Automatic spraying method and system of spraying machine, electronic equipment and storage medium

Abstract

The invention relates to an automatic spraying method and system of a spraying machine, electronic equipment and a storage medium. The method comprises the steps that S1, the current vehicle speed and the current operation breadth of the spraying machine are obtained; s2, calculating to obtain a target spraying flow according to the current vehicle speed and the current operation breadth; and S3, according to the target spraying flow, a closed-loop control strategy is adopted to adjust the current actual spraying flow of the spraying machine, so that the current actual spraying flow reaches the target spraying flow. According to the method, the current actual spraying flow is controlled in real time according to the target spraying flow calculated according to the current vehicle speed and the current operation breadth, the adjusting range of the liquid medicine flow can be enlarged through closed-loop control, the hysteresis of adjustment can be reduced to a certain degree, uniform spraying of the liquid medicine is achieved, and the liquid medicine is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery. Specifically, the present invention relates to an automatic spraying method, system, electronic device and storage medium for a sprayer. Background Art

[0002] At present, the automatic spraying solutions of sprayers on the domestic market basically use pressure sensors to achieve automatic spraying. A pressure sensor is installed in the spray boom pipeline to monitor the pipeline pressure of the liquid medicine pipeline and each branch in real time. Using the principle that the pipeline flow is proportional to the pressure, the controller changes the pressure of each branch in real time, and the controller and the solenoid valve achieve closed-loop control. When the pressure changes, the controller controls the opening of the solenoid valve to achieve the purpose of adjusting the spraying amount.

[0003] At present, the automatic spraying solution of domestic sprayers still uses variable pressure control, but this solution itself has problems such as a small adjustment range, large droplet size, and poor atomization effect. At the same time, there is a greater lag when adjusting from a large pressure to a small pressure. Especially when the vehicle just starts, the pressure cannot reach the normal value and cannot spray normally, and there are pipeline safety problems during control. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an automatic spraying method, system, electronic device and storage medium for a sprayer, aiming to solve at least one of the above technical problems.

[0005] In a first aspect, the technical solution of the present invention for solving the above technical problem is as follows: An automatic spraying method for a sprayer, the method comprising:

[0006] S1, obtaining the current vehicle speed and the current working width of the sprayer;

[0007] S2, calculating a target spraying flow rate according to the current vehicle speed and the current working width;

[0008] S3, adjusting the current actual spraying flow rate of the sprayer by using a closed-loop control strategy according to the target spraying flow rate, so that the current actual spraying flow rate reaches the target spraying flow rate.

[0009] The beneficial effect of the present invention is that in this solution, the current actual spraying flow rate is controlled in real time according to the target spraying flow rate calculated from the current vehicle speed and the current working width. Through closed-loop control, the adjustment range of the liquid medicine flow rate can be increased, and the adjustment lag can be reduced to a certain extent, realizing uniform spraying of the liquid medicine and saving the liquid medicine.

[0010] Based on the above technical solution, the present invention can also be improved as follows.

[0011] Further, before the step S3, the method further includes:

[0012] Determine whether the current vehicle speed reaches a set value;

[0013] If the current vehicle speed reaches the set value, execute step S3.

[0014] Further, the step S3 includes:

[0015] Determine a flow deviation according to the current actual spraying flow rate and the target spraying flow rate;

[0016] Determine whether the flow deviation is greater than a preset compensation flow rate;

[0017] If the flow deviation is not greater than the compensation flow rate, adjust the current actual spraying flow rate based on the compensation flow rate and a closed-loop control strategy, so that the current actual spraying flow rate reaches the target spraying flow rate;

[0018] If the flow deviation is greater than the compensation flow rate, adjust the current actual spraying flow rate based on the flow deviation and a closed-loop control strategy, so that the current actual spraying flow rate reaches the target spraying flow rate.

[0019] Further, the sprayer has multiple sections of spraying pipelines, and the current actual spraying flow rate includes the sum of the spraying flow rates of multiple sections of spraying pipelines. The step S3 specifically includes:

[0020] Adjust the current actual spraying flow rate according to the target spraying flow rate by using a closed-loop control strategy, so that the sum of the spraying flow rates of all sections of spraying pipelines after adjustment reaches the target spraying flow rate.

