A spraying method based on a self-propelled sprayer and a self-propelled sprayer

Abstract

The present application relates to a kind of self-propelled sprayer-based spraying method and self-propelled sprayer, method includes: obtaining the boundary coordinate information of target field;According to the boundary coordinate information of target field, the spray boom spray width of self-propelled sprayer, preset liquid filling point position planning target spraying walking route;Calculate the single-trip operation length and the minimum liquid filling number required of self-propelled sprayer under liquid full load;Based on minimum liquid filling number, target spraying walking route, preset liquid filling point position determines the target liquid filling amount and each walking line segment under the shortest liquid filling driving distance, control self-propelled sprayer executes operation according to the target liquid filling amount and walking line segment each time.The present application can plan the liquid filling amount and walking route of self-propelled sprayer according to liquid filling point position, so that the distance of liquid filling walking is shortest, reduces the invalid walking distance, greatly improves the efficiency of spraying operation.

Description

Technical Field

[0001] The invention relates to the field of spray machinery, in particular to a spray method based on a self-propelled sprayer and the self-propelled sprayer. Background Art

[0002] Self-propelled sprayers are widely used for spraying pesticides and applying liquid fertilizers on farmland. Existing sprayers typically require multiple refills during operation, but the location of refill points and the planning of refill amounts often rely on manual experience, resulting in irrational refill routes, a large amount of ineffective travel distance, and reduced operational efficiency. Furthermore, traditional route planning fails to fully consider the matching of the spray boom's spray width with the field boundaries, which can easily lead to missed or repeated spraying. Therefore, a spraying method that can optimize the refill path and travel route is urgently needed to reduce ineffective travel and improve operational efficiency. Summary of the Invention

[0003] To achieve the above objectives, the present invention provides the following technical solutions:

[0004] In a first aspect, the present invention provides a spraying method based on a self-propelled sprayer, comprising:

[0005] S1: Obtain the boundary coordinate information of the target field;

[0006] S2: planning a target spraying route based on the boundary coordinate information of the target field, the spray width of the self-propelled sprayer, and the location of the preset liquid filling point;

[0007] S3: Calculating the single-pass operation length of the self-propelled sprayer when fully loaded with liquid medicine, dividing the target spraying route into sections according to the single-pass operation length, and determining the minimum number of liquid additions required for spraying the target field;

[0008] S4: Based on the minimum number of liquid additions, the target spraying travel route, and the preset liquid filling point locations, the target liquid addition amount and the travel segment of each time for the self-propelled sprayer under the shortest liquid addition travel distance are determined, and the self-propelled sprayer is controlled to perform the operation according to the target liquid addition amount and the travel segment each time.

[0009] Furthermore, the S1 specifically includes: the self-propelled sprayer travels around the boundary of the target field and records the coordinates of its travel track as the boundary coordinate information of the target field, and the self-propelled sprayer is provided with a positioning module.

[0010] Furthermore, the S2 specifically includes:

[0011] S201: generating a digitized boundary line of the target field according to the boundary coordinate information;

[0012] S202: Based on the preset liquid filling point, select the field boundary segment closest to the preset liquid filling point as the starting spray line;

[0013] S203: Using the left or right digitized boundary line of the target field as a first travel boundary of the self-propelled sprayer, and generating a first travel route parallel to the first travel boundary and offset by a distance of W / 2 according to the spray width W of the sprayer boom of the self-propelled sprayer;

[0014] S204: The side of the working area formed by the previous spraying is used as the new walking boundary, and the subsequent walking route is generated parallel to the new walking boundary and offset by a distance of W / 2;

[0015] S205: Repeat step S204 until the entire working area is covered; output the target spray walking route including all the walking routes.

