Spraying control method of pesticide spraying machine and pesticide spraying machine

Abstract

The invention relates to the technical field of plant protection pesticide application, and provides a spraying control method of a pesticide spraying machine and the pesticide spraying machine, and the spraying control method of the pesticide spraying machine comprises the following steps: collecting an image of an operation area; and based on the image of the operation area, identifying canopy contours of plants to be sprayed in the image, and clustering the canopy contours of the plants to be sprayed to determine a spraying area. According to the spraying area, the spraying machine is controlled to open a nozzle when passing through the spraying area and close the nozzle when leaving the spraying area. According to the spraying control method of the pesticide spraying machine, the spraying area capable of covering the canopy of the to-be-sprayed plant is further divided in the operation area based on the canopy contour of the to-be-sprayed plant, and the spraying head is controlled to be opened when passing through the spraying area so as to apply pesticide to the canopy of the to-be-sprayed plant when the pesticide spraying machine actually performs patrol operation. And the spray head is closed when leaving the spraying area, so that the pesticide liquid is prevented from being sprayed in a non-spraying area, and the problems of resource waste, environmental pollution and easiness in inducing pesticide resistance are solved.

Description

Technical Field

[0001] This invention relates to the field of plant protection and pesticide application technology, and in particular to a spraying control method and a spraying machine. Background Technology

[0002] As agricultural production develops towards higher efficiency, intensification, and green practices, field plant protection operations face higher demands for reduced pesticide use, increased efficiency, precise application, and environmental friendliness. Traditional boom spraying often employs full-width uniform spraying or simple segmented control methods, which easily leads to large amounts of pesticides depositing in non-target areas. This not only wastes resources and causes serious environmental pollution but also easily induces pesticide resistance. Summary of the Invention

[0003] This invention provides a spraying control method and a sprayer for a pesticide sprayer, which solves the problem that the traditional boom spraying control method in the prior art easily leads to pesticide deposition in non-target areas, resulting in resource waste, serious environmental pollution, and easy induction of pesticide resistance.

[0004] In a first aspect, the present invention provides a spraying control method for a pesticide sprayer, comprising: Acquire images of the work area; Based on the image of the work area, the canopy outline of the plants to be sprayed in the image is identified, and the canopy outline of the plants to be sprayed is clustered to determine the spraying area. According to the spraying area, the sprayer is controlled to turn on the nozzle when passing through the spraying area and turn off the nozzle when leaving the spraying area.

[0005] According to the spraying control method of the sprayer of the present invention, the step of clustering the outline boundaries of plants to determine the spraying area includes: Determine the spacing between the canopy outlines of adjacent plants to be sprayed along the direction of travel of the sprayer; When the spacing is less than the first threshold, the canopy outlines of adjacent plants to be sprayed and the space between them are aggregated into a spraying area. When the spacing is not less than the first threshold, the canopy outlines of adjacent plants to be sprayed are divided into two spraying areas.

[0006] According to the spraying control method of the sprayer of the present invention, before the step of determining the spacing of the canopy outlines of adjacent sprayed plants along the travel direction of the sprayer, the method further includes: Based on the canopy outline of the plants to be sprayed, determine the average canopy width of each plant to be sprayed; The first threshold is determined based on the average crown width of the plants to be sprayed.

[0007] According to the spraying control method of the sprayer of the present invention, the step of controlling the sprayer to open the nozzle when passing through the spraying area and close the nozzle when leaving the spraying area includes: When the central axis of the spray fan of the nozzle passes through the front edge of the spray area, the nozzle is controlled to open; The nozzle is controlled to close when the central axis of the spray fan passes the rear edge of the spray area.

[0008] According to the spraying control method of the sprayer of the present invention, the sprayer includes: the nozzle and the controller, the controller and the nozzle are communicatively connected, and the controller is used to input control commands to the nozzle to control the nozzle switching; Before the step of controlling the nozzle to open when the central axis of the spray fan-shaped area of ​​the nozzle passes through the front edge of the spray area, the method further includes: The response time of the nozzle and the travel speed of the sprayer are obtained; Accordingly, the step of controlling the nozzle to open when the central axis of the spray fan-shaped area of ​​the nozzle passes through the front edge of the spray area includes: The start command input time is determined based on the position of the front edge of the spraying area, the response time of the nozzle, and the travel speed of the sprayer; the start command is then input to the nozzle based on the start command input time. Accordingly, the step of controlling the nozzle to close when the central axis of the spray fan passes through the rear edge of the spray area includes: The closing command input time is determined based on the position of the rear edge of the spraying area, the response time of the nozzle, and the travel speed of the sprayer; based on the closing command input time, a closing command is input to the nozzle.

