An automatic spraying method, system, electronic device and storage medium of a sprayer

Abstract

The application relates to an automatic spraying method, system, electronic device and storage medium of a spraying machine, and the method comprises the following steps: S1, acquiring a current vehicle speed and a current working width of the spraying machine; S2, calculating a target spraying flow according to the current vehicle speed and the current working width; and S3, adopting a closed-loop control strategy to adjust a current actual spraying flow of the spraying machine according to the target spraying flow, so that the current actual spraying flow reaches the target spraying flow. Through the method, the target spraying flow calculated according to the current vehicle speed and the current working width is used to control the size of the current actual spraying flow in real time, the closed-loop control can increase the adjustment range of the liquid flow, and can reduce the hysteresis of the adjustment to a certain extent, realizes uniform spraying of the liquid medicine, and saves the liquid medicine.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and more specifically, to an automatic spraying method, system, electronic equipment, and storage medium for a sprayer. Background Technology

[0002] Currently, most automatic spraying solutions on the domestic market use pressure sensors to achieve automatic spraying. Pressure sensors are installed inside the spray boom pipeline to monitor the pressure in the pesticide supply line and each branch line in real time. Utilizing the principle that flow rate is proportional to pressure, the controller adjusts the pressure in each branch line in real time. The controller and solenoid valves achieve closed-loop control. When the pressure changes, the controller controls the solenoid valve to open, thereby adjusting the spray volume.

[0003] Currently, the automatic spraying solution for pesticide sprayers in China still uses variable pressure control. However, this solution itself has problems such as small adjustment range, large droplet size, and poor atomization effect. At the same time, the lag is greater when adjusting from high pressure to low pressure, especially when the vehicle is just starting up, the pressure cannot reach the normal value and spraying cannot be performed normally. In addition, there are pipeline safety issues 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-mentioned technical problems.

[0005] In a first aspect, the technical solution of the present invention to solve the above-mentioned technical problems is as follows: an automatic spraying method for a sprayer, the method comprising:

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

[0007] S2, calculate the target spraying flow rate based on the current vehicle speed and the current working width;

[0008] S3, Based on the target spray flow rate, a closed-loop control strategy is used to adjust the current actual spray flow rate of the sprayer so that the current actual spray flow rate reaches the target spray flow rate.

[0009] The beneficial effects of this invention are: In this solution, the target spraying flow rate calculated based on the current vehicle speed and the current working width is used to control the actual spraying flow rate in real time. Through closed-loop control, the adjustment range of the liquid flow rate can be increased, and the lag of the adjustment can be reduced to a certain extent, so as to achieve uniform spraying of the liquid and save the liquid.

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

[0011] Furthermore, prior to S3, the following is also included:

[0012] Determine whether the current vehicle speed has reached the set value;

[0013] If the current vehicle speed reaches the set value, then step S3 is executed.

[0014] Furthermore, S3 includes:

[0015] The flow deviation is determined based on the current actual spray flow rate and the target spray flow rate;

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

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

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

[0019] Furthermore, the sprayer has multiple spray pipes, and the current actual spray flow rate includes the sum of the spray flow rates of the multiple spray pipes. Specifically, S3 includes:

[0020] Based on the target spray flow rate, a closed-loop control strategy is used to adjust the current actual spray flow rate so that the sum of the spray flow rates of all spray pipeline segments after adjustment reaches the target spray flow rate.

[0021] Furthermore, the method also includes:

[0022] When the current vehicle speed and / or the current working width change, calculate the new target spraying flow rate based on the changed vehicle speed and / or the changed working width;

[0023] Based on the new target spray flow rate, a closed-loop control strategy is used to adjust the current actual spray flow rate of the sprayer so that the current actual spray flow rate reaches the new target spray flow rate.

[0024] Secondly, in order to solve the above-mentioned technical problems, the present invention also provides an automatic spraying system for a sprayer, the system including a controller and a flow sensor and a vehicle speed sensor respectively connected to the controller, wherein the flow sensor is installed 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 used to calculate the target spraying flow rate based on the current vehicle speed and the current working width; and to adjust the current actual spraying flow rate of the sprayer using a closed-loop control strategy based on the target spraying flow rate, so that the current actual spraying flow rate reaches the target spraying flow rate.

[0028] Thirdly, in order to solve the above-mentioned technical problems, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the automatic spraying method of the sprayer of the present application.

[0029] Fourthly, in order to solve the above-mentioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the automatic spraying method of the sprayer of the present application.

[0030] Fifthly, in order to solve the above-mentioned technical problems, the present invention also provides a sprayer, which includes the electronic equipment described in the third aspect.