[0016] Furthermore, the S3 specifically includes:

[0017] S301: Determine the liquid volume M of the self-propelled sprayer under full load according to the capacity of the spray tank;

[0018] S302: Calculate the duration of a single spraying operation when the self-propelled sprayer is fully loaded with liquid based on the spray flow rate Q According to the spray walking speed V and single spraying time T of the self-propelled sprayer, the single-stroke operation length under full load of liquid medicine is determined. ;

[0019] S303: The target spraying route is adjusted according to the single-stroke operation length under full load of liquid medicine. Divide the field into sections and determine the minimum number of liquid additions N required for spraying the target field.

[0020] Furthermore, the S4 specifically includes:

[0021] S401: Based on the length of a single-stroke operation when the liquid is fully loaded Calculate the full-load spray mileage of the self-propelled sprayer when the number of refills is the minimum number N ;

[0022] S402: Obtain the total length S of the target spraying route and calculate the adjustable route length , and determine the shortest route length for a single spray as ;

[0023] S403: Setting N liquid adding points on the target spraying route 、 、... ; Divide it into N+1 walking segments, and let the length of the i-th walking segment be , then the length of each walking segment satisfy:

[0024] ;

[0025] S404: Enumerate and solve the possible lengths of all walking line segments Combine, calculate the total refueling distance under each combination, and select the combination with the shortest total refueling distance as the optimal segmentation solution;

[0026] S405: Calculate the target liquid addition amount for each time according to the optimal segmentation plan ; Where Q is the spray flow rate, V is the travel speed, and the self-propelled sprayer is controlled to perform operations according to the optimized target liquid addition amount and travel line segment.

[0027] In a second aspect, a self-propelled sprayer is provided, comprising:

[0028] An acquisition module is used to obtain the boundary coordinate information of the target field;

[0029] a processing module configured to plan a target spraying route based on the boundary coordinate information of the target field, the spray width of the spray boom of the self-propelled sprayer, and the locations of preset liquid filling points; calculate the single-trip operating length of the self-propelled sprayer when fully loaded with liquid, segment the target spraying route according to the single-trip operating length, and determine the minimum number of liquid additions required to spray the target field; and determine the target liquid addition amount for each time and the target spraying line segment for each time at the shortest liquid addition distance for the self-propelled sprayer based on the minimum number of liquid additions, the target spraying route, and the locations of preset liquid filling points;

[0030] The control system is used to control the self-propelled sprayer to perform operations according to the target liquid addition amount and travel line segment each time.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The spraying method of the present invention reduces the ineffective driving distance of liquid addition and improves working efficiency by optimizing the liquid addition amount and the travel route.

[0033] 2. The spraying route of the present invention is intelligently planned by combining the spray width and the shape of the field to avoid missed spraying or repeated spraying.

[0034] 3. The self-propelled sprayer of the present invention accurately calculates the amount of liquid added each time according to the walking route, which greatly reduces the ineffective liquid load of the self-propelled sprayer and reduces energy waste, making it suitable for large-scale farmland operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a flow chart of the spraying method in Example 1 of the present invention;

[0036] Figure 2 Schematic diagram of the structure principle of the self-propelled sprayer in Example 2 of the present invention. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0038] Example 1

[0039] The embodiment of the present invention provides a spraying method based on a self-propelled sprayer, such as Figure 1 Shown, including:

[0040] S1: Obtaining the boundary coordinate information of the target field; specifically, the self-propelled sprayer travels around the boundary of the target field and records its trajectory coordinates, which are recorded as the boundary coordinate information of the target field. The self-propelled sprayer is equipped with a positioning module, which can be Beidou or GPS. Of course, the boundary coordinate information of the field can also be obtained manually.

