Online detection system and method for spray droplet deposition effect of boom sprayer

Abstract

The invention provides a boom sprayer spray droplet deposition effect on-line detection system and method, and the system comprises a boom sprayer driving track keeping control unit which is used for guaranteeing that the driving track of a boom sprayer remains unchanged during normal operation; the water-sensitive paper positioning unit is used for acquiring the position of the water-sensitive paper before spraying for detecting the droplet deposition effect; the boom sprayer running speed measuring unit is used for measuring the running speed of the boom sprayer; the fogdrop deposition effect information acquisition unit is used for acquiring image information of the water-sensitive paper after spraying; and the fog drop deposition effect information on-line detection unit is used for carrying out real-time on-line calculation based on the obtained position of the water sensitive paper, the running speed of the boom sprayer and the image information of the water sensitive paper after spraying so as to obtain information representing the fog drop deposition effect.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of online detection technology of plant protection machinery, and particularly relates to a spraying rod sprayer spraying mist deposition effect online detection system and method. BACKGROUND

[0002] The statements in this section merely provide background information related to the present application and do not necessarily constitute prior art.

[0003] The spraying rod sprayer is a kind of plant protection machinery widely used in the fields of agriculture, gardens, lawns, etc., and is mainly used for spraying liquid pesticides, herbicides, foliar fertilizers, etc., and has the characteristics of high efficiency, uniformity, adjustability, etc.

[0004] In the evaluation of the performance and spraying quality of the spraying machine, the spraying mist deposition test of the spraying machine is needed, which is a key link for evaluating the spraying quality, liquid distribution uniformity and control effect of the spraying machine, and mainly involves the determination of parameters such as mist particle size, coverage density and deposition amount. This test has important value in optimizing spraying effect, evaluating spraying quality, evaluating environmental impact and promoting technological innovation, etc.

[0005] However, the current spraying mist deposition test of the spraying machine generally involves manually arranging a large number of mist collectors such as water-sensitive paper and stainless steel mesh in the field before spraying; and collecting the above collectors after spraying and sending them to the laboratory for analysis and processing. This field test-laboratory analysis test method is complicated, time-consuming, and the test results are easily affected by human factors.

[0006] In addition, the inventors found in their research that although there are related technical solutions for active control of spraying rod sprayer operation parameters based on operation environment perception in the prior art, dynamic information of field operation environment and machine progress speed is obtained through CAN bus to implement active control of spraying parameters, but the online detection of spraying effect cannot be realized. SUMMARY

[0007] To overcome the shortcomings of the prior art, the present application provides a spraying rod sprayer spraying mist deposition effect online detection system, which can realize real-time detection of spraying effect, simplify the test process, improve detection efficiency, and provide strong basis for real-time adjustment of spraying parameters and intelligent plant protection.

[0008] To achieve the above-mentioned purpose, one or more embodiments of the present application provide the following technical solutions: In a first aspect, a spraying rod sprayer spraying mist deposition effect online detection system is disclosed, comprising: A spraying rod sprayer driving trajectory keeping control unit is used to ensure that the driving trajectory of the spraying rod sprayer remains unchanged during normal operation; A water-sensitive paper positioning unit is configured to obtain the position of the water-sensitive paper before spraying for detecting the fog droplet deposition effect; A boom sprayer traveling speed measuring unit is configured to measure the traveling speed of the boom sprayer; A fog droplet deposition effect information collecting unit is configured to obtain the image information of the water-sensitive paper after spraying. A fog droplet deposition effect information online detecting unit is configured to obtain the information representing the fog droplet deposition effect in real time based on the position of the water-sensitive paper, the traveling speed of the boom sprayer, and the image information of the water-sensitive paper after spraying.

[0009] As a further technical solution, the boom sprayer traveling trajectory keeping control unit ensures that the boom sprayer keeps the same traveling trajectory during normal operation, and the water-sensitive paper positioning unit, the boom sprayer traveling speed measuring unit, the fog droplet deposition effect information collecting unit, and the fog droplet deposition effect information online detecting unit work normally.