[0009] According to the spraying control method of the sprayer of the present invention, before the step of controlling the sprayer to open the nozzle when passing through the spraying area and close the nozzle when leaving the spraying area, the method further includes: The system acquires the wind speed and direction of the ambient wind, as well as the driving direction and speed of the sprayer, and adjusts the angle of the nozzle based on the wind speed and direction of the ambient wind and the driving direction and speed of the sprayer.

[0010] According to the spraying control method of the sprayer of the present invention, there are multiple sets of nozzles, and the multiple sets of nozzles are arranged at intervals along the width direction of the sprayer. The step of controlling the sprayer to open the nozzle when passing through the spraying area includes: Obtain the crown width of the plant to be sprayed within the spraying area; As the sprayer passes over the plant to be sprayed, at least a portion of the nozzles are opened based on the canopy width of the plant.

[0011] According to the spraying control method of the sprayer of the present invention, the spray head has two sets; The step of controlling the opening of at least a portion of the nozzles based on the canopy width of the plant to be sprayed includes: The fertility index of the plant to be sprayed is calculated based on the crown width of the plant to be sprayed and the spray coverage width of a single set of nozzles, wherein the fertility index = (crown width - spray coverage width) / crown width. When the hypertrophy index exceeds the second threshold, the two sets of nozzles are activated; When the hypertrophy index is not greater than the second threshold, a single set of nozzles is activated.

[0012] Secondly, the present invention also provides a sprayer, comprising: Mobile rack; A liquid medicine supply device and a nozzle are respectively mounted on the mobile frame; the liquid medicine supply device and the nozzle are connected and used to supply liquid medicine to the nozzle; A spraying control device, mounted on the mobile frame, includes: a travel speed sensor, a wind speed and direction sensor, an image acquisition device, and a control unit; the control unit is connected to the travel speed sensor, the wind speed and direction sensor, the image acquisition device, the pesticide supply device, and the nozzle, respectively, and the control unit is used to control the travel speed sensor, the wind speed and direction sensor, the image acquisition device, the pesticide supply device, and the nozzle to cooperate in performing spraying operations based on the spraying control method according to any one of claims 1-8.

[0013] According to the sprayer of the present invention, the spray head includes a first spray head and a second spray head; The first nozzle is positioned in front of the second nozzle along the travel direction of the sprayer; the central axis of the spray fan of the first nozzle is inclined to the rear of the sprayer relative to the vertical direction, and the central axis of the spray fan of the second nozzle is inclined to the front of the sprayer relative to the vertical direction.

[0014] As can be seen from the above, the spraying control method of the sprayer of the present invention acquires images of the work area before the sprayer passes through the work area, processes and identifies the acquired images of the work area to confirm the position and outline of the canopy of the plants to be sprayed in the work area, and further divides the work area into spraying areas that can cover the canopy of the plants to be sprayed based on the canopy outline of the plants to be sprayed. When the sprayer is actually patrolling, the nozzles are controlled to open when passing through the spraying area to apply pesticide to the canopy of the plants to be sprayed, and to close the nozzles when leaving the spraying area. This helps to avoid the pesticide being sprayed in non-spraying areas and reduces the problems of resource waste, environmental pollution and easy induction of pesticide resistance caused by this. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is one of the schematic flowcharts of the spraying control method for a sprayer provided in the embodiments of the present invention.

[0017] Figure 2 This is one of the schematic flowcharts of the spraying control method for a sprayer provided in the embodiments of the present invention.

[0018] Figure 3 This is a schematic diagram showing the relative positions of the first nozzle, the second nozzle, and the spraying area when the second nozzle is turned on, according to an embodiment of the present invention.

[0019] Figure 4 This is a schematic diagram showing the relative positions of the first nozzle, the second nozzle, and the spraying area when the first nozzle is turned on, according to an embodiment of the present invention.