[0041] S2: Planning a target spraying route based on the boundary coordinate information of the target field, the spray width of the spray boom of the self-propelled sprayer, and the location of a preset liquid filling point. In an embodiment of the present invention, the location of the preset liquid filling point can be achieved by pre-placing a positioning device at the liquid filling point. The positioning device obtains the location of the liquid filling point and sends it to a processing module of the self-propelled sprayer for planning the target spraying route. S2 specifically includes:

[0042] S201: generating a digitized boundary line of the target field according to the boundary coordinate information;

[0043] S202: Based on the preset liquid filling point, select the field boundary line segment closest to the preset liquid filling point as the starting spray line; the preset liquid filling point can be set at the field end filling point at both ends of the field. For example, the filling point can be set at the water well at the field end.

[0044] S203: Using the left or right digitized boundary line of the target field as a first travel boundary of the self-propelled sprayer, and generating a first travel route parallel to the first travel boundary and offset by a distance of W / 2 according to the spray width W of the sprayer boom of the self-propelled sprayer;

[0045] S204: The side of the working area formed by the previous spraying is used as the new walking boundary, and the subsequent walking route is generated parallel to the new walking boundary and offset by a distance of W / 2;

[0046] S205: Repeat step S204 until the entire working area is covered; output the target spray walking route including all the walking routes.

[0047] S3: Calculating the single-trip operation length of the self-propelled sprayer when fully loaded with liquid medicine, dividing the target spraying route into sections according to the single-trip operation length, and determining the minimum number of liquid additions required for spraying the target field; S3 specifically includes:

[0048] S301: Determine the liquid volume M of the self-propelled sprayer under full load according to the capacity of the spray tank. If the capacity of the spray tank is 500L, the liquid volume M under full load can also be set to 500L.

[0049] S302: Calculate the duration of a single spraying operation when the self-propelled sprayer is fully loaded with liquid based on the spray flow rate Q The single-stroke operation length of the self-propelled sprayer under full load of liquid medicine is determined according to the spray walking speed V and single spraying time T of the self-propelled sprayer. ;

[0050] S303: The target spraying route is adjusted according to the single-stroke operation length under full load of liquid medicine. Divide the field into sections and determine the minimum number of times N required to spray the target field. The maximum, the total length of the target spray travel route remains unchanged, and the number of liquid additions required when the liquid is fully loaded is the least.

[0051] S4: Based on the minimum number of liquid additions, the target spraying route, and the preset liquid filling point locations, the target liquid addition amount and the travel segment of each time for the self-propelled sprayer under the shortest liquid addition travel distance are determined, and the self-propelled sprayer is controlled to perform the operation according to the target liquid addition amount and travel segment each time. S4 specifically includes:

[0052] S401: Based on the length of a single-stroke operation when the liquid is fully loaded Calculate the full-load spray mileage of the self-propelled sprayer when the number of refills is the minimum number N ;

[0053] S402: Obtain the total length S of the target spraying route and calculate the adjustable route length , and determine the shortest route length for a single spray as In the embodiment of the present invention, since it is assumed that the medicine tank of the self-propelled sprayer is filled with liquid each time, its total full-load spray mileage P is generally greater than the total length S of the target spray walking route. For example, if P is 2000m and S is 1900m, the adjustable route length is calculated. 100m; assuming the liquid is fully loaded, the single-stroke operation length If the distance is 400m, the shortest route length for a single spraying of a self-propelled sprayer is =300m, that is, the length of a single spray route of the self-propelled sprayer should be no less than 300m, so that the spraying task of the target field can be completed under the condition of adding liquid N times, that is, the self-propelled sprayer can complete the spraying of the target spray route without filling the liquid.

[0054] S403: Setting N liquid adding points on the target spraying route 、 、... ; Divide it into N+1 walking segments, and let the length of the i-th walking segment be , then the length of each walking segment satisfy:

[0055] ;

[0056] S404: Enumerate and solve the possible lengths of all walking line segments Combine, calculate the total refueling distance under each combination, and select the combination with the shortest total refueling distance as the optimal segmentation solution;

[0057] S405: Calculate the target liquid addition amount for each time according to the optimal segmentation plan Where Q is the spray flow rate and V is the travel speed. The system controls the self-propelled sprayer to execute the operation according to the optimized target liquid dosage and travel route. That is, after the self-propelled sprayer is filled with liquid according to the target dosage, it will travel along the target spray route, and the target liquid dosage at that time will just allow the self-propelled sprayer to complete the spraying of the corresponding travel route.