[0021] Further, the method further includes:

[0022] When the current vehicle speed and / or the current operation width change, calculate a new target spraying flow rate according to the changed vehicle speed and / or the changed operation width;

[0023] Adjust the current actual spraying flow rate of the sprayer according to the new target spraying flow rate by using a closed-loop control strategy, so that the current actual spraying flow rate reaches the new target spraying flow rate.

[0024] In a second aspect, the present invention further provides an automatic spraying system for a sprayer to solve the above technical problems. The system includes a controller, a flow sensor, and a vehicle speed sensor respectively connected to the controller. The flow sensor is arranged at the spraying pipeline of the sprayer;

[0025] The vehicle speed sensor is used to obtain the current vehicle speed of the sprayer;

[0026] The flow sensor is used to obtain the current actual spraying flow rate of the sprayer.

[0027] The controller is configured to calculate a target spraying flow rate according to the current vehicle speed and the current working width; and adjust the current actual spraying flow rate of the sprayer by adopting a closed-loop control strategy according to the target spraying flow rate, so that the current actual spraying flow rate reaches the target spraying flow rate.

[0028] In a third aspect, the present invention further provides an electronic device to solve the above technical problems. The electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the automatic spraying method of the sprayer of the present application is implemented.

[0029] In a fourth aspect, the present invention further provides a computer-readable storage medium to solve the above technical problems. A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the automatic spraying method of the sprayer of the present application is implemented.

[0030] In a fifth aspect, the present invention further provides a sprayer to solve the above technical problems. The sprayer includes the electronic device described in the third aspect.

[0031] Additional aspects and advantages of the present application will be given in part in the following description, and these will become apparent from the following description, or can be learned through the practice of the present application. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention.

[0033] Figure 1 It is a schematic flow chart of an automatic spraying method of a sprayer provided by an embodiment of the present invention;

[0034] Figure 2 It is a schematic flow chart of another automatic spraying method of a sprayer provided by an embodiment of the present invention;

[0035] Figure 3 It is a calculation block diagram of a target flow rate and an actual spraying amount per mu provided by an embodiment of the present invention;

[0036] Figure 4 It is a schematic diagram of an automatic spraying system of a sprayer provided by an embodiment of the present invention;

[0037] Figure 5 It is a schematic diagram of an automatic spraying flow control principle provided by an embodiment of the present invention;

[0038] Figure 6 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[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 intended 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 technical problems will be described in detail below with specific embodiments. These several specific embodiments may 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 with reference to the drawings.

[0041] The solution provided by the embodiment of the present invention can be applied to any application scenario that requires automatic control of the spraying amount of a sprayer. The solution provided by the embodiment of the present invention can be executed by any electronic device, for example, it can be a controller on the sprayer.

[0042] The embodiment of the present invention provides a possible implementation manner, as Figure 1 shown, a flowchart of an automatic spraying method for a sprayer is provided. This solution can be executed by any electronic device. For example, it can be the controller on the above-mentioned sprayer. For convenience of description, the method provided by the embodiment of the present invention will be described below taking this controller as the execution subject. As Figure 1 shown in the flowchart, the method may include the following steps:

[0043] S1, obtaining the current vehicle speed and the current working width of the sprayer;

[0044] S2, calculating a target spraying flow rate according to the current vehicle speed and the current working width;

[0045] S3, adjusting the current actual spraying flow rate of the sprayer by adopting a closed-loop control strategy so that the current actual spraying flow rate reaches the target spraying flow rate.

[0046] Through the method of the present invention, the current actual spraying flow rate is controlled in real time according to the target spraying flow rate calculated based on the current vehicle speed and the current working width. Through closed-loop control, the adjustment range of the liquid medicine flow rate can be increased, and the adjustment lag can be reduced to a certain extent, realizing uniform spraying of the liquid medicine and saving the liquid medicine.

[0047] The solution of the present invention will be further described below in combination with the following specific embodiments. In this embodiment, an automatic spraying method for a sprayer may include the following steps:

[0048] S1, obtain the current vehicle speed and current working width of the sprayer;

[0049] Among them, the current vehicle speed can be obtained based on the vehicle speed sensor set on the sprayer, and the current working width is affected by factors such as the soil quality or land slope of the field where the sprayer is operating. The sprayer can be a self-propelled sprayer.

[0050] Before S1, that is, when the sprayer is in the initial operation stage and the vehicle speed is unstable, the method further includes:

[0051] S0, according to the preset initial target spraying flow rate (which can also be called the target spraying amount per mu), adjust the current actual spraying flow rate of the sprayer by adopting a closed-loop control strategy, so that the current actual spraying flow rate reaches the initial target spraying flow rate.