[0010] As a further technical solution, the boom sprayer traveling trajectory keeping control unit comprises: A travel switch, a steering angle sensor, a controller, an electromagnetic proportional directional valve, and a steering oil cylinder. The travel switch is installed on the left and right wheels of the boom sprayer. The travel switch and the steering angle sensor are connected to the controller and transmit the collected information to the controller. The controller is connected to the steering oil cylinder through the electromagnetic proportional directional valve, and the steering oil cylinder is used to control the movement state of the steering wheel.

[0011] As a further technical solution, the water-sensitive paper positioning unit comprises a first image collecting unit, which is installed at the middle part of the front end of the boom of the boom sprayer and transmits the obtained image to the industrial computer through a bus. The industrial computer determines the position of the water-sensitive paper based on the obtained image.

[0012] As a further technical solution, the boom sprayer traveling speed measuring unit comprises a speed encoder, which is installed at a specified position of the wheel of the boom sprayer and is used to measure the rotating speed of the front and rear wheels of the boom sprayer. The obtained information is sent to the industrial computer through a bus.

[0013] As a further technical solution, the fog droplet deposition effect information collecting unit comprises a second image collecting unit, which is installed at the middle position of the rear end of the boom sprayer, collects the image information of the water-sensitive paper after spraying, and sends the information to the industrial computer.

[0014] As a further technical solution, the mist deposition effect information online detection unit includes an industrial computer. When the industrial computer determines that the water-sensitive paper exists based on the image collected by the first image collection unit, the timing is triggered. After T time, the industrial computer collects the water-sensitive paper image after spraying based on the second image collection unit. L is the distance between the first image collection unit and the second image collection unit. T = L / v, v is the driving speed of the spray bar sprayer, and T is the time for obtaining the mist deposition effect information.

[0015] In a second aspect, a spray bar sprayer spraying mist deposition effect online detection method is disclosed, comprising: Ensure that the driving track of the spray bar sprayer remains unchanged during normal operation; Obtain the position of the water-sensitive paper before spraying for detecting the mist deposition effect; Measure the driving speed of the spray bar sprayer; Obtain the water-sensitive paper image information after spraying; Based on the obtained water-sensitive paper position, spray bar sprayer driving speed, and water-sensitive paper image information after spraying, real-time online calculation is performed to obtain information representing the mist deposition effect.

[0016] As a further technical solution, based on the collected water-sensitive paper image after spraying, mist distribution and density data are obtained, and then the number and volume of mist droplets in the measurement area and the area proportion occupied by the mist droplets are obtained, and the density and coverage rate of the mist droplets are calculated.

[0017] As a further technical solution, when the driving track of the spray bar sprayer remains unchanged during normal operation, it includes: When the crop continuously sets the single stroke switch in the set distance, the controller judges that the sprayer deviates from the crop row, and then controls the electro-hydraulic proportional reversing valve to make the steering wheel deflect in the opposite direction of the wheel direction signal source. At this time, the deflection angle is detected by the steering angle sensor and the detection signal is sent to the controller. When the deflection angle reaches the set value, the electro-hydraulic proportional reversing valve stops working; After the sprayer deflects to the row, if the crop does not touch any stroke switch on both sides within the set distance, the controller sends a signal to the proportional reversing valve to make the steering wheel return to normal, ensuring that the driving track of the sprayer remains unchanged.

[0018] The above one or more technical solutions have the following beneficial effects: The technical scheme of the present application ensures that the travel track of the boom sprayer remains unchanged during normal operation, and the position of the water-sensitive paper before spraying is obtained by using a water-sensitive paper positioning unit to detect the deposition effect of the mist; the travel speed of the boom sprayer is measured by using a travel speed measuring unit of the boom sprayer; the image information of the water-sensitive paper after spraying is obtained by using a mist deposition effect information acquisition unit; and finally, the information representing the deposition effect of the mist is obtained by using a mist deposition effect information online detection unit, so that the information representing the deposition effect of the mist, such as the mist density and the mist coverage, can be obtained in real time during the operation of the plant protection machine, and the problem of long time consumption and complicated process of field collection and laboratory processing of the deposition effect of the mist of the boom sprayer can be overcome, thereby providing a strong basis for real-time adjustment of the spraying parameters and intelligent plant protection.

[0019] Advantages of the additional aspects of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings, which form a part of this specification, are included to provide a further understanding of the application and are incorporated herein by reference. The embodiments illustrated in the drawings are presented by way of example in explaining the present application and are not meant to limit the present application.

