Spraying device and spraying control method

Abstract

The invention relates to a spraying device and a spraying control method, the spraying device comprises a monitoring system, a processing system, a spraying system, a control system and a walking rack bearing all the systems, the monitoring system is used for obtaining image information of a target target and sending the image information of the target target to the processing system; the processing system is used for determining a target spraying position of a circulating three-dimensional spraying unit in the spraying system according to the image information of the target and a preset spraying coverage surface; and the control system is used for controlling the circulating three-dimensional spraying unit to reach the target spraying position to spray the target. According to the spraying device, the circulating three-dimensional spraying unit is adopted, annular airflow surrounding a target can be formed during operation to enable fog drops to circularly penetrate through operation, the rolling degree of blades is enhanced, the pesticide application effect and uniformity are good, pesticide liquid can be recycled, and waste of the pesticide liquid is prevented.

Description

Technical Field

[0001] The present invention relates to the field of spray machinery, in particular to a spray device and a spray control method. Background Art

[0002] Existing crops, fruit trees, etc. often need to be sprayed with liquid medicine to prevent diseases and insect pests during their growth. Existing mechanical sprayers generally have a horizontally arranged spray boom on the rear side of a frame, and a nozzle with a downward nozzle is provided under the spray boom for spraying. When the spray boom is spraying, the nozzle blows the liquid droplets downward toward the crops. Due to the poor penetration of the single nozzle operation, most of the liquid droplets are sprayed on the branches and leaves above the crops and mostly fall on the upper surface of the branches and leaves, while the branches and leaves below the crops and the lower surface of the branches and leaves are sprayed with the liquid medicine, so that some branches and leaves are not sprayed, resulting in omissions in the spraying, poor spraying effect, and inability to effectively prevent and control diseases and insect pests; and after the liquid medicine passes through the crops, most of it falls on the ground of the field, resulting in waste of pesticides. Summary of the Invention

[0003] To achieve the above objectives, the present invention provides the following technical solutions: In a first aspect, the present invention provides a spray device comprising: a monitoring system, a processing system, a spraying system, a control system, and a traveling frame carrying the above systems; The monitoring system is used to obtain image information of the target object and send the image information of the target object to the processing system; The processing system is used to determine the target spraying position of the cyclic three-dimensional spraying unit in the spraying system according to the image information of the target object and the preset sprayable coverage area; The control system is used to control the cyclic stereoscopic spraying unit to reach the target spraying position to spray the target object.

[0004] Furthermore, the circulating three-dimensional spraying unit includes a first spraying unit and a first circulating wind shield on the left, and a second spraying unit and a second circulating wind shield on the right, and the first spraying unit and the second spraying unit are arranged in a centrally symmetrical manner; the first spraying unit, the second circulating wind shield, the second spraying unit and the first circulating wind shield can form an annular airflow around the target during the spraying operation to enable the droplets to circulate and penetrate the operation.

[0005] Furthermore, the first spraying unit includes a first three-dimensional cross-flow fan and a plurality of vertically arranged first nozzles located at its air outlet, and the second spraying unit includes a second three-dimensional cross-flow fan and a plurality of vertically arranged second nozzles located at its air outlet.

[0006] Furthermore, each of the first nozzle and the second nozzle is independently controlled.

[0007] Furthermore, the processing system includes an image processing unit and a calculation and determination unit. The image processing unit is used to project the image information of the target object in the side direction to generate a target side projection. The calculation and determination unit is used to determine the maximum effective spraying area in the target side projection that can be covered by the preset sprayable coverage area, and determine the target spraying position of the circulating three-dimensional spraying unit based on the maximum effective spraying area.

[0008] Furthermore, the control system controls the circulating three-dimensional spraying unit to reach the target spraying position through a mobile adjustment mechanism, and the mobile adjustment mechanism is arranged on the walking frame.

[0009] Furthermore, the movement and adjustment mechanism is a robotic arm.

[0010] In a second aspect, the present invention provides a spray control method, using the above-mentioned spray device, comprising: S1: The monitoring system obtains image information of the target object and sends the image information of the target object to the processing system; S2: The processing system determines the target spraying position of the cyclic three-dimensional spraying unit in the spraying system according to the image information of the target object and the preset sprayable coverage area; S3: The control system controls the circulating three-dimensional spraying unit to reach the target spraying position to spray the target object.