[0058] The spraying method of the present invention optimizes the liquid addition amount and travel route, reducing the ineffective travel distance required for liquid addition and improving operational efficiency. Intelligent route planning, combining the spray width and field shape, avoids missed or repeated spraying. Furthermore, the self-propelled sprayer of the present invention accurately calculates the liquid addition amount for each run based on the travel route, significantly reducing the amount of ineffective liquid-loaded travel required by the self-propelled sprayer and energy waste, making it suitable for large-scale farmland operations.

[0059] Example 2

[0060] The embodiment of the present invention provides a self-propelled sprayer for implementing the spraying method in embodiment 1, such as Figure 2 Shown, including:

[0061] Acquisition module 1, used to obtain the boundary coordinate information of the target field;

[0062] Processing module 2 is configured to plan a target spraying route based on the boundary coordinate information of the target field, the spray width of the self-propelled sprayer's spray boom, and the locations of preset liquid filling points; calculate the single-trip operating length of the self-propelled sprayer when fully loaded with liquid, segment the target spraying route according to the single-trip operating length, and determine the minimum number of liquid additions required to spray the target field; and determine the target liquid addition amount for each spraying and the target spraying segment for each spraying at the shortest liquid addition distance based on the minimum number of liquid additions, the target spraying route, and the locations of preset liquid filling points;

[0063] The control system 3 is configured to control the self-propelled sprayer to perform operations according to the target liquid addition amount and travel route each time. The self-propelled sprayer also includes a travel system 7, a liquid addition system 4, a liquid supply system 5, and a spraying system 6, each connected to the control system 3. The travel system 7 is configured to support the self-propelled sprayer's movement and includes a battery, a power wheel, a positioning module, and a navigation module, enabling autonomous navigation. The liquid supply system 5 includes a medicine box and a liquid supply pump. The liquid supply pump draws liquid from the medicine box and delivers it to the spraying system 6. The medicine box is equipped with a liquid level sensor for monitoring the liquid content within the medicine box. The spraying system 6 includes a spray boom and a nozzle. This application assumes that the spray parameters remain unchanged and the spray boom's spray width is a fixed value, i.e., the spray boom's spray width is a fixed value W. The liquid addition system 4 includes a liquid addition pump. The control system 3 controls the liquid addition pump to draw external liquid according to the target liquid addition amount and add it to the medicine box. When the liquid level sensor detects that the medicine box is full, the liquid addition pump is controlled to stop adding liquid.

[0064] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A spraying method based on a self-propelled sprayer, characterized in that: include: S1: Obtain the boundary coordinate information of the target field; S2: planning a target spraying route based on the boundary coordinate information of the target field, the spray width of the self-propelled sprayer, and the location of the preset liquid filling point; S3: Calculating the single-pass operation length of the self-propelled sprayer when fully loaded with liquid medicine, dividing the target spraying route into sections according to the single-pass operation length, and determining the minimum number of liquid additions required for spraying the target field; specifically including: S301: Determine the liquid volume M of the self-propelled sprayer under full load according to the capacity of the spray tank; S302: Calculate the single spraying duration T = M / Q of the self-propelled sprayer under full load of liquid medicine based on the spray flow rate Q of the self-propelled sprayer, and determine the single-stroke operation length L of the self-propelled sprayer under full load of liquid medicine based on the spraying travel speed V and the single spraying duration T. max = (M / Q) × V; S303: The target spraying route is set according to the single-trip operation length L when the liquid is fully loaded. max Divide the field into sections and determine the minimum number of times N required to spray the target field; S4: Based on the minimum number of liquid additions, the target spraying travel route, and the preset liquid filling point locations, the target liquid addition amount and the travel segment of each time for the self-propelled sprayer under the shortest liquid addition travel distance are determined, and the self-propelled sprayer is controlled to perform the operation according to the target liquid addition amount and the travel segment each time.