[0031] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below.

[0033] Figure 1 This is a schematic flowchart illustrating an automatic spraying method for a sprayer according to an embodiment of the present invention.

[0034] Figure 2 A schematic flowchart of another automatic spraying method for a sprayer provided in an embodiment of the present invention;

[0035] Figure 3 A flowchart for calculating target flow rate and actual spraying volume per acre is provided in one embodiment of the present invention;

[0036] Figure 4 A schematic diagram of an automatic spraying system for a sprayer provided in one embodiment of the present invention;

[0037] Figure 5 A schematic diagram of an automatic spraying flow control principle provided in one embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0039] The principles and features of the present invention are described below. The examples given are only for explaining 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-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0041] The solution provided in this invention can be applied to any application scenario requiring automatic control of the spray volume of a sprayer. The solution provided in this invention can be executed by any electronic device, such as the controller on the sprayer.

[0042] This invention provides a possible implementation, such as... Figure 1 The diagram shows a flowchart of an automatic spraying method for a sprayer. This method can be executed by any electronic device, such as the controller on the aforementioned sprayer. For ease of description, the method provided in this embodiment will be described below using the controller as the execution subject. Figure 1 The flowchart shown indicates that the method may include the following steps:

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

[0044] S2, calculate the target spraying flow rate based on the current vehicle speed and the current working width;

[0045] S3, Based on the target spray flow rate, a closed-loop control strategy is used to adjust the current actual spray flow rate of the sprayer so that the current actual spray flow rate reaches the target spray flow rate.

[0046] The method of this invention allows for real-time control of the actual spraying flow rate based on the target spraying flow rate calculated from the current vehicle speed and current operating width. Through closed-loop control, the adjustment range of the liquid flow rate can be increased, and the adjustment lag can be reduced to a certain extent, achieving uniform spraying of the liquid and saving liquid.

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

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

[0049] The current vehicle speed can be obtained based on the speed sensor installed on the sprayer, while the current operating width is affected by factors such as the soil type or slope of the field where the sprayer is operating. The sprayer can be a self-propelled sprayer.

[0050] Prior to S1, when the sprayer is operating at an unstable speed during the initial phase, the method further includes:

[0051] S0, based on the preset initial target spray flow rate (also known as the target spray volume per acre), adjust the current actual spray flow rate of the sprayer using a closed-loop control strategy so that the current actual spray flow rate reaches the initial target spray flow rate.

[0052] In other words, during the initial operation phase, the sprayer can spray the pesticide solution based on the initial target spray flow rate.

[0053] The initial target spray flow rate can be set based on the sprayer's touchscreen display.

[0054] Prior to S1, the method further includes:

[0055] Obtain a compensation trigger request, and S1 can be executed based on the compensation trigger request.

[0056] The aforementioned compensation trigger request can be generated based on the compensation identifier on the touch screen, or it can be generated based on the mode switching button.

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

[0058] The target spraying flow rate is the flow rate of the pesticide solution that needs to be sprayed during the operation at the current vehicle speed and current working width.

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

[0060] S3, Based on the target spray flow rate, a closed-loop control strategy is used to adjust the current actual spray flow rate of the sprayer so that the current actual spray flow rate reaches the target spray flow rate.

[0061] Before S3, it also includes:

[0062] Determine whether the current vehicle speed has reached the set value;

[0063] If the current vehicle speed reaches the set value, then step S3 is executed.

[0064] The purpose of determining whether the current vehicle speed has reached the set value is to determine whether the sprayer has reached a certain driving speed. If a certain driving speed is reached, there will be higher requirements for the spraying accuracy of the sprayer. Therefore, step S3 is executed only when the current vehicle speed reaches the set value to accurately control the spraying volume.

[0065] If the current vehicle speed does not reach the set value, the current actual spray flow rate will be adjusted directly to the target spray flow rate.

[0066] The aforementioned S3 includes:

[0067] S31, determine the flow deviation based on the current actual spray flow rate and the target spray flow rate; wherein, the flow deviation refers to the flow difference or the absolute value of the flow difference between the current actual spray flow rate and the target spray flow rate.

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

[0069] S33, if the flow deviation is not greater than the compensation flow, then the current actual spraying flow is adjusted based on the compensation flow and the closed-loop control strategy, that is, adjusted in real time, so that the current actual spraying flow reaches the target spraying flow.

[0070] S34, if the flow deviation is greater than the compensation flow, then the current actual spraying flow is adjusted based on the flow deviation and the closed-loop control strategy so that the current actual spraying flow reaches the target spraying flow.