[0052] That is to say, in the initial operation stage, the sprayer can spray the liquid medicine based on the initial target spraying flow rate.

[0053] The above initial target spraying flow rate can be set based on the touch display screen of the sprayer.

[0054] Before S1, the method further includes:

[0055] Obtain a compensation trigger request, and start to execute S1 according to the compensation trigger request.

[0056] Among them, the above compensation trigger request can be generated based on the compensation identifier of the touch display screen, or a compensation trigger request can be generated based on the mode switching button.

[0057] S2, calculate the target spraying flow rate according to the current vehicle speed and the current working width;

[0058] Among them, the target spraying flow rate is the flow rate of the liquid medicine that needs to be sprayed during the operation at the current vehicle speed and the current working width.

[0059] Specifically, based on the current vehicle speed and the current working width, the area of the liquid medicine to be sprayed can be calculated, and based on this area and the spraying amount per unit area, the target spraying flow rate can be calculated.

[0060] S3, according to the target spraying flow rate, adopt a closed-loop control strategy to adjust the current actual spraying flow rate of the sprayer, so that the current actual spraying flow rate reaches the target spraying flow rate.

[0061] Before S3, it further includes:

[0062] Judge whether the current vehicle speed reaches the set value;

[0063] If the current vehicle speed reaches the set value, execute step S3.

[0064] Among them, the purpose of judging whether the current vehicle speed reaches the set value is to judge whether the sprayer has reached a certain driving speed. If a certain driving speed is reached, higher requirements will be imposed on the spraying accuracy of the sprayer. Therefore, when the current vehicle speed reaches the set value, step S3 is executed to perform precise control of the spraying amount.

[0065] If the current vehicle speed does not reach the set value, the current actual spraying flow rate is directly adjusted with the target spraying flow rate as the target.

[0066] The above S3 includes:

[0067] S31, determine the flow deviation according to the current actual spraying flow rate and the target spraying flow rate; among them, the flow deviation refers to the flow difference or the absolute value of the flow difference between the current actual spraying flow rate and the target spraying flow rate.

[0068] S32, judge whether the flow deviation is greater than the preset compensation flow rate;

[0069] S33, if the flow deviation is not greater than the compensation flow rate, adjust the current actual spraying flow rate based on the compensation flow rate and the closed-loop control strategy, that is, adjust it in real time to make the current actual spraying flow rate reach the target spraying flow rate;

[0070] S34, if the flow deviation is greater than the compensation flow rate, adjust the current actual spraying flow rate based on the flow deviation and the closed-loop control strategy to make the current actual spraying flow rate reach the target spraying flow rate.

[0071] After S31 and before S32, it also includes:

[0072] Judge whether to turn on the spraying compensation, that is, when the current vehicle speed reaches the set value, whether to perform PID closed-loop adjustment based on the flow deviation. If the spraying compensation is turned on, execute S32. If the spraying compensation is not turned on, directly adjust the current actual spraying flow rate to make the current actual spraying flow rate reach the target spraying flow rate.

[0073] Furthermore, a flow sensor is set in the spraying pipeline of the sprayer for spraying liquid medicine. The flow sensor can detect the spraying flow rate, and an electromagnetic valve is set in the spraying pipeline. The current actual spraying flow rate can be adjusted by controlling the opening and closing of the electromagnetic valve.

[0074] Specifically, the sprayer has multiple sections of spraying pipelines, and the current actual spraying flow rate includes the sum of the spraying flow rates of multiple sections of spraying pipelines. The above S3 includes:

[0075] According to the target spraying flow rate, a closed-loop control strategy is adopted to adjust the current actual spraying flow rate so that the sum of the spraying flow rates of all sections of the spraying pipeline after adjustment reaches the target spraying flow rate.

[0076] Among them, the flow rate of each section of the spraying pipeline for each spraying is the same. Then, the actual operation of adjusting the current actual spraying flow rate can be to close or open a section of the spraying pipeline to achieve the adjustment of the current actual spraying flow rate.

[0077] In the process of adjusting the current actual spraying flow rate of the sprayer according to the target spraying flow rate by adopting a closed-loop control strategy, the current actual spraying flow rate can be adjusted by adjusting the flow sensor.

[0078] Specifically, the flow sensor can be adjusted by adjusting the current according to the flow deviation to achieve the adjustment of the current actual spraying flow rate.