[0011] Furthermore, the S2 specifically includes: S201: Projecting the image information of the target in a side direction to generate a target side projection; S202: placing the target side projection and the preset sprayable coverage surface on the same plane, the preset sprayable coverage surface being a rectangle, moving the target side projection until it is aligned with the bottom of the preset sprayable coverage surface, and translating the preset sprayable coverage surface to determine whether it can completely cover the target side projection; S203: If yes, the interface where the vertical center line of the side projection of the target corresponds to the target object is used as the front and rear center position reference interface of the cyclic stereo spraying unit; the highest point of the target object is used as the vertical highest position reference position point of the cyclic stereo spraying unit; S204: If not, mesh the side projection of the target to generate a plurality of grid units, wherein the grid units are rectangular, and the length and width of the grid units are 1 / n of the length and width of the preset sprayable coverage area respectively; determine the number of blades corresponding to the target in the projection sight direction of each grid unit according to the image information of the target, and record it as the number of blade layers corresponding to each grid unit; translate the preset sprayable coverage on the side projection surface of the target so that the total number of blade layers corresponding to the grid units it can cover is the largest; the area formed by the grid units corresponding to the largest number of blade layers is recorded as the maximum effective spraying area of the side projection of the target; use the vertical center line of the maximum effective spraying area to correspond to the target as the front and rear center position reference interface of the cyclic stereo spraying unit; use the horizontal center line of the maximum effective spraying area to correspond to the target as the vertical center position reference interface of the cyclic stereo spraying unit; S205: determining the farthest points on the left and right sides of the target in the lateral direction according to the image information of the target, and using the farthest points on the left and right sides of the target in the lateral direction as the farthest lateral reference position points of the cyclic stereo spraying unit; S206: Comprehensively determine the target spraying position of the circulating three-dimensional spraying unit based on various position references determined for the circulating three-dimensional spraying unit in the front-back, vertical and horizontal directions.

[0012] Furthermore, the S3 specifically includes: S301: The control system controls the cyclic three-dimensional spraying unit to reach the target spraying position; S302: determining the pre-spraying target area corresponding to each nozzle of the cyclic stereoscopic spraying unit and the maximum thickness of the pre-spraying target area according to the image information of the target object and the target spraying position of the cyclic stereoscopic spraying unit; S303: Determine the spray parameters of each nozzle according to the maximum thickness of the pre-spraying target area corresponding to each nozzle and the preset parameter setting rules, wherein the spray parameters include spray flow rate and / or spray duration.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The spray device of the present invention adopts a circulating three-dimensional spraying unit. The first spraying unit, the second circulating windshield, the second spraying unit and the first circulating windshield in the circulating three-dimensional spraying unit can form an annular airflow around the target during the spraying operation, so that the droplets circulate and penetrate the operation, and the first spraying unit and the second spraying unit respectively include a first three-dimensional cross-flow fan and a second three-dimensional cross-flow fan. The cross-flow fan is used to supply air, and the penetration of the spray operation is better. In addition, the first three-dimensional cross-flow fan and the second three-dimensional cross-flow fan spray the target from both sides and cooperate with the first circulating windshield and the second circulating windshield to spray the target from both sides. The industry can form an annular airflow to drive the droplets to penetrate the target for spraying, that is, the liquid medicine blown to the other side of the target by the first three-dimensional cross-flow fan can be driven by the suction of the second three-dimensional cross-flow fan to turn to the target for spraying through the action of the second circulation windshield to achieve recycling. Similarly, the liquid medicine blown to the other side of the target by the second three-dimensional cross-flow fan can be driven by the suction of the first three-dimensional cross-flow fan to turn to the target for spraying through the action of the first circulation windshield to achieve recycling. The liquid medicine of the present invention can be recycled, which prevents the waste of liquid medicine; at the same time, the utilization rate of the liquid medicine is improved and the uniformity of spraying is improved.

[0014] 2. The spray device of the present invention includes a monitoring system and a processing system, which can determine the position of the circulating three-dimensional spraying unit relative to the target target during spraying according to the shape of the target crop or fruit tree, and perform spraying operations around the target target. During the spraying process of a single target target, there is no need to move the position to achieve efficient coverage and penetration of the target target by the circulating three-dimensional spraying unit, thereby improving the efficiency of liquid spraying and achieving good spraying effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the structure of the spray device in Example 1 of the present invention; Figure 2 This is a top view of the structure of the circulating three-dimensional spraying unit in Example 1 of the present invention; Figure 3 This is a schematic diagram of the independent control principle of each nozzle in Example 1 of the present invention; Figure 4 This is a flow chart of the spray control method in Example 2 of the present invention; Figure 5 Schematic diagram of blade markings corresponding to grid units of the target side projection in Example 2 of the present invention. DETAILED DESCRIPTION

