A liquid spreading vehicle operation process automatic control method, device and medium

Abstract

This invention discloses an automated control method, equipment, and medium for liquid spraying vehicle operations, relating to the field of automatic control technology. The method includes: receiving a set of operation task parameters and fixing parameter version identifiers; outputting coverage area index rules; extracting coverage area index identifiers and geometric index items to form a coverage area set based on the coverage area index rules; establishing a dose status record table and a credit record table; and constructing neighborhood feasible transfer relationships based on the operation task parameter set; writing back and correcting the dose status record table based on aligned evidence objects; and updating the credit record table by performing under-spraying compensation under the constraints of neighborhood feasible transfer relationships; and sealing the parameter version identifiers, aligned evidence objects, write-back records, and update records to generate a replayable operation record. This invention uses structured binding and queued management of executable commands, trigger times, and variable execution delays to ensure that control commands do not rely on immediate issuance assumptions, but rather anchor the timing sequence with trigger times, achieving predictable execution.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to an automated control method, equipment and medium for the operation of a liquid spreader. Background Technology

[0002] The evolution of liquid spreader operation process control from experience-based manual adjustment to data-driven control typically includes gridded dosage management based on prescription maps, zoned control with pump and valve coordination, and operation trajectory constraints based on vehicle positioning and heading. With the improvement of multi-source sensing and on-board controller computing power, the operation process can dynamically generate control commands within the control cycle, and process traceability and parameter reproduction can be achieved through log and version management.

[0003] Existing technologies still have key shortcomings in terms of the consistency of closed-loop prescription dosage: due to the time-varying delays and jitters in the command issuance, actuator action and sensor feedback in the vehicle control link, if there is a lack of a unified time reference and traceable correlation mechanism between control commands, effective time and feedback data, it is easy to cause mismatch in dosage statistics and compensation basis on the time axis, which will lead to the cumulative deviation and instability of compensation amount when it propagates between adjacent working areas, making it difficult to stably support subsequent verifiable automated control and process traceability. Summary of the Invention

[0004] In view of the aforementioned existing problems, the present invention is proposed.

[0005] Therefore, this invention provides an automated control method for the operation of a liquid spraying vehicle to solve the problem of inaccurate dose write-back and underspray compensation updates caused by variable time delays in command-to-execution response during operation control.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] In a first aspect, the present invention provides an automated control method for the operation of a liquid spreader, comprising receiving a set of operation task parameters and fixing parameter version identifiers, and outputting coverage area index rules;

[0008] Based on the coverage area indexing rules, the coverage area index identifier and geometric index item are extracted to form a coverage area set, a dose status record table and a credit record table are established, and a neighborhood feasible transfer relationship is constructed in combination with the task parameter set;

[0009] Real-time acquisition of job status and execution time alignment, location of current coverage area and mapping of target dose, updating dose status record table and credit record table to generate credit-driven control target;

[0010] Based on the credit-driven control objective, a partition plan control command is generated. The partition plan control command is then subjected to a pruning mask constraint and feasible region processing to obtain an executable command. The variable execution delay of the executable command is estimated online and the trigger time is calculated. The executable command and the trigger time are then encapsulated into an evidence chain delay queue.

[0011] At the triggering moment, the executable command is retrieved from the evidence chain delay queue and executed, and the execution response is collected to generate an aligned evidence object;

[0012] Based on the alignment evidence object, the correction dose status record table is written back, and the credit record table is updated under the constraint of feasible transfer relationship in the neighborhood. The parameter version identifier, alignment evidence object, write-back record and update record are sealed to generate a replayable operation record.

[0013] As a preferred embodiment of the automated control method for the operation of the liquid spreader truck described in this invention, the specific steps for the output coverage area index rule are as follows:

[0014] Receive a set of operation task parameters, which includes operation boundaries, no-spray zones, target dose prescriptions, zoned spray widths, and pump and valve constraints;

[0015] Based on the zonal spray pattern, regular grids are divided within the operational boundary. Grids that intersect with the no-spray zone are disabled and removed to obtain effective grids.

[0016] Generate coverage area index identifiers and establish geometric index entries for the effective grid, and determine the target spraying dose corresponding to the coverage area index identifier based on the target dose prescription;

[0017] Based on the zoned spray width and pump valve constraints, the allowable range of operation parameters is determined, a parameter version identifier is generated and associated with the operation task parameter set for storage, the effective grid, coverage area index identifier, geometric index item, target spray dose are bound to the parameter version identifier, and the coverage area index rule is output.