[0021] Figure 1 A system composition block diagram of the online detection system for the deposition effect of the mist of the boom sprayer provided by the present application; Figure 2 A system principle diagram of the online detection system for the deposition effect of the mist of the boom sprayer provided by the present application; Figure 3 An implementation process flow chart of the online detection system for the deposition effect of the mist of the boom sprayer provided by the present application; In the figure, 1 is water-sensitive paper, 2 is a positioning high-speed camera, 3 is a boom, and 4 is a collection high-speed camera. DETAILED DESCRIPTION

[0022] It should be noted that the following detailed description is exemplary in nature and is intended to provide further description of the present application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs.

[0023] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application.

[0024] The embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0025] Embodiment one Referring to the drawings Figure 1 As shown in the drawings, the embodiment discloses a spray boom sprayer spray droplet deposition effect online detection system, comprising: a spray boom sprayer driving track keeping control unit, a water-sensitive paper positioning unit, a spray boom sprayer driving speed measuring unit, a spray droplet deposition effect information acquisition unit, and a spray droplet deposition effect information online detection unit, each unit communicates with each other through a CAN bus.

[0026] The spray boom sprayer driving track keeping control unit is used to ensure that the driving track of the spray boom sprayer remains unchanged during normal operation; the water-sensitive paper positioning unit is used to obtain the position of the water-sensitive paper before spraying for detecting the spray droplet deposition effect; the spray boom sprayer driving speed measuring unit is used to measure the driving speed of the spray boom sprayer; the spray droplet deposition effect information acquisition unit is used to obtain the image information of the water-sensitive paper after spraying; and the spray droplet deposition effect information online detection unit is used to obtain information representing the spray droplet deposition effect in real time and online based on the obtained position of the water-sensitive paper, the driving speed of the spray boom sprayer, and the image information of the water-sensitive paper after spraying. The system has high intelligence, simple structure, convenient operation, and is easy to popularize and apply.

[0027] In an embodiment, Figure 2 As shown in the drawings, the spray boom sprayer spray droplet deposition effect online detection system is a system principle diagram, wherein the spray boom sprayer driving track keeping control unit comprises a travel switch, a steering angle sensor installed on a traveling wheel, a controller, an electromagnetic proportional reversing valve installed on a steering hydraulic circuit, and a steering oil cylinder. The travel switch is two, and is installed on the left and right wheels of the sprayer. The spray boom sprayer driving track keeping control unit is used to ensure that the driving track of the sprayer remains unchanged, facilitating accurate positioning of the water-sensitive paper and accurate acquisition of the spray droplet deposition effect information.

[0028] In an embodiment, the water-sensitive paper positioning unit comprises a high-speed camera. The high-speed camera is installed at the middle part of the front end of the spray boom of the spray boom sprayer, and is used to obtain images and detect and identify the water-sensitive paper of the spray droplet deposition effect. The specific implementation method is that the high-speed camera transmits the obtained images to an industrial computer through a CAN bus, and an image recognition software installed in the industrial computer processes data in real time. When an image containing the water-sensitive paper is found, the industrial computer starts timing.

[0029] Wherein, the water-sensitive paper in the image is identified based on the fact that the color of the water-sensitive paper is yellow and the size is consistent, and the recognition accuracy can be improved through deep learning algorithm training.

[0030] In an embodiment, the boom sprayer running speed measuring unit includes two speed encoders, which are respectively installed on the shafts of the front and rear wheels of the sprayer, measure the rotation speeds of the front and rear wheels, and convert the rotation speeds into the running speed of the boom sprayer by means of the diameters of the front and rear wheels. The boom sprayer running speed measuring unit sends the acquired information to the industrial computer through the CAN bus.

[0031] In an embodiment, the mist deposition effect information acquisition unit includes a high-speed camera, which is installed in the middle of the rear end of the sprayer and used to acquire images. The mist deposition effect information acquisition unit sends the acquired information to the industrial computer through the CAN bus, and the mist deposition information can be extracted after the information is processed by the industrial computer.

