spraying amount of the PWM electromagnetic nozzle according to the boom height information and the vehicle speed information, and transmits the calculation result to the PWM electromagnetic nozzle controller. The PWM electromagnetic nozzle controller adjusts the duty cycle according to the calculation result to control the spraying amount of the PWM electromagnetic nozzle, achieving more spraying for areas with weeds and less spraying for areas without weeds. The spraying effect is as Figure 4 shown.

[0142] The PWM target spraying system collects field data through a monocular camera installed on the boom, uses a deep learning method to identify weeds and crops through the image processing controller, calculates whether to increase the spraying amount of the PWM electromagnetic nozzle according to the boom height information and the vehicle speed information, transmits the recognition result to the PWM electromagnetic nozzle controller, and the PWM electromagnetic nozzle controller controls the drug spraying by controlling the duty cycle.

[0143] The PWM electromagnetic nozzle controller adjusts the opening and closing ratio of the PWM electromagnetic nozzle to make the PWM electromagnetic nozzle present different spraying levels. When weeds are detected, the PWM electromagnetic nozzle controller increases the TON occupation time and increases the spraying amount of the PWM electromagnetic nozzle. PWM is as Figure 5 shown.

[0144] Frequency: 1 / T S ;

[0145] Duty cycle = T ON / T S ;

[0146] T S : The time of a high-level transformation cycle.

[0147] T ON : High-level occupancy time.

[0148] In the above embodiments, although the steps are numbered S1, S2, etc., they are only specific embodiments given by the present invention. Those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, which is also within the protection scope of the present invention. It can be understood that in some embodiments, it may include some or all of the above embodiments.

[0149] It should be noted that the beneficial effects of the PWM target spraying method with intelligent control provided in the above embodiments are the same as those of the PWM target spraying system with intelligent control provided above, and will not be elaborated here. In addition, when the system provided in the above embodiments realizes its functions, only the above-mentioned division of each functional module is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the system can be divided into different functional modules according to the actual situation to complete all or part of the functions described above. In addition, the system provided in the above embodiments and the method embodiments belong to the same concept, and the specific implementation process can be seen in the method embodiments, which will not be elaborated here.

[0150] As Figure 6 shown, an electronic device 300 according to an embodiment of the present invention, the electronic device 300 includes a processor 320, the processor 320 is coupled to a memory 310, and at least one computer program 330 is stored in the memory 310. The at least one computer program 330 is loaded and executed by the processor 320 so that the electronic device 300 implements any one of the above methods. Specifically:

[0151] The electronic device 300 may vary greatly due to configuration or performance, and may include one or more processors 320 (Central Processing Units, CPUs) and one or more memories 310. Among them, at least one computer program 330 is stored in the one or more memories 310, and the at least one computer program 330 is loaded and executed by the one or more processors 320 so that the electronic device 300 implements a PWM target spraying system with intelligent control provided in the above embodiments. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input / output interface for input / output. The electronic device 300 may also include other components for implementing the functions of the device, which will not be elaborated here.

[0152] A computer-readable storage medium according to an embodiment of the present invention, at least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor so that the computer implements any one of the above methods.

[0153] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0154] In an exemplary embodiment, there is also provided a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the 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 one of the above methods.

[0155] It should be noted that the terms "first", "second", etc. in the specification and claims of this application are used to distinguish similar objects, and do not represent a specific order or sequence. The order of use of similar objects may be interchanged appropriately, so that the embodiments of the present application described herein can be implemented in an order other than the illustrated or described order.

[0156] Those skilled in the art know that the present invention can be implemented as a system, a method, or a computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, that is: it can be completely hardware, can also be completely software (including firmware, resident software, microcode, etc.), and can also be a combination of hardware and software, 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 media contain computer-readable program codes.

[0157] Any combination of one or more computer-readable media may be employed. The computer-readable media may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium includes, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

[0158] 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 should not be construed as limiting the present invention. Those of ordinary skill in the art may make variations, modifications, substitutions, and alterations to the above embodiments within the scope of the present invention.

Claims

1. An intelligently controlled PWM target spraying system, characterized in that: include: External sensor module, control module and execution module; The external sensor module is used to obtain the speed of the spraying vehicle, the height of the PWM electromagnetic nozzle of the spraying vehicle, and the field image data within a preset range centered on the spraying vehicle; The control module is used to: generate a spraying strategy based on the field image data, the travel speed of the spraying vehicle and the height of the PWM electromagnetic nozzle of the spraying vehicle, and generate a control strategy for the PWM electromagnetic nozzle based on the spraying strategy; The execution module is used to control the PWM electromagnetic nozzle of the spraying vehicle to work based on the control strategy.

2. According to claim 1, the intelligently controlled PWM target spraying system is characterized in that: The external sensor module includes: a height sensor for obtaining the height of the spraying vehicle's spray head, a speed sensor for obtaining the spraying vehicle's traveling speed, and at least two monocular cameras for obtaining field image data.

3. The intelligently controlled PWM target spraying system according to claim 1 is characterized in that: Also includes: Image processing controller; It is used to detect weeds and crops on the field image data, and generate a weed area and a crop area corresponding to each field image.

4. The intelligently controlled PWM target spraying system according to claim 1, characterized in that: The process of generating a spraying strategy based on the field image data, the travel speed of the spraying vehicle and the height of the PWM electromagnetic nozzle of the spraying vehicle is specifically as follows: The field image data is monitored to determine the distance between the crop area in the current field image and the spraying vehicle, and the time to start spraying is determined according to the distance at the height of the PWM electromagnetic nozzle of the spraying vehicle.

5. An intelligently controlled PWM target spraying method, characterized in that: include: Acquire the traveling speed of the spraying vehicle, the height of the PWM electromagnetic nozzle of the spraying vehicle, and the field image data within a preset range centered on the spraying vehicle; Generate a spraying strategy based on the field image data, the travel speed of the spraying vehicle and the height of the PWM electromagnetic nozzle of the spraying vehicle, and generate a control strategy of the PWM electromagnetic nozzle based on the spraying strategy; Based on the control strategy, the PWM electromagnetic nozzle of the spraying vehicle is controlled to operate.

6. The intelligent controlled PWM target spraying method according to claim 5, characterized in that: The method for acquiring the traveling speed of the spraying vehicle, the height of the PWM electromagnetic nozzle of the spraying vehicle and the field image data within a preset range centered on the spraying vehicle is specifically: a height sensor for acquiring the height of the nozzle of the spraying vehicle, a speed sensor for acquiring the traveling speed of the spraying vehicle and at least two monocular cameras for acquiring the field image data.

7. The intelligent controlled PWM target spraying method according to claim 5, characterized in that: Also includes: The image processing controller performs weed and crop detection on the field image data, and generates a weed area and a crop area corresponding to each field image.

8. The intelligent controlled PWM target spraying method according to claim 5, characterized in that: The process of generating a spraying strategy based on the field image data, the travel speed of the spraying vehicle and the height of the PWM electromagnetic nozzle of the spraying vehicle is specifically as follows: The field image data is monitored to determine the distance between the crop area in the current field image and the spraying vehicle, and the time to start spraying is determined according to the distance at the height of the PWM electromagnetic nozzle of the spraying vehicle.

9. An electronic device, characterized in that: The electronic device comprises a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the method according to any one of claims 5 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor to enable a computer to implement the method according to any one of claims 5 to 8.

Images