2. The spraying method based on a self-propelled sprayer according to claim 1, characterized in that: Said S1 specifically includes: the self-propelled sprayer travels around the boundary of the target field and records its travel track coordinates, which are recorded as the boundary coordinate information of the target field. The self-propelled sprayer is provided with a positioning module.

3. The spraying method based on a self-propelled sprayer according to claim 1, characterized in that: The S2 specifically includes: S201: generating a digitized boundary line of the target field according to the boundary coordinate information; S202: Based on the preset liquid filling point, select the field boundary segment closest to the preset liquid filling point as the starting spray line; S203: Using the left or right digitized boundary line of the target field as a first travel boundary of the self-propelled sprayer, and generating a first travel route parallel to the first travel boundary and offset by a distance of W / 2 according to the spray width W of the sprayer boom of the self-propelled sprayer; S204: The side of the working area formed by the previous spraying is used as the new walking boundary, and the subsequent walking route is generated parallel to the new walking boundary and offset by a distance of W / 2; S205: Repeat step S204 until the entire working area is covered; output the target spray walking route including all the walking routes.

4. The spraying method based on a self-propelled sprayer according to claim 1, characterized in that: The S4 specifically includes: S401: Based on the length L of a single-pass operation under full load of liquid medicine max Calculate the full-load spray mileage P of the self-propelled sprayer when the number of refills is the minimum number N = (N+1) × L max ; S402: Obtain the total length S of the target spraying route, calculate the adjustable route length a=PS, and determine the shortest route length for a single spray as L min =L max -a; S403: Setting N liquid adding positions A1, A2, ...A on the target spraying route. N ; Divide it into N+1 walking segments, and let the length of the i-th walking segment be L i , then the length of each walking segment is L i satisfy: ； S404: Enumerate and solve the possible lengths L of all walking line segments i Combine, calculate the total refueling distance under each combination, and select the combination with the shortest total refueling distance as the optimal segmentation solution; S405: Calculate the target liquid addition volume m for each time according to the optimal segmentation plan i =(L i ×Q) / V; where Q is the spray flow rate and V is the travel speed, and the self-propelled sprayer is controlled to perform operations according to the optimized target liquid addition amount and travel line segment.

5. A self-propelled sprayer, characterized in that: include: An acquisition module is used to obtain the boundary coordinate information of the target field; a processing module for planning a target spraying route based on the boundary coordinate information of the target field, the spray width of the self-propelled sprayer's spray boom, and the locations of preset liquid filling points; and calculating a single-pass operating length of the self-propelled sprayer when fully loaded with liquid, dividing the target spraying route into segments according to the single-pass operating lengths, and determining a minimum number of liquid filling times required to spray the target field; And based on the minimum number of liquid additions, the target spraying travel route, and the preset liquid filling point location, the target liquid addition amount for each time and the travel line segment for each time of the self-propelled sprayer at the shortest liquid addition travel distance are determined; wherein, the method for determining the minimum number of liquid additions required for spraying the target field specifically includes: determining the liquid volume M under full load according to the capacity of the medicine tank of the self-propelled sprayer; calculating the single spraying time T=M / Q under full liquid load according to the spray flow rate Q of the self-propelled sprayer; determining the single-trip operation length L under full liquid load according to the spray travel speed V and the single spraying time T of the self-propelled sprayer. max = (M / Q) × V; the target spray walking route is calculated according to the single-stroke operation length L under full load of liquid max Divide the field into sections and determine the minimum number of times N required to spray the target field; The control system is used to control the self-propelled sprayer to perform operations according to the target liquid addition amount and travel line segment each time.

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