[0079] Based on the above principle, the implementation process of S32 to S34 can also be:

[0080] Judge whether the current corresponding to the flow deviation is greater than the preset compensation current (the current corresponding to the compensation flow rate); if the PID control strategy is adopted in the closed-loop control strategy, the current corresponding to the flow deviation can also be called the PID output.

[0081] If the current corresponding to the flow deviation is not greater than the compensation current, the current actual spraying flow rate is adjusted based on the compensation current and the closed-loop control strategy, that is, the opening and closing of the corresponding solenoid valve are adjusted in real time based on the compensation current and the closed-loop control strategy so that the current actual spraying flow rate reaches the target spraying flow rate;

[0082] If the current corresponding to the flow deviation is greater than the compensation current, the current actual spraying flow rate is adjusted based on the current corresponding to the flow deviation and the closed-loop control strategy so that the current actual spraying flow rate reaches the target spraying flow rate.

[0083] Through the above solution, a solenoid valve is correspondingly arranged in each spraying pipeline. Then, the current actual spraying flow rate can be adjusted by controlling the opening and closing of the solenoid valves in multiple sections of the spraying pipeline. Opening a solenoid valve means that the flow rate increases, and closing a solenoid valve means that the flow rate decreases.

[0084] Optionally, the method further includes:

[0085] When the current vehicle speed and / or the current operation width change, calculate a new target spraying flow rate according to the changed vehicle speed and / or the changed operation width;

[0086] According to the new target spraying flow rate, a closed-loop control strategy is adopted to adjust the current actual spraying flow rate of the sprayer so that the current actual spraying flow rate reaches the new target spraying flow rate.

[0087] To better illustrate and understand the principle of the method provided by the present invention, the solution of the present invention will be described below in conjunction with an optional specific embodiment. It should be noted that the specific implementation manners of each step in this specific embodiment should not be construed as a limitation to the solution of the present invention. On the basis of the principle of the solution provided by the present invention, other implementation manners that can be conceived by those skilled in the art should also be regarded as within the protection scope of the present invention.

[0088] When the spraying machine is performing spraying operations, due to problems such as soil quality or land slope, the vehicle speed will change during the spraying process, and the target spraying amount (target spraying flow rate) will change accordingly. If the change in the spraying amount is not timely, it will lead to uneven spraying of the liquid medicine. Set the target spraying amount (initial target spraying flow rate), and calculate the target flow rate (target spraying flow rate) according to the working width and vehicle speed.

[0089] When the current compensation is turned on, when the PID output is less than the compensation current, a compensation current is given to the solenoid valve of the liquid medicine pump so that the current actual spraying flow rate can reach the target spraying amount. When the PID output is greater than the compensation current, it enters the PID closed-loop control. When the vehicle speed or the working width changes and causes the target flow rate to change, the current actual spraying flow rate is adjusted; when the current compensation is turned off, it enters the PID closed-loop control. When the vehicle speed or the working width changes and causes the target flow rate to change, the current actual spraying flow rate is adjusted.

[0090] Among them, the PID control method is a widely used closed-loop control method, which uses set parameters to regulate the system deviation and thus realizes the control of the entire system;

[0091] The PID controller forms a control deviation e(k) according to the given value and the output value:

[0092] e(k) = r(k) - y(k);

[0093] Among them, r(k) is the expected value of the controlled object, that is, the target flow rate (target spraying flow rate), and y(k) is the actual value of the controlled object, that is, the actual flow rate (current actual spraying flow rate);

[0094] The calculation formula of the PID controller is:

[0095]

[0096] In the above formula, K p is the proportionality coefficient, K i is the integral control coefficient, K dis the differential control coefficient.

[0097] Specifically, refer to Figure 2 the shown flow chart and Figure 3 the calculation block diagram of the target flow rate (target spraying flow rate) and the actual spraying amount per mu (current actual spraying flow rate) shown in the figure. The automatic spraying method in this embodiment includes:

[0098] 1. Set the target spraying amount per mu, that is, set the initial target spraying flow rate;

[0099] 2. Collect the vehicle speed signal (current vehicle speed) and the working width (current working width) of the sprayer, and calculate the target flow rate (target spraying flow rate);

[0100] 3. Determine whether the vehicle speed (current vehicle speed) reaches the set value;

[0101] 4. If it does not reach the set value, output the target flow rate, that is, directly adjust the current actual spraying flow rate based on the target flow rate;