[0032] The specific implementation method is that when the water-sensitive paper positioning unit detects the water-sensitive paper, the industrial computer starts timing. After T time, the mist deposition effect information acquisition unit starts collecting image information by means of the high-speed camera, and sends the collected information to the industrial computer through the CAN bus. T = L / v, where L is the distance between the positioning high-speed camera and the collection camera, and v is the running speed of the boom sprayer. T is the time for acquiring the mist deposition effect information, that is, at this time, the industrial computer starts the camera and can acquire the image of the water-sensitive paper after spraying.

[0033] In an embodiment, the mist deposition effect information online detection unit includes an industrial computer. On the one hand, the industrial computer receives the position information of the water-sensitive paper and the running speed of the boom sprayer through the CAN bus, accurately calculates the mist deposition effect acquisition time (T), and collects the image of the water-sensitive paper after spraying; on the other hand, the industrial computer processes and analyzes the acquired image of the water-sensitive paper after spraying in real time by means of the DepositScan software installed on the industrial computer, to obtain information such as mist density and mist coverage rate, which represent the mist deposition effect.

[0034] The specific implementation method is that the mist deposition effect information acquisition unit sends the image of the water-sensitive paper after spraying acquired by the high-speed camera to the mist deposition effect information online detection unit in the form of a picture through the CAN bus; the DepositScan software scans the image of the water-sensitive paper after spraying, and then the DepositScan software built-in tool or third-party software (such as Excel, MATLAB, etc.) is used to process and analyze the number, size, area, volume, and distribution data of the mists on the water-sensitive paper. The specific process is that the number and diameter of the mists can be directly obtained based on the scanning by the DepositScan software, and then the area of a single mist can be calculated. It is generally considered that the mist is spherical, and the volume of the mist can be calculated. Based on the obtained number and volume of the mists in the measurement area and the proportion of the area occupied by the mists, the density and coverage rate of the mists can be calculated.

[0035] Specifically, the droplet density refers to the number of droplets deposited per unit area, usually expressed as the number of droplets per square centimeter on the surface of the crop. The size of the water-sensitive paper is usually 25 mm*76 mm. Assuming the area of the water-sensitive paper is S square centimeters and the number of droplets on the water-sensitive paper is N, the droplet density is N / S, and the unit is droplet per square centimeter.

[0036] The droplet coverage rate refers to the proportion of the area covered by the droplets on the target surface in the spraying operation. Assuming the area of the water-sensitive paper is S square centimeters and the number of droplets on the water-sensitive paper is N, the area of the nth droplet is The total area of all droplets on the water-sensitive paper is , and the unit is square centimeter. The droplet coverage rate on the water-sensitive paper is A / S*100%, and the unit is %.

[0037] Based on the above description, in the present embodiment, the boom sprayer trajectory keeping control unit keeps and controls the boom sprayer trajectory unchanged based on the travel switch and the steering angle sensor, providing guarantee for accurate positioning of the water-sensitive paper and accurate collection of droplet deposition effect information; through the water-sensitive paper positioning unit and the boom sprayer travel speed measurement unit, the droplet deposition effect information collection time is accurately calculated, and the collected information is sent to the working condition computer through the CAN bus; through the DepositScan software installed in the industrial computer, the information representing the droplet deposition effect such as the droplet density and the droplet coverage rate is obtained in real time.

[0038] Embodiment Two In the present embodiment, an online detection method for the spraying droplet deposition effect of a boom sprayer is disclosed, comprising: First, ensure that the boom sprayer keeps the same trajectory when it is in normal operation; Then, obtain the position of the water-sensitive paper before spraying for detecting the droplet deposition effect; Measure the travel speed of the boom sprayer; Obtain the image information of the water-sensitive paper after spraying; Based on the obtained position of the water-sensitive paper, the travel speed of the boom sprayer, and the image information of the water-sensitive paper after spraying, the information representing the droplet deposition effect is calculated in real time online.

[0039] In an embodiment, based on the collected image of the water-sensitive paper after spraying, the droplet distribution and density data are obtained, and then the number and volume of the droplets in the measurement area and the proportion of the area occupied by the droplets are obtained, so as to calculate the density and coverage rate of the droplets.