[0020] Figure 5 This is a schematic diagram showing the relative positions of the first nozzle, the second nozzle, and the spraying area when the second nozzle is closed, as provided in an embodiment of the present invention.

[0021] Figure 6 This is a schematic diagram showing the relative positions of the first nozzle, the second nozzle, and the spraying area when the first nozzle is closed, according to an embodiment of the present invention.

[0022] Figure 7 This is a schematic diagram showing that the first and second nozzles have not been angled when the ambient wind direction is opposite to the direction of travel of the sprayer, as provided in the embodiment of the present invention.

[0023] Figure 8This is a schematic diagram showing the angle adjustment of the first and second nozzles when the ambient wind direction is opposite to the direction of travel of the sprayer, as provided in the embodiment of the present invention.

[0024] Figure label: 1. First nozzle; 2. Second nozzle. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] The following is combined Figures 1-8 The spraying control method of the sprayer of the present invention is described.

[0027] It is understood that the sprayer involved in this invention is usually a mobile sprayer, such as an aerial drone with flight capability, or a ground drone with a wheeled or tracked chassis. The sprayer usually has navigation and positioning functions and can patrol and spray pesticides in a specific area (such as orchards or fields) according to a preset operation path.

[0028] like Figure 1 As shown, the present invention provides a spraying control method for a pesticide sprayer, comprising the following steps: Step S101: Acquire images of the work area.

[0029] Step S102: Based on the image of the work area, identify the canopy outline of the plants to be sprayed in the image, and cluster the canopy outline of the plants to be sprayed to determine the spraying area.

[0030] Step S103: According to the spraying area, control the sprayer to turn on the nozzle when passing through the spraying area and turn off the nozzle when leaving the spraying area.

[0031] First, image acquisition devices (such as cameras, radar, etc.) can be used to collect images of the work area. It should be noted that these image acquisition devices can be used as standalone devices, operated by relevant personnel beforehand to collect images of the work area, which are then input into the sprayer's control system; alternatively, they can be integrated into the sprayer itself. Accordingly, the images of the work area can be either overall images of the entire orchard or field taken before the sprayer begins its patrol and spraying, or partial images of the area to be patrolled taken as the sprayer travels along its work path.

[0032] After acquiring images of the work area, the images can be identified based on relevant image processing and recognition models to confirm the position and outline of the canopy of the plants to be sprayed, and the spraying area can be divided according to the position of each canopy outline. In actual operation, larger gaps between the canopies of the plants to be sprayed can be removed from the spraying area, thereby forming a spraying area that can more accurately cover the canopy of the plants to be sprayed.

[0033] Once the spraying area that can effectively cover the canopy of the plants to be sprayed is determined, the sprayer can be controlled to move along the preset working path. When the sprayer passes through the spraying area and the nozzle is facing the spraying area, the nozzle is turned on to apply pesticide to the canopy of the plants to be sprayed in the spraying area. The nozzle is turned off when the pesticide leaves the spraying area to avoid applying pesticide to non-spraying areas and thus wasting pesticide.

[0034] As can be seen from the above, the spraying control method of the sprayer of the present invention acquires images of the work area before the sprayer passes through the work area, processes and identifies the acquired images of the work area to confirm the position and outline of the canopy of the plants to be sprayed in the work area, and further divides the work area into spraying areas that can cover the canopy of the plants to be sprayed based on the canopy outline of the plants to be sprayed. When the sprayer is actually patrolling, the nozzles are controlled to open when passing through the spraying area to apply pesticide to the canopy of the plants to be sprayed, and to close the nozzles when leaving the spraying area. This helps to avoid the pesticide being sprayed in non-spraying areas and reduces the problems of resource waste, environmental pollution and easy induction of pesticide resistance caused by this.

[0035] Understandably, plants to be sprayed can be identified and confirmed based on images. For example, the types of plants in the work area can be identified based on images, and one or more types of plants can be set as the plants to be sprayed. Furthermore, images of the target type of plant can be compared with pre-collected image samples of the corresponding type of normal plant or plant samples with pests and diseases to confirm whether the plant has been affected by pests and diseases, and based on this, some plants can be identified as the plants to be sprayed.