[0016] 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. Example 1

[0017] The embodiment of the present invention provides a spray device, such as Figure 1 、 Figure 2 As shown, it includes: a monitoring system 2, a processing system 3, a spraying system 6, a control system 4, and a walking frame 1 that carries the above systems; in the embodiment of the present invention, the walking frame 1 can be a three-wheel or four-wheel walking frame, or it can be a crawler walking frame. The present invention does not specifically limit the shape and structure of the walking frame 1, as long as it can carry each system to walk. In the embodiment of the present invention, the walking frame 1 is a prior art, and its structure is not shown in the drawings.

[0018] The monitoring system 2 is used to obtain image information of the target object and transmit the image information of the target object to the processing system 3. In the embodiment of the present invention, the monitoring system 2 includes multiple cameras to capture three-dimensional images of the target object. The cameras can be located on the walking frame 1 near the nozzle of the spraying system 6, and the location of the cameras is not limited. In the embodiment of the present invention, the target object can be a single target such as a crop or fruit tree, and each target object has a certain distance between them, such as a wolfberry tree or cotton. The spray device can perform a spraying operation around the single target object.

[0019] The processing system 3 is used to determine the target spraying position of the circulating three-dimensional spraying unit in the spraying system 6 according to the image information of the target object and the preset sprayable coverage area; in the embodiment of the present invention, the preset sprayable coverage area is pre-set and stored in the storage unit of the processing system; the circulating three-dimensional spraying unit includes a first spraying unit and a first circulation windshield 603 on the left, and a second spraying unit and a second circulation windshield 604 on the right, and the first spraying unit and the second spraying unit are arranged symmetrically with respect to the center; the first spraying unit, the second circulation windshield 604, the second spraying unit and the first circulation windshield 603 can form an annular airflow around the target object during the spraying operation to allow the droplets to circulate and penetrate the operation. The first spraying unit includes a first three-dimensional cross-flow fan 601 and a plurality of vertically arranged first nozzles 605 located at its air outlet, and the second spraying unit includes a second three-dimensional cross-flow fan 602 and a plurality of vertically arranged second nozzles 606 located at its air outlet. In the embodiment of the present invention, the first three-dimensional cross-flow fan 601 and the second three-dimensional cross-flow fan 602 are both arranged vertically, and the air outlet of the first three-dimensional cross-flow fan 601 is oriented toward the target object and the inner air inlet of the second circulation windshield 604; the air outlet of the second three-dimensional cross-flow fan 602 is oriented toward the target object and the inner air inlet of the first circulation windshield 603; the inner air outlet of the first circulation windshield 603 is oriented toward the air inlet of the first three-dimensional cross-flow fan 601, and the inner air outlet of the second circulation windshield 604 is oriented toward the air inlet of the second three-dimensional cross-flow fan 602, so as to realize the circulation of the blowing airflow. Preferably, in the embodiment of the present invention, each of the first nozzle 605 and the second nozzle 606 is independently controlled. Specifically, as Figure 3 As shown, the spraying system also includes a liquid tank 607, a first pump 608, and a second pump 609. The first pump 608 pumps liquid from the liquid tank 607 through multiple branch pipes and a solenoid valve 610 to each first nozzle 605. The second pump 609 pumps liquid from the liquid tank through multiple branch pipes and a solenoid valve 610 to each second nozzle 606. The solenoid valve 610 of the present invention can be pulse-modulated (PWM) to achieve opening adjustment and suction control. Each nozzle is controlled by an independent solenoid valve, enabling each nozzle to spray according to its own set spray parameters. Due to the different shapes of different targets, the shapes and thicknesses of the targets sprayed by different nozzles during the specific operation of the nozzles can be different. The use of independent nozzle control can achieve independent control of the spray parameters of each nozzle according to the shape and thickness of the target, including spray flow rate and duration, to achieve more reasonable spray penetration and spray volume, and achieve a good spray effect without wasting the liquid.

[0020] In an embodiment of the present invention, the processing system 3 includes an image processing unit and a calculation and determination unit. The image processing unit is used to project the image information of the target object in the side direction to generate a target side projection. The calculation and determination unit is used to determine the maximum effective spraying area in the target side projection that can be covered by the preset sprayable coverage area, and determine the target spraying position of the circulating three-dimensional spraying unit based on the maximum effective spraying area.