[0018] As a preferred embodiment of the automated control method for the operation of the liquid spreader described in this invention, the specific steps for constructing a neighborhood feasible transition relationship by combining the set of operation task parameters are as follows:

[0019] Based on the coverage area indexing rules, the coverage area index identifier and the corresponding geometric index item are extracted to form a coverage area set;

[0020] A dose status record table and a credit record table are established using the index identifier of each coverage area in the coverage area set as the primary key. The table is then initialized in conjunction with the task parameter set to generate a dose status record table containing the initial dose status and a credit record table containing the amount of under-spray compensation.

[0021] Adjacent coverage area pairs are determined based on the geometric index entries of the coverage area set. When two coverage areas are considered adjacent because they share a boundary line segment, a feasible neighboring transfer relationship is generated.

[0022] As a preferred embodiment of the automated control method for the liquid dispensing vehicle operation process described in this invention, the steps of real-time acquisition of the operation task status and execution time alignment, locating the current coverage area and mapping the target dose, updating the dose status record table and credit record table to generate a credit-driven control target are as follows:

[0023] The system collects and aligns the status data of the operation tasks in real time, outputs the aligned operation status data, locates the current coverage area, and determines the target spraying dose for the current coverage area based on the target dose prescription.

[0024] Based on the dose status record table and credit record table, the dose difference is calculated by using the target spray dose of the current coverage area and the initial dose status, and credit-driven control targets are generated by combining the underspray compensation amount.

[0025] As a preferred embodiment of the automated control method for the operation of the liquid spreader described in this invention, the specific steps of encapsulating the executable command and trigger time into an evidence chain delay queue are as follows:

[0026] Based on the credit-driven control objective, generate the corresponding zoning plan control command, apply the pruning mask constraint to the zoning plan control command according to the current coverage area and the no-spraying zone, and output the constrained zoning plan control command;

[0027] Perform feasible region processing on the constrained partition plan control command, adjust the partition plan control command to the allowable range of job parameters, output executable commands, estimate the variable execution delay corresponding to the executable commands, and calculate the trigger time;

[0028] The executable command, trigger time, and variable execution delay are encapsulated to generate a delayed execution evidence entry, which is then appended to the evidence chain delay queue.

[0029] As a preferred embodiment of the automated control method for the operation of the liquid spreader described in this invention, the steps of retrieving executable commands from the evidence chain delay queue at the triggering moment and issuing them for execution, and collecting the execution response to generate aligned evidence objects are as follows:

[0030] At the triggering time, retrieve the evidence chain delay queue and locate the delay execution evidence entry corresponding to the triggering time;

[0031] Based on the time-delayed execution evidence entries, extract executable commands and issue them for execution. Collect the execution response corresponding to the executable command, align the execution response with the trigger time, and output the aligned execution response.

[0032] The executable command, trigger time, variable execution delay, coverage area index identifier, and aligned execution response are encapsulated to form an alignment evidence object.

[0033] As a preferred embodiment of the automated control method for the operation of the liquid spraying vehicle described in this invention, the steps of writing back and correcting the dose status record table based on aligned evidence objects, and performing under-spray compensation updates under the constraint of feasible transition relationships in the neighborhood, are as follows:

[0034] Based on the alignment evidence object, determine the coverage area corresponding to the coverage area index identifier, write the alignment execution response into the dose status record table and perform incremental write-back update to generate a write-back record;

[0035] Based on the dosage status record sheet and the target dosage prescription, identify the under-spray status, determine the basis for under-spray compensation and update, update the credit record sheet, and generate an update record;

[0036] Under the constraint of feasible transfer relationship in the neighborhood, the adjacent coverage area is selected according to the underspray compensation update criteria to perform underspray compensation update, and the update record is written synchronously.

[0037] As a preferred embodiment of the automated control method for the liquid spreader operation process described in this invention, the steps for generating a replayable operation record by storing the parameter version identifier, aligning the evidence object, writing back the record, and updating the record are as follows.

[0038] The system aggregates parameter version identifiers, aligned evidence objects, write-back records, and update records and writes them into the version header information. It sorts the aligned evidence objects by trigger time to generate an evidence sequence, groups the write-back records and update records by coverage area index identifiers, and sorts them by trigger time within the group to generate a ledger sequence.

[0039] Establish a one-to-one correspondence between the evidence sequence and the ledger sequence according to the coverage area index identifier and the trigger time, and write the associated information. Seal the version header information, evidence sequence, ledger sequence and associated information to generate a replayable operation record.

[0040] In a second aspect, the present invention provides a computer device including a memory and a processor, wherein the memory stores a computer program, wherein when the computer program is executed by the processor, it implements any step of the automated control method for the operation process of a liquid spreader as described in the first aspect of the present invention.

[0041] Thirdly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, it implements any step of the automated control method for the operation process of a liquid spreader as described in the first aspect of the present invention.