[0040] In an embodiment, when the boom sprayer keeps the same trajectory when it is in normal operation, it comprises: When the crop continuously sets the single side travel switch in the set travel distance, the controller judges that the sprayer deviates from the crop row, and then controls the electro-hydraulic proportional reversing valve to make the steering wheel deflect in the opposite direction of the wheel direction signal source. At this time, the deflection angle is detected by the steering angle sensor and the detection signal is sent to the controller. When the deflection angle reaches the set value, the electro-hydraulic proportional reversing valve stops working, and the deflection of the sprayer to the row is completed. After the sprayer is deflected to the row, if the crop does not touch any travel switch on both sides within the set travel distance, the controller sends a signal to the proportional reversing valve to make the steering wheel return to normal, ensuring that the trajectory of the sprayer does not change.

[0041] The implementation of the online detection system for the deposition effect of the spray droplets of the boom sprayer is shown in the accompanying Figure 3 The implementation process flow of the online detection system for the deposition effect of the spray droplets of the boom sprayer is shown in the accompanying Before the boom sprayer works, water-sensitive paper 1 is manually arranged at a suitable position of the crop. In order to obtain more accurate information of the deposition effect of the spray droplets, the water-sensitive paper is generally arranged at the top of the crop.

[0042] When the boom sprayer normally works, the crop will not touch the travel switch on the wheel of the sprayer. When the crop continuously touches the single side travel switch in the set travel distance, the controller judges that the sprayer deviates from the crop row, and then controls the electro-hydraulic proportional reversing valve to make the steering wheel deflect in the opposite direction of the wheel direction signal source. At this time, the deflection angle is detected by the steering angle sensor and the detection signal is sent to the controller. When the deflection angle reaches the set value, the electro-hydraulic proportional reversing valve stops working. After the sprayer is deflected to the row, if the crop does not touch any travel switch on both sides within the set travel distance, the controller sends a signal to the proportional reversing valve to make the steering wheel return to normal, ensuring that the trajectory of the sprayer does not change, which provides protection for the accurate positioning of the water-sensitive paper and the accurate collection of the deposition information of the spray droplets.

[0043] When the water-sensitive paper positioning unit positioned in the middle of the front end of the spray boom 3 of the boom sprayer detects the water-sensitive paper, the high-speed camera 2 starts timing. The industrial computer calculates the time for collecting the deposition information of the spray droplets according to the detection time of the water-sensitive paper and the driving speed of the sprayer. After the time is reached, the high-speed camera 4 of the deposition information collection unit starts working to obtain the image information after spraying. The above information is sent to the industrial computer through the CAN bus, and the information representing the deposition effect of the spray droplets such as the droplet density and the droplet coverage rate is obtained in real time through the DepositScan software installed in the industrial computer.

[0044] The above process is repeated until the spraying operation is completed.

[0045] ​The subtechnical scheme of the embodiment can detect the droplet density, the droplet coverage and other droplet deposition effect characteristic values in real time during the operation of the spray boom sprayer, overcome the problems of long time consumption and complicated process of field collection and laboratory treatment of the droplet deposition effect, and provide strong basis for real-time adjustment of the spraying parameters and intelligent plant protection. The system has high intelligence, simple structure, convenient operation and is convenient for popularization and application.

[0046] Those skilled in the art should understand that the modules or steps of the present application described above can be realized by a general computer device, and alternatively, they can be realized by program codes executable by a computing device, so that they can be stored in a storage device and executed by a computing device, or they can be respectively manufactured into integrated circuit modules, or a plurality of modules or steps among them can be manufactured into a single integrated circuit module. The present application is not limited to any specific combination of hardware and software.

[0047] Although the specific embodiments of the present application are described above in combination with the drawings, the description is not a limitation on the protection scope of the present application, and those skilled in the art should understand that various modifications or changes made by those skilled in the art on the basis of the technical scheme of the present application without creative labor are still within the protection scope of the present application.

Claims

1. An online detection system for the droplet deposition effect of a boom sprayer, characterized in that, include: The boom sprayer travel trajectory maintenance control unit is used to ensure that the travel trajectory of the boom sprayer remains unchanged during normal operation; The water-sensitive paper positioning unit is used to obtain the position of the water-sensitive paper before spraying to detect the droplet deposition effect; The boom sprayer travel speed measurement unit is used to measure the travel speed of the boom sprayer. The droplet deposition effect information acquisition unit is used to acquire image information of the water-sensitive paper after spraying. The online detection unit for droplet deposition effect information calculates information characterizing the droplet deposition effect in real time based on the acquired position of the water-sensitive paper, the travel speed of the boom sprayer, and the image information of the water-sensitive paper after spraying.