[0021] The control system 4 is used to control the circulating stereoscopic spraying unit to reach the target spraying position to spray the target. In the embodiment of the present invention, the control system 4 controls the circulating stereoscopic spraying unit to reach the target spraying position through the mobile adjustment mechanism 5, and the mobile adjustment mechanism 5 is arranged on the walking frame 1. Preferably, the mobile adjustment mechanism 5 is a robotic arm. The robotic arm of the present invention is a prior art and has the same function as the robotic arm of an industrial robot. The embodiment of the present invention does not limit the structural shape of the robotic arm, as long as the position adjustment function can be achieved; in the embodiment of the present invention, the control system 4 can control the robotic arm to adjust the position of the circulating stereoscopic spraying unit in three-dimensional space so that it reaches the target spraying position.

[0022] The spray device of the embodiment of the present invention, the first spraying unit, the second circulation wind shield, the second spraying unit and the first circulation wind shield can form an annular airflow around the target object during the spraying operation to enable the droplets to circulate and penetrate the operation; because a part of the liquid medicine sprayed by the first spraying unit and the second spraying unit will penetrate the target object, the present invention changes the drifting direction of the liquid medicine penetrating the target object to the target object by arranging the first circulation wind shield and the second circulation wind shield, thereby realizing the recycling of the liquid medicine and avoiding the waste of the liquid medicine and pollution to the ground; and in traditional spraying operations, the liquid medicine often mostly falls on the side of the target object close to the nozzle, while the amount of liquid medicine sprayed on the side away from the nozzle is less, resulting in uneven spraying of the liquid medicine. The present invention can re-spray the side of the target object away from the nozzle again through the recycling of the liquid medicine, thereby improving the uniformity and spraying effect of the liquid medicine spraying.

[0023] In addition, the first spraying unit of the spray device of the present invention includes a first three-dimensional cross-flow fan, and the second spraying unit includes a second three-dimensional cross-flow fan. The cross-flow fan is used to supply air, and the penetration of the spraying operation is better, which can enhance the degree of blade rolling and further improve the spraying effect. Example 2

[0024] The embodiment of the present invention provides a spray control method, which uses the spray device described in the above embodiment 1, such as Figure 4 As shown, including: S1: The monitoring system obtains image information of the target object and sends the image information of the target object to the processing system; S2: The processing system determines the target spraying position of the cyclic three-dimensional spraying unit in the spraying system according to the image information of the target object and the preset sprayable coverage area; S2 specifically includes: S201: Projecting the image information of the target in a side direction to generate a target side projection; S202: Place the target side projection and the preset sprayable coverage surface on the same plane, the preset sprayable coverage surface is a rectangle, move the target side projection until it is aligned with the bottom of the preset sprayable coverage surface, and translate the preset sprayable coverage surface to determine whether it can completely cover the target side projection; in an embodiment of the present invention, the spray coverage range of each nozzle on the first spraying unit and the second spraying unit of the circulating three-dimensional spraying unit on the side is a fixed value, and it is set to the preset sprayable coverage surface.

[0025] S203: If yes, the interface where the vertical center line of the side projection of the target corresponds to the target object is used as the front and rear center position reference interface of the cyclic stereo spraying unit; the highest point of the target object is used as the vertical highest position reference position point of the cyclic stereo spraying unit; S204: If not, mesh the target side projection to generate multiple grid units, such as Figure 5 As shown, the grid unit is rectangular, and the length and width of the grid unit are 1 / n of the length and width of the preset sprayable coverage area respectively; the number of blades corresponding to the target target in the projection line of sight of each grid unit is determined according to the image information of the target target, and is recorded as the number of blade layers corresponding to each grid unit; the preset sprayable coverage area is translated on the side projection surface of the target so that the total number of blade layers corresponding to the grid units it can cover is the largest; the area formed by the grid units corresponding to the largest number of blade layers is recorded as the maximum effective spraying area of the side projection of the target; the interface where the vertical center line of the maximum effective spraying area corresponds to the target target is used as the front and rear center position reference interface of the cyclic stereo spraying unit; the interface where the horizontal center line of the maximum effective spraying area corresponds to the target target is used as the vertical center position reference interface of the cyclic stereo spraying unit; It should be noted that when the side projection of the target is meshed, incomplete grid cells may exist. When marking the number of blade layers corresponding to each grid cell, the embodiment of the present invention may only mark the complete grid cells, translate the preset sprayable coverage area so that the total number of blade layers corresponding to the grid cells it can cover is the largest, and only record the total number of blade layers corresponding to the complete grid cells. Of course, the integrity of the grid cells can also be analyzed. When the ratio of the area of the incomplete grid cells to the area of the complete grid cells exceeds a preset ratio, the incomplete grid cells can be marked with the corresponding number of blade layers. When the embodiment of the present invention is meshed, the length and width of the grid cells are set to be smaller. Incomplete grid cells often only exist at the boundary of the area of the side projection of the target. The number of incomplete grid cells is small. When the number of blades corresponding to the incomplete grid cells is not calculated, the embodiment of the present invention can default to the target object corresponding to the incomplete grid cells being negligible, which will not affect the judgment of the maximum effective spraying area.