[0102] 5. If it reaches the set value, calculate the error (flow deviation) between the target flow rate and the actual flow rate (current actual spraying flow rate);

[0103] 6. Enter the PID closed-loop control;

[0104] 7. Determine whether to enable spraying compensation, that is, whether to perform compensation processing (adjustment) on the current actual spraying flow rate;

[0105] 8. If spraying compensation is enabled, determine whether the PID output (current corresponding to the error) is greater than the compensation current; if spraying compensation is not enabled, output the target flow rate;

[0106] 9. If the PID output is greater than the compensation current, output it with the PID output, that is, adjust the current actual spraying flow rate according to the PID output to make the current actual spraying flow rate reach the target spraying flow rate;

[0107] 10. If the PID output is greater than the compensation current, output it with the compensation current, that is, adjust the current actual spraying flow rate according to the compensation current to make the current actual spraying flow rate reach the target spraying flow rate.

[0108] This solution uses a flow sensor to control the size of the liquid medicine flow rate, controls the size of the liquid medicine flow rate in real time according to the current vehicle speed and the target spraying amount per mu, and uses the feedback amount of the flow sensor to achieve closed-loop control, increasing the control accuracy. By implementing closed-loop control through the flow sensor, the adjustment range of the liquid medicine flow rate can be increased, and the hysteresis of the adjustment can be reduced to a certain extent, realizing uniform spraying of the liquid medicine and saving the liquid medicine.

[0109] Based on Figure 1Based on the same principle as the method shown in Figure 4 the automatic spraying system of the pesticide spraying machine shown in Figure 4 as shown in

[0110] the automatic spraying system of the sprayer may include a controller, a flow sensor and a vehicle speed sensor respectively connected to the controller. The flow sensor is arranged at the spraying pipeline of the sprayer;

[0111] the vehicle speed sensor is used to obtain the current vehicle speed of the sprayer;

[0112] the flow sensor is used to obtain the current actual spraying flow rate of the sprayer;

[0113] the controller is used to calculate a target spraying flow rate according to the current vehicle speed and the current working width; and adjust the current actual spraying flow rate of the sprayer by adopting a closed-loop control strategy according to the target spraying flow rate, so that the current actual spraying flow rate reaches the target spraying flow rate.

[0114] Optionally, the system further includes a pressure sensor arranged at the spraying pipeline, and the pressure sensor is used to obtain the current pressure at the spraying pipeline of the sprayer. Figure 4 Optionally, the system further includes a touch display screen

[0115] shown in

[0116] the large screen shown in Figure 5 The touch display screen is used to display the current actual spraying flow rate, the target spraying flow rate and the current pressure, and is also used to receive the setting of the initial target spraying flow rate by the user.

[0117] The above-mentioned large screen is further used to send a control signal to the controller, and the control signal includes the setting of the initial target spraying flow rate, control signals of the manual / automatic button, the liquid medicine pump switch, the compensation current switch, etc.

[0118] Referring to

[0119]

[0120] Optionally, the system further includes: spraying buttons, including a total spraying valve button and five spraying group valve buttons. The on / off of spraying can be realized through the total spraying valve button, and the sectional spraying control of five-section spraying pipelines can be realized through the five spraying group valve buttons; a pressure sensor for feeding back the pressure in each spraying pipeline; a flow sensor for controlling the flow rate in each spraying pipeline, controlling the liquid medicine spraying amount according to the vehicle speed change, that is, based on the flow rate detected by the flow sensor in each spraying pipeline, performing PID control to realize the adjustment of the flow rate in each spraying pipeline;A controller (also known as a PID controller) is used to receive an input signal, process it, and control the spraying amount of the flow sensor and the operation of the solenoid valve.

[0121] The solenoid valve controls different spraying pipelines through its opening and closing.

[0122] The liquid medicine pump is controlled by the opening and closing of the solenoid valve to control the current actual spraying flow rate.

[0123] Based on Figure 5 the control schematic diagram in, the control logic of the PID controller in this solution is as follows:

[0124] The PID controller adjusts the flow rate based on the flow deviation and the actual flow rate (the current actual spraying flow rate). If the current compensation switch is turned on, that is, spraying compensation is enabled, it is determined whether the PID output is greater than the compensation current; and the solution after step 9 above is executed (including controlling the opening and closing of the solenoid valve to adjust the liquid medicine flow rate in the liquid medicine pump). If the current compensation switch is turned off, that is, spraying compensation is not enabled, the target flow rate is output, that is, the current actual spraying flow rate is adjusted based on the target flow rate (this process also includes controlling the opening and closing of the solenoid valve to adjust the liquid medicine flow rate in the liquid medicine pump); meanwhile, the flow sensor detects the change of the current actual spraying flow rate in real time, and feeds the detected actual flow rate back to the PID controller to enable the PID controller to perform real-time flow rate adjustment.