[0036] In some embodiments, the step of clustering the outline boundaries of plants to determine the spraying area includes the following steps: Determine the spacing of the canopy outlines of adjacent plants to be sprayed along the direction of the sprayer's travel.

[0037] When the spacing is less than the first threshold, the canopy outlines of adjacent plants to be sprayed and the space between them are aggregated into a spraying area. When the spacing is not less than the first threshold, the canopy outline of adjacent plants to be sprayed is divided into two spraying areas.

[0038] Understandably, plants to be sprayed are usually arranged in a certain array in the work area (orchard or field), with a certain spacing between adjacent plants. The sprayer will patrol the work area along a specific work path to spray the plants. In order to ensure that the spray from the sprayer can cover the entire canopy of the plants as much as possible and to avoid the spray falling into the area between the plants, multiple spraying zones need to be marked in the work area so that the spray from the sprayer in the spraying zone can completely cover the canopy of each plant to be sprayed.

[0039] In this embodiment, after identifying the canopy outline of each plant to be sprayed in the image of the acquired work area, the distance between the canopy outlines of adjacent plants to be sprayed can be calculated along the direction of travel of the sprayer, and the distance is compared with a first threshold to divide the spraying area. It can be understood that the first threshold is a preset threshold, which can be determined according to various parameters such as the distance between the plants to be sprayed and the travel speed of the sprayer.

[0040] When the distance between the canopy outlines of adjacent plants to be sprayed is less than the first threshold, it means that the distance between the canopies of the two plants to be sprayed is relatively close and the space between them is small. The canopies of the two plants to be sprayed and the space between them can be divided into the same spraying area, so that the nozzle will not turn off and then on again when passing through the space between them, but will continue to spray.

[0041] It is understandable that the spray from the nozzle requires a certain formation time during the process of closing and restarting the nozzle. Therefore, if the distance between plants is too small, controlling the nozzle to close and reopen for a short time may result in insufficient coverage of the canopy edges of the later-sprayed plants due to the lag in spray formation, affecting the application effect. Therefore, this embodiment sets a certain first threshold. When the distance between the two plants is less than the first threshold, the canopy outlines of the two plants to be sprayed and the interval between them are classified as the same spraying area. This allows the nozzle to spray continuously as it passes through the two canopy outlines and the interval area, ensuring that the spray can fully cover the canopy of the two plants to be sprayed. At the same time, this control method can also avoid damage to the nozzle and energy loss caused by frequent opening and closing of the nozzle.

[0042] When the distance between the canopy outlines of adjacent plants to be sprayed is less than the first threshold, it means that the distance between the canopies of the two plants to be sprayed is large and the space between them is also large. The canopies of the two plants to be sprayed can be divided into two spraying areas. In other words, when the sprayer passes between the canopies of the two plants to be sprayed, it will turn off the nozzle first to avoid wasting the pesticide.

[0043] Specifically, in some embodiments, before the step of determining the spacing of the canopy outlines of adjacent sprayed plants along the direction of travel of the sprayer, the method further includes: Based on the canopy outline of the plants to be sprayed, determine the average canopy width of each plant.

[0044] The first threshold is determined based on the average crown width of the plants to be sprayed.

[0045] In this embodiment, the first threshold is mainly determined based on the average crown width of the plants to be sprayed. The crown width refers to the maximum horizontal width of the plant crown, usually the straight-line distance from the farthest point on one side of the crown to the farthest point on the other. In practice, the maximum width values ​​in the east-west and north-south directions of the plant can be measured, and the average value is taken as the crown width of the plant. This embodiment uses the average crown width of each plant to be sprayed as the first threshold to flexibly adjust the judgment criteria for the spraying area when the type of plant or the crown size changes, so that each spraying area can better cover the crown of each plant to be sprayed.

[0046] In one specific embodiment, the average crown width and the first threshold satisfy: .

[0047] In some embodiments, such as Figure 2 As shown, step S103: Based on the spraying area, control the sprayer to open the nozzle when passing through the spraying area and close the nozzle when leaving the spraying area, including the following steps: Step S1031: When the central axis of the spray fan of the nozzle passes through the front edge of the spray area, control the nozzle to open.

[0048] Step S1032: When the central axis of the spray fan of the nozzle passes the rear edge of the spray area, control the nozzle to close.