[0026] S205: Determine the farthest point positions on the left and right sides of the target target in the lateral direction based on the image information of the target target, and use the farthest points on the left and right sides of the target target in the lateral direction as the farthest lateral reference position points of the circulating three-dimensional spraying unit; that is, the lateral position of the first spraying unit and the first circulating windshield of the circulating three-dimensional spraying unit uses the farthest point on the left side of the target target as the farthest reference position point. For example, during positioning, the first spraying unit and the first circulating windshield can be moved as a whole to the farthest reference position point and the inner side surface of the first circulating windshield facing the target target on the same plane to complete positioning; the same method is used to achieve lateral positioning of the second spraying unit and the second circulating windshield of the circulating three-dimensional spraying unit.

[0027] S206: Comprehensively determine the target spraying position of the circulating three-dimensional spraying unit based on various position references determined for the circulating three-dimensional spraying unit in the front-back, vertical and horizontal directions.

[0028] S3: The control system controls the cyclic stereo spraying unit to reach the target spraying position and spray the target. S3 specifically includes: S301: The control system controls the circulating three-dimensional spraying unit to reach the target spraying position; in the embodiment of the present invention, the first spraying unit and the first circulating windshield are integrally connected with a robotic arm, and the second spraying unit and the second circulating windshield are also integrally connected with a robotic arm. The control system controls the robotic arm to enable the circulating three-dimensional spraying unit to reach the target spraying position.

[0029] S302: determining the pre-spraying target area corresponding to each nozzle of the cyclic stereoscopic spraying unit and the maximum thickness of the pre-spraying target area according to the image information of the target object and the target spraying position of the cyclic stereoscopic spraying unit; S303: Determine the spray parameters of each nozzle according to the maximum thickness of the pre-spray target area corresponding to each nozzle and the preset parameter setting rules, wherein the spray parameters include spray flow rate and / or spray duration. In an embodiment of the present invention, the preset parameter rules are pre-stored in the storage unit of the processing system. The preset parameter rules are to determine the spray duration of each nozzle according to the maximum thickness of the pre-spray target area. For example, when the maximum thickness of the pre-spray target area is 0.1m, 0.2m, 0.3m, 0.4m and 0.5m, the spray duration in the spray parameters of the corresponding nozzles is 2s, 5s, 8s, 10s and 13s respectively. Of course, the spray parameters can also include spray flow rate alone. The spray device determines the spray flow rate of each nozzle according to the maximum thickness of the pre-spray target area, which is the initial spray flow rate. Each nozzle is controlled to perform spraying according to the determined initial spray flow rate parameters. A flow sensor is provided at each nozzle position to detect the actual spray flow rate of the nozzle during the spraying process and feed it back to the processing system. The processing system adjusts the spray parameters of each nozzle again according to the actual spray flow rate to achieve as accurate flow spray as possible.

[0030] The spray control method of the present invention can determine the target spraying position of the circulating three-dimensional spraying unit according to the shape of the target object, so that the circulating three-dimensional spraying unit can spray and cover more leaves of the target object, thereby improving the spray efficiency; and the circulating three-dimensional spraying unit is used to perform annular spraying, which greatly improves the penetration of droplets and the uniformity of coverage on crops or fruit trees, and prevents waste of liquid medicine.

[0031] 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.

[0032] 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 spray device comprising: Monitoring system, processing system, spraying system, control system, and a walking frame that carries the above systems; characterized in that, The monitoring system is used to obtain image information of the target object and send the image information of the target object to the processing system; The processing system is used to determine the target spraying position of the cyclic three-dimensional spraying unit in the spraying system according to the image information of the target object and the preset sprayable coverage area; The control system is used to control the cyclic stereoscopic spraying unit to reach the target spraying position to spray the target object.