[0125] Through the solution of the present invention, compared with the prior art, it has the following beneficial effects:

[0126] 1. Most of the automatic spraying controls on the market at present are variable pressure controls, with poor accuracy. This solution uses a flow sensor to achieve closed-loop control, which can improve the control accuracy.

[0127] 2. The sensor is installed on the vehicle body, and the function is standard equipped at the factory. Users do not need to reinstall it during use. At the same time, after calibration at the factory, the calculation can be more accurate.

[0128] 3. According to market feedback, there is a lag in the control of the automatic spraying system using variable pressure control. Most of the time, the pressure in the liquid medicine pipeline cannot reach the normal value when the vehicle just starts. After the vehicle speed reaches a certain speed and the pressure is sufficient, it can spray normally, resulting in uneven spraying and poor atomization when the vehicle just starts. This solution uses a flow sensor. Compared with the principle that the tension in the pipeline is proportional to the flow rate in variable pressure control, this solution directly controls the flow rate, gives compensation when the vehicle just starts, and performs pre-control, which solves the problem of control lag to a certain extent.

[0129] 4. In the spraying operation, PID is used for closed-loop control, and the flow rate is adjusted in real time during the spraying process, making the spraying more uniform and effectively saving liquid medicine at the same time.

[0130] The automatic spraying system of the sprayer according to the embodiments of the present invention can execute the automatic spraying method of the sprayer provided by the embodiments of the present invention, and their implementation principles are similar. The actions performed by each module and unit in the automatic spraying system of the sprayer in each embodiment of the present invention correspond to the steps in the automatic spraying method of the sprayer in each embodiment of the present invention. For the detailed function descriptions of each module of the automatic spraying system of the sprayer, reference can specifically be made to the descriptions in the corresponding automatic spraying method of the sprayer shown above, and details will not be repeated here.

[0131] Among them, the above-mentioned automatic spraying system of the sprayer can be a computer program (including program codes) running in a computer device. For example, the automatic spraying system of the sprayer is an application software; this system can be used to execute the corresponding steps in the method provided by the embodiments of the present invention.

[0132] In some embodiments, the automatic spraying system of the sprayer provided by the embodiments of the present invention can be implemented in a combination of software and hardware. As an example, the automatic spraying system of the sprayer provided by the embodiments of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the automatic spraying method of the sprayer provided by the embodiments of the present invention. For example, the processor in the form of a hardware decoding processor can employ one or more application-specific integrated circuits (ASICs, Application Specific Integrated Circuit), DSPs, programmable logic devices (PLDs, ProgrammableLogic Device), complex programmable logic devices (CPLDs, Complex Programmable Logic Device), field-programmable gate arrays (FPGAs, Field-Programmable Gate Array) or other electronic components.

[0133] Based on the same principle as the method shown in the embodiments of the present invention, an electronic device is also provided in the embodiments of the present invention. The electronic device can include, but is not limited to: a processor and a memory; the memory is used to store a computer program; the processor is used to execute the method shown in any embodiment of the present invention by calling the computer program.

[0134] In an alternative embodiment, an electronic device is provided, as Figure 6 shown Figure 6The illustrated electronic device 4000 includes: a processor 4001 and a memory 4003. Among them, the processor 4001 and the memory 4003 are connected, such as being connected through a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, and the transceiver 4004 can be used for data interaction between this electronic device and other electronic devices, such as data sending and / or data receiving, etc. It should be noted that in practical applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation to the embodiments of the present invention.

[0135] The processor 4001 can be a CPU (Central Processing Unit, central processing unit), a general-purpose processor, a DSP (Digital Signal Processor, data signal processor), an ASIC (Application Specific Integrated Circuit, application-specific integrated circuit), an FPGA (Field Programmable Gate Array, field programmable gate array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in combination with the disclosure of the present invention. The processor 4001 can also be a combination that realizes computing functions, such as a combination including one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0136] The bus 4002 may include a path for transmitting information between the above-mentioned components. The bus 4002 can be a PCI (Peripheral Component Interconnect, peripheral component interconnect standard) bus or an EISA (Extended Industry Standard Architecture, extended industry standard structure) bus, etc. The bus 4002 can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 6 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0137] 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. It can also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices, 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 thereto.