[0049] In this embodiment, the spray from the nozzle of the sprayer is typically conical, while on a vertical plane parallel to the direction of travel of the sprayer, the projection of the spray is fan-shaped. In this embodiment, the central axis of the spray fan-shaped projection refers to the projection between the center of the fan-shaped projection and the midpoint of the arc (e.g.,...). Figures 3 to 8 As shown by the straight line d in the middle.

[0050] The size and angle of the spray fan shape emitted by the nozzle are related to parameters such as the angle between the nozzle and the horizontal direction, the speed of the sprayer, and the spray pressure. In actual operation, the direction of the central axis of the spray fan shape can be obtained by simulation and calculation based on the above parameters.

[0051] After obtaining the direction of the spray fan-shaped central axis of the nozzle based on the above parameters, the control system of the sprayer can calculate the relative position of the spray fan-shaped central axis and the edge of the spray area by combining its own navigation and positioning, the position of the nozzle and the position of the edge of the spray area.

[0052] As the sprayer travels along its direction of travel, the central axis of the spray fan first passes the front edge of the spraying area. At this point, the sprayer's control system activates the nozzles to begin spraying the area. When the central axis of the spray fan passes the rear edge of the spraying area, the nozzles close, stopping spraying. It's understood that the area near the central axis of the spray fan is where the pesticide concentration is highest. This control method ensures thorough spraying within the designated spraying area while minimizing the amount of spray falling into unsprayed areas.

[0053] Specifically, in some embodiments, the sprayer includes a nozzle and a controller, the controller and the nozzle being communicatively connected, the controller being used to input control commands to the nozzle to control the nozzle switching.

[0054] Before the step of controlling the nozzle to open when the central axis of the spray fan passes the front edge of the spray area, the following steps are included: The response time of the nozzle and the travel speed of the sprayer are obtained.

[0055] Accordingly, step S1031: when the central axis of the spray fan of the nozzle passes through the front edge of the spray area, control the nozzle to open, including: The start command input time is determined based on the position of the front edge of the spraying area, the response time of the nozzle, and the travel speed of the sprayer; the start command is then input to the nozzle based on the start command input time.

[0056] Accordingly, step S1032: when the central axis of the spray fan of the nozzle passes the rear edge of the spray area, control the nozzle to close, including: The timing for inputting the shutdown command is determined based on the position of the rear edge of the spraying area, the response time of the nozzle, and the travel speed of the sprayer; based on the timing for inputting the shutdown command, the shutdown command is input to the nozzle.

[0057] In this embodiment, it can be understood that the nozzle switch is mainly controlled by electrical components (such as solenoid valves). After receiving the control command (usually an electrical signal) input by the sprayer controller, the electrical components can perform the corresponding action (open or close the nozzle). Due to the influence of the response performance of the solenoid valve, there is a certain time difference between the controller inputting the corresponding command to the nozzle and the nozzle completing the opening or closing action. This time difference is the response time of the nozzle.

[0058] In this embodiment, before controlling the nozzle to open, the response time of the nozzle and the speed of the sprayer can be obtained. By combining the relative positions of the central axis of the spray fan and the front and rear edges of the spray area, the time points when the central axis of the spray fan passes through the front and rear edges of the spray area can be calculated. The response time of the nozzle is used as the compensation time so that the controller can input the opening or closing command to the nozzle in advance. This ensures that when the central axis of the spray fan reaches the corresponding position, the nozzle has already completed the opening or closing action, making the control of the nozzle more precise.

[0059] For example, the response time of the nozzle is Calculations show that the time it takes for the central axis of the spray fan to pass through the front edge of the spray area is... The time for inputting the start command to the nozzle is .

[0060] Similarly, the time it takes for the central axis of the spray fan to pass through the rear edge of the spray area is... The time for inputting the start command to the nozzle is .

[0061] In some embodiments, before step S103: controlling the sprayer to open the nozzle when passing through the spraying area and close the nozzle when leaving the spraying area, the method further includes: The system acquires the wind speed and direction of the ambient wind, as well as the direction and speed of the sprayer, and adjusts the nozzle angle accordingly.