2. The online detection system for spray droplet deposition effect of a boom sprayer as described in claim 1, characterized in that, Under the premise that the travel trajectory of the boom sprayer remains unchanged during normal operation, the water-sensitive paper positioning unit, the boom sprayer travel speed measurement unit, the droplet deposition effect information acquisition unit, and the droplet deposition effect information online detection unit shall operate normally.

3. The online detection system for spray droplet deposition effect of a boom sprayer as described in claim 1, characterized in that, The boom sprayer trajectory maintenance control unit includes: The system includes a limit switch, a steering angle sensor, a controller, an electromagnetic proportional directional valve, and a steering cylinder. The limit switch is installed on the left and right wheels of the boom sprayer. Both the limit switch and the steering angle sensor are connected to the controller to transmit the collected information. The controller is connected to the steering cylinder via the electromagnetic proportional directional valve, and the steering cylinder is used to control the movement of the steering wheels.

4. The online detection system for spray droplet deposition effect of a boom sprayer as described in claim 1, characterized in that, The water-sensitive paper positioning unit includes a first image acquisition unit, which is installed at the middle of the front end of the spray bar of the spray bar sprayer and transmits the acquired images to the industrial control computer via a bus. The industrial control computer determines the position of the water-sensitive paper based on the acquired images.

5. The online detection system for spray droplet deposition effect of a boom sprayer as described in claim 1, characterized in that, The boom sprayer travel speed measurement unit includes a speed encoder, which is installed at a set position on the sprayer wheels to measure the rotational speed of the front and rear wheels of the boom sprayer and transmits the acquired information to the industrial control computer via a bus.

6. The online detection system for spray droplet deposition effect of a boom sprayer as described in claim 1, characterized in that, The droplet deposition effect information acquisition unit includes a second image acquisition unit, which is installed at the middle of the rear end of the sprayer to acquire image information of the water-sensitive paper after spraying and send it to the industrial control computer.

7. The online detection system for spray droplet deposition effect of a boom sprayer as described in claim 1, characterized in that, The online detection unit for droplet deposition effect information includes an industrial control computer. When the industrial control computer determines the presence of water-sensitive paper based on the image acquired by the first image acquisition unit, it triggers a timer. After a time T, the industrial control computer acquires an image of the water-sensitive paper after spraying based on the second image acquisition unit. L is the distance between the first image acquisition unit and the second image acquisition unit, T = L / v, v is the speed of the boom sprayer, and T is the time to acquire droplet deposition effect information.

8. A method for online detection of droplet deposition effect of a boom sprayer, characterized in that, include: Ensure that the boom sprayer maintains its travel trajectory during normal operation; To obtain the position of the water-sensitive paper before spraying to detect the droplet deposition effect; Measure the travel speed of the boom sprayer; The acquired image information of the water-sensitive paper after spraying; Based on the acquired position of the water-sensitive paper, the travel speed of the boom sprayer, and the image information of the water-sensitive paper after spraying, information characterizing the droplet deposition effect is obtained through real-time online calculation.

9. The online detection method for spray droplet deposition effect of a boom sprayer as described in claim 8, characterized in that, Based on the water-sensitive paper image acquired after spraying, droplet distribution and density data are obtained. Then, the number and volume of droplets in the measurement area and the area occupied by droplets are obtained, and the droplet density and droplet coverage are calculated.

10. The online detection method for droplet deposition effect of a boom sprayer as described in claim 8, characterized in that, Ensuring that the boom sprayer maintains its trajectory during normal operation includes: When the crop touches the single-sided limit switch a set number of times within the set travel distance, the controller determines that the sprayer is deviating from the crop row, and then controls the electro-hydraulic proportional directional valve to make the steering wheel deflect in the opposite direction of the wheel direction signal source. At this time, the steering angle sensor detects the deflection angle and sends the detection signal to the controller. When the deflection angle reaches the set value, the electro-hydraulic proportional directional valve stops operating. After the sprayer aligns with the row, if the crop does not touch any limit switch on either side within the set travel distance, the controller sends a signal to the proportional directional valve to return the steering wheel to the correct position, ensuring that the sprayer's travel trajectory remains unchanged.

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