2. A spray device according to claim 1, characterized in that: The circulating three-dimensional spraying unit includes a first spraying unit and a first circulating windshield on the left, and a second spraying unit and a second circulating windshield on the right. The first spraying unit and the second spraying unit are arranged in a centrally symmetrical manner; the first spraying unit, the second circulating windshield, the second spraying unit and the first circulating windshield can form an annular airflow around the target during the spraying operation, so that the droplets circulate and penetrate the operation.

3. A spray device according to claim 2, characterized in that: The first spraying unit includes a first three-dimensional cross-flow fan and a plurality of vertically arranged first nozzles located at its air outlet, and the second spraying unit includes a second three-dimensional cross-flow fan and a plurality of vertically arranged second nozzles located at its air outlet.

4. A spray device according to claim 3, characterized in that: The first nozzle and the second nozzle are each independently controlled.

5. A spray device according to claim 1, characterized in that: The processing system includes an image processing unit and a calculation and determination unit. The image processing unit is used to project the image information of the target object in the side direction to generate a target side projection. The calculation and determination unit is used to determine the maximum effective spraying area in the target side projection that can be covered by the preset sprayable coverage area, and determine the target spraying position of the circulating three-dimensional spraying unit based on the maximum effective spraying area.

6. A spray device according to claim 1, characterized in that: The control system controls the circulating three-dimensional spraying unit to reach the target spraying position through a mobile regulating mechanism, and the mobile regulating mechanism is arranged on the walking frame.

7. A spray device according to claim 6, characterized in that: The movement and adjustment mechanism is a mechanical arm.

8. A spray control method, using the spray device according to any one of claims 1 to 7, characterized in that: include: S1: The monitoring system obtains image information of the target object and sends the image information of the target object to the processing system; S2: The processing system determines the target spraying position of the cyclic three-dimensional spraying unit in the spraying system according to the image information of the target object and the preset sprayable coverage area; S3: The control system controls the circulating three-dimensional spraying unit to reach the target spraying position to spray the target object.

9. A spray control method according to claim 8, characterized in that: The S2 specifically includes: S201: Projecting the image information of the target in a side direction to generate a target side projection; S202: placing the target side projection and the preset sprayable coverage surface on the same plane, the preset sprayable coverage surface being a rectangle, moving the target side projection until it is aligned with the bottom of the preset sprayable coverage surface, and translating the preset sprayable coverage surface to determine whether it can completely cover the target side projection; S203: If yes, the interface where the vertical center line of the side projection of the target corresponds to the target object is used as the front and rear center position reference interface of the cyclic stereo spraying unit; the highest point of the target object is used as the vertical highest position reference position point of the cyclic stereo spraying unit; S204: If not, mesh the side projection of the target to generate a plurality of grid units, wherein the grid units are rectangular, and the length and width of the grid units are 1 / n of the length and width of the preset sprayable coverage area respectively; determine the number of blades corresponding to the target in the projection sight direction of each grid unit according to the image information of the target, and record it as the number of blade layers corresponding to each grid unit; translate the preset sprayable coverage on the side projection surface of the target so that the total number of blade layers corresponding to the grid units it can cover is the largest; the area formed by the grid units corresponding to the largest number of blade layers is recorded as the maximum effective spraying area of the side projection of the target; use the vertical center line of the maximum effective spraying area to correspond to the target as the front and rear center position reference interface of the cyclic stereo spraying unit; use the horizontal center line of the maximum effective spraying area to correspond to the target as the vertical center position reference interface of the cyclic stereo spraying unit; S205: determining the farthest points on the left and right sides of the target in the lateral direction according to the image information of the target, and using the farthest points on the left and right sides of the target in the lateral direction as the farthest lateral reference position points of the cyclic stereo spraying unit; S206: Comprehensively determine the target spraying position of the circulating three-dimensional spraying unit based on various position references determined for the circulating three-dimensional spraying unit in the front-back, vertical and horizontal directions.

10. A spray control method according to claim 8, characterized in that: The S3 specifically includes: S301: The control system controls the cyclic three-dimensional spraying unit to reach the target spraying position; S302: determining the pre-spraying target area corresponding to each nozzle of the cyclic stereoscopic spraying unit and the maximum thickness of the pre-spraying target area according to the image information of the target object and the target spraying position of the cyclic stereoscopic spraying unit; S303: Determine the spray parameters of each nozzle according to the maximum thickness of the pre-spraying target area corresponding to each nozzle and the preset parameter setting rules, wherein the spray parameters include spray flow rate and / or spray duration.

Images