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

[0072] Determine whether spray compensation is enabled, i.e., whether to perform PID closed-loop adjustment based on flow deviation when the current vehicle speed reaches the set value. If spray compensation is enabled, execute S32. If spray compensation is not enabled, directly adjust the current actual spray flow rate to make the current actual spray flow rate reach the target spray flow rate.

[0073] Furthermore, a flow sensor is installed in the spraying pipeline of the sprayer used to spray the pesticide solution. The flow sensor can detect the spraying flow rate. A solenoid valve is installed in the spraying pipeline, and the actual spraying flow rate can be adjusted by controlling the opening and closing of the solenoid valve.

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

[0075] Based on the target spray flow rate, a closed-loop control strategy is used to adjust the current actual spray flow rate so that the sum of the spray flow rates of all spray pipeline segments after adjustment reaches the target spray flow rate.

[0076] Since the flow rate of each spraying pipe segment is the same for each spraying operation, the actual operation to adjust the current actual spraying flow rate can be to close or open a segment of the spraying pipe to adjust the current actual spraying flow rate.

[0077] In the process of adjusting the current actual spray flow rate of the sprayer using a closed-loop control strategy based on the target spray flow rate, the current actual spray flow rate can be adjusted by adjusting the flow sensor.

[0078] Specifically, the flow sensor can be adjusted according to the flow deviation to adjust the current and thus the actual spray flow rate.

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

[0080] Determine whether the current corresponding to the flow deviation is greater than the preset compensation current (the current corresponding to the compensation flow); if a closed-loop control strategy is adopted and a PID control strategy is used, 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 spray 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 is adjusted in real time based on the compensation current and the closed-loop control strategy so that the current actual spray flow rate reaches the target spray 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] With the above scheme, each spraying pipeline is equipped with a corresponding solenoid valve. The actual spraying flow rate can be adjusted by controlling the opening and closing of the solenoid valves in multiple spraying pipelines. Opening a solenoid valve means that the flow rate can be increased, and closing a solenoid valve means that the flow rate can be decreased.

[0084] Optionally, the method further includes:

[0085] When the current vehicle speed and / or the current working width change, calculate the new target spraying flow rate based on the changed vehicle speed and / or the changed working width;

[0086] Based on the new target spray flow rate, a closed-loop control strategy is used to adjust the current actual spray flow rate of the sprayer so that the current actual spray flow rate reaches the new target spray flow rate.

[0087] To better illustrate and understand the principle of the method provided by this invention, the following description uses an optional specific embodiment to illustrate the solution of this invention. It should be noted that the specific implementation of each step in this specific embodiment should not be construed as a limitation of the solution of this invention. Other implementations that can be conceived by those skilled in the art based on the principle of the solution provided by this invention should also be considered within the scope of protection of this invention.

[0088] When a sprayer is performing a spraying operation, the vehicle speed may change due to soil conditions or slope, causing the target spray volume (target spray flow rate) to change accordingly. If the spray volume is not adjusted in time, uneven spraying of the pesticide will occur. The target spray volume (initial target spray flow rate) is set, and the target flow rate (target spray flow rate) is calculated based on the working width and vehicle speed.

[0089] When current compensation is enabled, if the PID output is less than the compensation current, the liquid pump solenoid valve is used to compensate the current, ensuring that the current actual spraying flow reaches the target spraying flow. If the PID output is greater than the compensation current, PID closed-loop control is activated. When changes in vehicle speed or working width cause changes in the target flow, the current actual spraying flow is adjusted. When current compensation is disabled, PID closed-loop control is activated. When changes in vehicle speed or working width cause changes in the target flow, the current actual spraying flow is adjusted.

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

[0091] The PID controller calculates the control deviation e(k) based on the given value and the output value:

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

[0093] Where r(k) is the expected value of the controlled object, i.e., the target flow rate (target spray flow rate), and y(k) is the actual value of the controlled object, i.e., the actual flow rate (current actual spray flow rate);

[0094] The calculation formula for a PID controller is:

[0095]

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

[0097] Specifically, see Figure 2 The flowchart shown and Figure 3 The diagram shown illustrates the calculation of the target flow rate (target spraying flow rate) and the actual spraying volume per acre (current actual spraying flow rate). The automatic spraying method in this embodiment includes:

[0098] 1. Set the target spray volume per acre, i.e., set the initial target spray flow rate;

[0099] 2. Collect the sprayer's speed signal (current speed) and operating width (current operating width), and calculate the target flow rate (target spraying flow rate);

[0100] 3. Determine if the vehicle speed (current speed) has reached the set value;

[0101] 4. If the set value is not reached, the target flow rate will be output, that is, the current actual spraying flow rate will be adjusted directly based on the target flow rate;

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

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

[0104] 7. Determine whether spray compensation is enabled, i.e., whether it is necessary to compensate (adjust) the current actual spray flow rate;

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

[0106] 9. If the PID output is greater than the compensation current, the output will be based on the PID output. That is, the actual spraying flow rate will be adjusted according to the PID output to make the actual spraying flow rate reach the target spraying flow rate.