[0062] Understandably, ambient wind affects the direction of the spray when the nozzles are spraying. Specifically, when the wind blows from the front of the sprayer to the rear, the spray from the nozzles will be deflected to the rear of the sprayer; conversely, when the wind blows from the rear of the sprayer to the front, the spray from the nozzles will be deflected to the front of the sprayer (e.g., ...). Figure 7 and Figure 8 (As shown).

[0063] This embodiment calculates the adjustment direction and angle of the nozzle based on the wind speed and direction of the ambient wind, as well as the driving direction and speed of the sprayer, and adjusts the angle of the nozzle according to the corresponding direction or angle so that the spray can more accurately cover the spraying area.

[0064] like Figure 7 As shown, when not adjusted, the angle between the central axis of the spray fan of one nozzle and the vertical direction is α, and the angle between the central axis of the spray fan of the other nozzle and the vertical direction is β; Figure 8As shown, when the airflow comes from the front to the rear of the sprayer, both nozzles rotate clockwise. The angle between the central axis of the spray fan of one nozzle and the vertical direction is α′, and the angle between the central axis of the spray fan of the other nozzle and the vertical direction is β′.

[0065] In some embodiments, there are multiple sets of nozzles, which are arranged at intervals along the width direction of the sprayer.

[0066] The steps for controlling the sprayer to activate its nozzles as it passes through the spraying area include: Obtain the crown width of the plants to be sprayed within the spraying area.

[0067] As the sprayer passes over the plants to be sprayed, at least some of the nozzles are opened based on the width of the plant's canopy.

[0068] In this embodiment, the sprayer can be equipped with a spray bar extending along the width direction of the sprayer. It can be understood that the width direction of the sprayer is a horizontal direction perpendicular to the travel direction of the sprayer. By setting multiple sets of nozzles on the spray bar, multiple sets of nozzles can cover a larger spraying range. Each set of nozzles can include one or more nozzles.

[0069] In this embodiment, before spraying each plant, the canopy width of the plant to be sprayed is obtained, and the number of nozzle sets required for spraying the plant is determined based on the canopy width. When the canopy width is large and a single nozzle set is insufficient to cover the entire canopy, multiple nozzle sets can be controlled to be activated so that the spray can reach all parts of the canopy. Conversely, when the canopy width is small and a single nozzle set is sufficient to cover the entire canopy, only a single nozzle set can be activated to avoid unnecessary nozzle activation and waste of pesticide solution.

[0070] In one specific embodiment, there are two sets of nozzles.

[0071] The steps of controlling the opening of at least some nozzles based on the canopy width of the plant to be sprayed include: The fertility index of the plant to be sprayed is calculated based on the crown width of the plant and the spray coverage width of a single set of nozzles. The fertility index is calculated as (crown width - spray coverage width) / crown width.

[0072] When the hygroscopicity index exceeds the second threshold, both sets of nozzles are activated.

[0073] When the hygroscopicity index is not greater than the second threshold, turn on a single set of nozzles.

[0074] In this embodiment, the spray coverage width of a single set of nozzles can be calculated based on the size of the cone-shaped spray formed by the nozzles and the relative height between the nozzles and the canopy of the sprayed plants. This embodiment introduces a fertility index, determined by the spray coverage width and canopy width. The fertility index is compared to a preset second threshold to determine whether the spray from a single set of nozzles can cover the entire canopy. If the fertility index is greater than the second threshold, it indicates that a single set of nozzles cannot cover the entire canopy, and both sets of nozzles need to be activated simultaneously for supplementary spraying to avoid missed areas. Conversely, if the fertility index is not greater than the second threshold, only a single set of nozzles needs to be activated to avoid wasting pesticide.

[0075] In one specific embodiment, during spraying, the image recognition unit obtains the crown width D of the plant to be sprayed in real time, and calculates the effective coverage width Wc of a set of nozzles by combining the current nozzle height and spray fan angle. The fertility index (D-Wc) / D is calculated. When the ratio is greater than 0.2, two sets of nozzles are controlled to open; when the ratio is not greater than 0.2, a single set of nozzles is controlled to open.