[0138] The memory 4003 is used to store the application program code (computer program) for implementing the solution of the present invention and is controlled by the processor 4001 for execution. The processor 4001 is used to execute the application program code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0139] Among them, the electronic device can also be a terminal device. Figure 6 The electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present invention.

[0140] The embodiments of the present invention provide a computer-readable storage medium on which a computer program is stored. When it runs on a computer, it enables the computer to execute the corresponding content in the foregoing method embodiments.

[0141] According to another aspect of the present invention, 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 computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above various implementation manners of the embodiments.

[0142] Computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of 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).

[0143] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0144] The computer-readable storage medium provided by the embodiments of the present invention may be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system or device.

[0145] The above computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to execute the method shown in the above embodiments.

[0146] The above description is only a preferred embodiment of the present invention and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solutions formed by the 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 technical solutions formed by mutually replacing the above features with the (but not limited to) technical features with similar functions disclosed in the present invention.

Claims

1. An automatic spraying method for a sprayer, characterized in that, Including: S1. Obtain the current vehicle speed and current working width of the sprayer; S2. Calculate the target spraying flow rate based on the current vehicle speed and the current working width; S3. Adjust the current actual spraying flow rate of the sprayer by using a closed-loop control strategy according to the target spraying flow rate, so that the current actual spraying flow rate reaches the target spraying flow rate.

2. The method according to claim 1, characterized in that, Before the S3, it further includes: Judge whether the current vehicle speed reaches a set value; If the current vehicle speed reaches the set value, execute step S3.

3. The method according to claim 1, wherein The S3 includes: Determine the flow deviation according to the current actual spraying flow rate and the target spraying flow rate; Judge whether the flow deviation is greater than a preset compensation flow rate; If the flow deviation is not greater than the compensation flow rate, adjust the current actual spraying flow rate based on the compensation flow rate and the closed-loop control strategy, so that the current actual spraying flow rate reaches the target spraying flow rate; If the flow deviation is greater than the compensation flow rate, adjust the current actual spraying flow rate based on the flow deviation and the closed-loop control strategy, so that the current actual spraying flow rate reaches the target spraying flow rate.

4. The method according to any one of claims 1 to 3, characterized in that, The sprayer has multiple sections of spraying pipelines, and the current actual spraying flow rate includes the sum of the spraying flow rates of multiple sections of spraying pipelines. The S3 specifically includes: Adjust the current actual spraying flow rate by using a closed-loop control strategy according to the target spraying flow rate, so that the sum of the spraying flow rates of all adjusted sections of spraying pipelines reaches the target spraying flow rate.

5. The method according to any one of claims 1 to 3, characterized in that The method further includes: When the current vehicle speed and / or the current working width change, calculate a new target spraying flow rate according to the changed vehicle speed and / or the changed working width; Adjust the current actual spraying flow rate of the sprayer by using a closed-loop control strategy according to the new target spraying flow rate, so that the current actual spraying flow rate reaches the new target spraying flow rate.

6. An automatic spraying system for a sprayer, characterized in that, Including a controller, a flow sensor and a vehicle speed sensor respectively connected to the controller. The flow sensor is arranged at the spraying pipeline of the sprayer; The vehicle speed sensor is used to obtain the current vehicle speed of the sprayer; The flow sensor is used to obtain the current actual spraying flow rate of the sprayer; The controller is used to calculate the target spraying flow rate according to the current vehicle speed and the current working width; Adjust the current actual spraying flow rate of the sprayer by using a closed-loop control strategy according to the target spraying flow rate, so that the current actual spraying flow rate reaches the target spraying flow rate.

7. The system according to claim 6, wherein The system further includes a pressure sensor arranged at the spraying pipeline. The pressure sensor is used to obtain the current pressure at the spraying pipeline of the sprayer.

8. The system according to claim 7, wherein The system further includes a touch display screen, which is used to display the current actual spraying flow rate, the target spraying flow rate and the current pressure, and is also used to receive the user's setting of the initial target spraying flow rate.

9. An electronic device, characterized in that, Including a memory, a processor and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method described in any one of claims 1-5 is implemented.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the method according to any one of claims 1-5 is implemented.

Images