[0107] 10. If the PID output is greater than the compensation current, the output will be based on the compensation current. That is, the actual spraying flow rate will be adjusted according to the compensation current so that the actual spraying flow rate reaches the target spraying flow rate.

[0108] This solution uses a flow sensor to control the pesticide flow rate. The flow rate is adjusted in real-time based on the current vehicle speed and the target spraying amount per acre. Closed-loop control is achieved using the feedback from the flow sensor, increasing control accuracy. Closed-loop control via the flow sensor expands the adjustable range of the pesticide flow rate and reduces adjustment lag to some extent, resulting in uniform spraying and pesticide savings.

[0109] Based on and Figure 1Using the same principle as the method shown, this embodiment of the invention also provides an automatic spraying system for a sprayer. Figure 4 The automatic spraying system shown in the image (e.g., the sprayer) Figure 4 As shown, the automatic spraying system of the sprayer may include a controller and a flow sensor and a vehicle speed sensor respectively connected to the controller, wherein the flow sensor is installed at the spraying pipeline of the sprayer;

[0110] The vehicle speed sensor is used to obtain the current vehicle speed of the sprayer;

[0111] The flow sensor is used to obtain the current actual spraying flow rate of the sprayer;

[0112] The controller is used to calculate the target spraying flow rate based on the current vehicle speed and the current working width; and to adjust the current actual spraying flow rate of the sprayer using a closed-loop control strategy based on the target spraying flow rate, so that the current actual spraying flow rate reaches the target spraying flow rate.

[0113] Optionally, the system further includes a pressure sensor disposed at the spraying line, the pressure sensor being used to acquire the current pressure at the spraying line of the sprayer.

[0114] Optionally, the system also includes a touch display screen ( Figure 4 The large screen shown in the figure displays the current actual spray flow rate, the target spray flow rate, and the current pressure. It also receives the user's setting of the initial target spray flow rate.

[0115] The large screen mentioned above is also used to send control signals to the controller. The control signals include the setting of the initial target spray flow rate, the control signals for the manual / automatic button, the liquid pump switch, and the control signals for the compensation current switch.

[0116] See Figure 5 Optionally, the system further includes:

[0117] The spraying buttons include a main spray valve button and five spray group valve buttons. The main spray valve button can be used to switch the spraying on and off, while the five spray group valve buttons can be used to control the spraying of the five spray pipelines in sections.

[0118] Pressure sensors are used to provide feedback on the pressure within each spray pipe.

[0119] The flow sensor is used to control the flow rate in each spraying pipe. Based on the change in vehicle speed, the amount of pesticide sprayed is controlled. That is, based on the flow rate detected by the flow sensor in each spraying pipe, PID control is performed to adjust the flow rate in each spraying pipe.

[0120] The controller (also known as a PID controller) is used to receive input signals, process them, and control the spray volume of the flow sensor and the action of the solenoid valve.

[0121] Solenoid valves control different spray lines by opening and closing the solenoid valves.

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

[0123] based on Figure 5 The control principle diagram in the figure shows the control logic of the PID controller in this scheme as follows:

[0124] The PID controller adjusts the flow rate based on the flow deviation and the actual flow rate (current actual spraying flow rate). If the current compensation switch is on, i.e., spraying compensation is activated, it determines whether the PID output is greater than the compensation current and executes the scheme after step 9 above (including controlling the opening and closing of the solenoid valve to adjust the flow rate of the pesticide in the pesticide pump). If the current compensation switch is off, i.e., spraying compensation is not activated, it outputs the target flow rate, i.e., adjusts the current actual spraying flow rate based on the target flow rate (this process also includes controlling the opening and closing of the solenoid valve to adjust the flow rate of the pesticide in the pesticide pump). At the same time, the flow sensor detects the changes in the current actual spraying flow rate in real time and feeds the detected actual flow rate back to the PID controller so that the PID controller can make real-time flow rate adjustments.

[0125] Compared with the prior art, the solution of the present invention has the following advantages:

[0126] 1. Most automatic spray control systems on the market are variable pressure control systems, which have poor accuracy. This solution uses a flow sensor to achieve closed-loop control, which can improve control accuracy.