[0076] Secondly, the present invention also provides a pesticide sprayer, comprising: a mobile frame, a pesticide supply device, a nozzle, and a spraying control device; the pesticide supply device and the nozzle are respectively disposed on the mobile frame; the pesticide supply device and the nozzle are connected for supplying pesticide to the nozzle; the spraying control device is disposed on the mobile frame and includes: a driving speed sensor, a wind speed and direction sensor, an image acquisition device, and a control unit; the control unit is respectively connected to the driving speed sensor, the wind speed and direction sensor, the image acquisition device, the pesticide supply device, and the nozzle.

[0077] The control unit is used to control the driving speed sensor, wind speed and direction sensor, image acquisition device, and liquid supply device and nozzle to cooperate in performing spraying operations based on the spraying control method of any of the above embodiments.

[0078] In this embodiment, the mobile frame can be a flying platform or a ground mobile platform to drive other components of the sprayer to move within the work area. The mobile frame is equipped with a liquid supply device and a nozzle. The liquid supply device can store a certain amount of liquid and supply it to the nozzle. The speed sensor of the spray control device is used to detect the speed of the mobile frame, the wind speed and direction sensor is used to detect the wind speed and direction of the ambient wind, and the image acquisition device is used to acquire images of the work area.

[0079] The control unit integrates a control program, which is used to control the various components of the sprayer to complete the spraying operation based on the data provided by the above-mentioned components, such as the travel speed of the mobile frame, the wind speed and direction of the ambient wind, and the image of the work area.

[0080] It is understood that by adopting the spraying control method of the above embodiments, the sprayer of the present invention also has the advantages of the above spraying control method, which will not be repeated here.

[0081] Specifically, in some embodiments, such as Figures 3 to 6 As shown, the nozzle includes a first nozzle 1 and a second nozzle 2; the first nozzle 1 is arranged in front of the second nozzle 2 along the traveling direction of the sprayer; the central axis of the spray fan of the first nozzle 1 is inclined to the rear of the sprayer 1 relative to the vertical direction, and the central axis of the spray fan of the second nozzle 2 is inclined to the front of the sprayer 1 relative to the vertical direction.

[0082] In this embodiment, by sequentially arranging the first nozzle 1 and the second nozzle 2 along the traveling direction of the sprayer, and setting the spray direction of the first nozzle 1 (the direction of the central axis of the spray fan) to be tilted towards the rear of the sprayer 1 in the vertical direction, and setting the spray direction of the second nozzle 2 (the direction of the central axis of the spray fan) to be tilted towards the front of the sprayer 1 in the vertical direction, the spray direction of the first nozzle 1 and the spray direction of the second nozzle 2 can spray the opposite sides of the plant to be sprayed, so as to fully spray and apply pesticide to the plant.

[0083] In one specific embodiment, during the movement of the sprayer, the central axis of the spray fan of the second nozzle 2 will first pass the front edge of the spray area, and the second nozzle 2 will open (e.g., Figure 3 As shown); as the sprayer continues to move forward, the central axis of the fan-shaped spray mist from the first nozzle 1 passes through the front edge of the spraying area, and the first nozzle 1 opens (as shown). Figure 4 (As shown); then, the sprayer continues to move forward, and the central axis of the spray fan of the second nozzle 2 will first pass the rear edge of the spray area, and the second nozzle 2 will close (as shown). Figure 5 (As shown); Finally, the central axis of the spray fan of the first nozzle 1 will pass through the rear edge of the spray area, and the first nozzle 1 will close (as shown). Figure 6 (As shown).

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spraying control method for a pesticide sprayer, characterized in that, include: Acquire images of the work area; Based on the image of the work area, the canopy outline of the plants to be sprayed in the image is identified, and the canopy outline of the plants to be sprayed is clustered to determine the spraying area. According to the spraying area, the sprayer is controlled to turn on the nozzle when passing through the spraying area and turn off the nozzle when leaving the spraying area.

2. The spraying control method for the sprayer according to claim 1, characterized in that, The step of clustering the plant outline boundaries to determine the spraying area includes: Determine the spacing between the canopy outlines of adjacent plants to be sprayed along the direction of travel of the sprayer; When the spacing is less than the first threshold, the canopy outlines of adjacent plants to be sprayed and the space between them are aggregated into a spraying area. When the spacing is not less than the first threshold, the canopy outlines of adjacent plants to be sprayed are divided into two spraying areas.