[0127] 2. The sensor is installed on the vehicle body and is a standard feature from the factory. Users do not need to reinstall it during use. In addition, the factory calibration can make the calculation more accurate.

[0128] 3. According to market feedback, automatic spraying systems using variable pressure control suffer from control lag. Often, the pressure in the pesticide pipeline is insufficient when the vehicle first starts moving, and spraying only begins after the vehicle reaches a certain speed and sufficient pressure is achieved. This results in uneven spraying and poor atomization at the start of the journey. This solution uses a flow sensor. Unlike variable pressure control, which relies on the principle that pipeline tension is proportional to flow rate, this solution directly controls the flow rate, providing compensation at the moment the vehicle starts moving, thus addressing the control lag problem to some extent.

[0129] 4. During spraying operations, PID closed-loop control is used to adjust the flow rate in real time during spraying, making the spraying more uniform while effectively saving pesticide solution.

[0130] The automatic spraying system of the sprayer in the embodiments of the present invention can execute the automatic spraying method of the sprayer provided in the embodiments of the present invention. The implementation principle is similar. The actions performed by each module and unit in the automatic spraying system of the sprayer in the various embodiments of the present invention correspond to the steps in the automatic spraying method of the sprayer in the various embodiments of the present invention. For detailed functional descriptions of each module of the automatic spraying system of the sprayer, please refer to the descriptions of the corresponding automatic spraying methods of the sprayer shown above, which will not be repeated here.

[0131] The automatic spraying system of the aforementioned sprayer can be a computer program (including program code) running on a computer device, such as an application software; the system can be used to execute the corresponding steps in the method provided in the embodiments of the present invention.

[0132] In some embodiments, the automatic spraying system of the sprayer provided in this invention can be implemented using a combination of hardware and software. As an example, the automatic spraying system of the sprayer provided in this 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 in this invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0133] Based on the same principles as the methods shown in the embodiments of the present invention, the embodiments of the present invention also provide an electronic device, which may include, but is not limited to: a processor and a memory; the memory for storing computer programs; and the processor for executing the methods shown in any embodiment of the present invention by invoking the computer programs.

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

[0135] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0136] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0137] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0138] The memory 4003 stores the application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0139] Among these, electronic devices can also be terminal devices. Figure 6 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0140] This invention provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments.

[0141] According to another aspect of the present invention, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various embodiments described above.

[0142] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

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

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

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

[0146] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. An automatic spraying method for a sprayer, characterized in that, include: S1, obtain the current 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, Based on the target spray flow rate, adjust the current actual spray flow rate of the sprayer using a closed-loop control strategy so that the current actual spray flow rate reaches the target spray flow rate; Prior to S3, the method further includes: Determine whether the current vehicle speed has reached the set value; If the current vehicle speed reaches the set value, then proceed to step S3; If the current vehicle speed does not reach the set value, the current actual spray flow rate will be adjusted directly with the target spray flow rate as the target. The S3 includes: S31, determine the flow deviation based on the current actual spray flow rate and the target spray flow rate; S32, determine whether the flow deviation is greater than the preset compensation flow; S33, if the flow deviation is not greater than the compensation flow, then the current actual spraying flow is adjusted based on the compensation flow and the closed-loop control strategy so that the current actual spraying flow reaches the target spraying flow. S34, if the flow deviation is greater than the compensation flow, then the current actual spraying flow is adjusted based on the flow deviation and the closed-loop control strategy so that the current actual spraying flow reaches the target spraying flow. After S31 and before S32, it also includes: When the current vehicle speed reaches the set value, whether to perform PID closed-loop adjustment based on flow deviation. If spray compensation is enabled, then execute S32. If spray compensation is not enabled, then directly adjust the current actual spray flow rate so that the current actual spray flow rate reaches the target spray flow rate. The method further includes: When the current vehicle speed and / or the current working width change, calculate the new target spraying flow rate based on the changed vehicle speed and / or the changed working width; Based on the new target spray flow rate, a closed-loop control strategy is used to adjust the current actual spray flow rate of the sprayer so that the current actual spray flow rate reaches the new target spray flow rate.

2. The method according to claim 1, characterized in that, The sprayer has multiple spray pipes, and the current actual spray flow rate includes the sum of the spray flow rates of the multiple spray pipes. Specifically, S3 includes: Based on the target spray flow rate, a closed-loop control strategy is used to adjust the current actual spray flow rate so that the sum of the spray flow rates of all spray pipeline segments after adjustment reaches the target spray flow rate.

3. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of any one of claims 1-2.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1-2.

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