3. The spraying control method for the sprayer according to claim 2, characterized in that, Prior to the step of determining the spacing of the canopy outlines of adjacent sprayed plants along the direction of travel of the sprayer, the method further includes: Based on the canopy outline of the plants to be sprayed, determine the average canopy width of each plant to be sprayed; The first threshold is determined based on the average crown width of the plants to be sprayed.

4. The spraying control method for the sprayer according to claim 1, characterized in that, The step of controlling the sprayer to open the nozzle when passing through the spraying area and close the nozzle when leaving the spraying area includes: When the central axis of the spray fan of the nozzle passes through the front edge of the spray area, the nozzle is controlled to open; The nozzle is controlled to close when the central axis of the spray fan passes the rear edge of the spray area.

5. The spraying control method for the sprayer according to claim 4, characterized in that, The sprayer includes: the nozzle and the controller, the controller and the nozzle are communicatively connected, and the controller is used to input control commands to the nozzle to control the nozzle switch; Before the step of controlling the nozzle to open when the central axis of the spray fan-shaped area of ​​the nozzle passes through the front edge of the spray area, the method further includes: The response time of the nozzle and the travel speed of the sprayer are obtained; Accordingly, the step of controlling the nozzle to open when the central axis of the spray fan-shaped area passes through the front edge of the spray area includes: The start command input time is determined based on the position of the front edge of the spraying area, the response time of the nozzle, and the travel speed of the sprayer; the start command is then input to the nozzle based on the start command input time. Accordingly, the step of controlling the nozzle to close when the central axis of the spray fan passes through the rear edge of the spray area includes: The closing command input time is determined based on the position of the rear edge of the spraying area, the response time of the nozzle, and the travel speed of the sprayer; based on the closing command input time, a closing command is input to the nozzle.

6. The spraying control method for the sprayer according to claim 1, characterized in that, Before the step of controlling the sprayer to open the nozzle when passing through the spraying area and close the nozzle when leaving the spraying area, the method further includes: The system acquires the wind speed and direction of the ambient wind, as well as the driving direction and speed of the sprayer, and adjusts the angle of the nozzle based on the wind speed and direction of the ambient wind and the driving direction and speed of the sprayer.

7. The spraying control method for the sprayer according to claim 4, characterized in that, The spray head is in multiple sets, and the multiple sets of spray heads are arranged at intervals along the width direction of the sprayer; The step of controlling the sprayer to open the nozzle when passing through the spraying area includes: Obtain the crown width of the plant to be sprayed within the spraying area; As the sprayer passes over the plant to be sprayed, at least a portion of the nozzles are controlled to open based on the canopy width of the plant.

8. The spraying control method for the sprayer according to claim 5, characterized in that, The nozzle has two sets; The step of controlling the opening of at least a portion of the nozzles based on the canopy width of the plant to be sprayed includes: The fertility index of the plant to be sprayed is calculated based on the crown width of the plant to be sprayed and the spray coverage width of a single set of nozzles, wherein the fertility index = (crown width - spray coverage width) / crown width. When the hypertrophy index is greater than the second threshold, the two sets of nozzles are turned on; When the hypertrophy index is not greater than the second threshold, a single set of nozzles is activated.

9. A pesticide sprayer, characterized in that, include: Mobile rack; The liquid supply device and the nozzle are respectively installed on the mobile frame; The liquid medicine supply device is connected to the nozzle and is used to supply liquid medicine to the nozzle; The spraying control device, installed on the mobile frame, includes: a travel speed sensor, a wind speed and direction sensor, an image acquisition device, and a control unit; The control unit is connected to the driving speed sensor, the wind speed and direction sensor, the image acquisition device, the liquid supply device, and the nozzle, respectively. The control unit is used to control the driving speed sensor, the wind speed and direction sensor, the image acquisition device, the liquid supply device, and the nozzle to cooperate in performing spraying operations based on the spraying control method of any one of claims 1-8.

10. The sprayer according to claim 9, characterized in that, The nozzle includes a first nozzle and a second nozzle; The first nozzle is positioned in front of the second nozzle along the travel direction of the sprayer; the central axis of the spray fan of the first nozzle is inclined to the rear of the sprayer relative to the vertical direction, and the central axis of the spray fan of the second nozzle is inclined to the front of the sprayer relative to the vertical direction.

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