[0042] The beneficial effects of this invention are as follows: it structurally binds and queues executable commands, trigger times, and variable execution delays, so that control commands do not rely on the assumption of immediate issuance, but anchor the timing sequence with the trigger time to achieve predictable execution. Within the control cycle, it decouples command generation, delay estimation, and trigger scheduling, reducing the disturbance of dose calculation caused by random delays introduced by pump valve switching and pump parameter adjustment. This ensures that the cumulative update of the unit area spraying dose and the recursive update of the underspray compensation amount have a consistent time base, reducing the cumulative drift of dose deviation in continuous control cycles, and achieving stable convergence of the operation process and maintaining dose consistency. Attached Figure Description

[0043] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart of an automated control method for the operation of a liquid spreader.

[0045] Figure 2 This is a flowchart of the operation parameters.

[0046] Figure 3 This is a flowchart of the coverage area.

[0047] Figure 4 The flowchart for writing back the debt settlement. Detailed Implementation

[0048] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0049] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0050] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0051] Reference Figures 1-4As one embodiment of the present invention, this embodiment provides an automated control method for the operation of a liquid spreader, comprising the following steps:

[0052] S1: Receives the job task parameter set and fixes the parameter version identifier, and outputs the coverage area index rules.

[0053] S1.1: Receive the task parameter set, which includes the task boundary, no-spray zone, target dose prescription, zone spray width, and pump valve constraints.

[0054] Receive the set of operation task parameters, and fix the fields as operation boundary, no-spray zone, target dose prescription, zone spray width and pump valve constraints, and perform field integrity verification.

[0055] Geometric validity checks are performed on the work boundary and the no-spread zone, using closure determination and intersection determination of non-adjacent edge segments:

[0056] The algorithm determines that the coordinates of the first and last ends of the closed polygon of the task boundary are consistent and that there is no intersection point between any pair of edges that do not share endpoints; it also determines that the closed polygon of the task boundary does not have duplicate adjacent vertices, zero-length edges, or collinear overlapping edges. If the conditions are not met, the algorithm outputs a check failure flag and terminates the reception of the task parameter set.

[0057] Determine if the first and last coordinates of each closed polygon in the list of closed polygons in the no-spray zone are the same and if there is no intersection between any pairs of edges that do not share endpoints; determine if the list of closed polygons in the no-spray zone does not contain duplicate adjacent vertices, zero-length edges, or collinear overlapping edges; output the no-spray zones that pass the verification; if the conditions are not met, output a verification failure flag and terminate the reception of the task parameter set.

[0058] The target dose prescription is subjected to structural validation, which uses field integrity and field type determination: each prescription grid contains grid row number, grid column number, prescription grid geometry and target spray dose; the grid row number is determined to be an integer, the grid column number is determined to be an integer, the prescription grid geometry is a closed polygon, and the target spray dose (liters / square meter) is a non-negative value;

[0059] The determination of the target dose prescription includes prescription grid coding parameters, which include the prescription origin coordinates, prescription main direction, prescription lateral direction, and prescription grid side length.

[0060] For each prescription grid record, read the grid row number, grid column number, and prescription grid geometric range; calculate the geometric center point of the prescription grid geometric range;

[0061] Using the origin coordinates of the prescription as a reference, the offset distance of the geometric center point is calculated along the main direction and the side direction of the prescription, and converted into row count value and column count value according to the side length of the prescription grid.

[0062] The system determines that the row count value matches the grid row number and the column count value matches the grid column number; it also determines that the expected geometric range corresponding to the row and column numbers matches the prescription grid geometric range, and outputs the target dose prescription that passes the verification. If the conditions are not met, it outputs a verification failure flag and terminates the reception of the job task parameter set.

[0063] The structure of the partition spray pattern is checked using a mapping table integrity check and a value validity check. The partition spray pattern is a mapping table from partition number to spray pattern width. The system checks that the set of partition numbers is not empty and has no duplicates, and that the spray pattern width corresponding to each partition number is a positive value. The system outputs the partition spray patterns that pass the check. If the check fails, the system outputs a check failure flag and terminates the reception of the task parameter set.

[0064] Read the pump and valve constraints in the task parameter set to obtain the lower limit, upper limit, lower limit and upper limit of pump parameters, valve parameters and valve parameters of the task constraints. Read the pump and valve actuator of the liquid spreader truck to obtain the minimum, maximum and minimum and maximum values ​​of pump parameters, valve parameters and valve parameters allowed by the equipment.

[0065] The lower limit of the pump parameter is determined by the larger of the lower limit of the task-constrained pump parameter and the minimum allowable pump parameter value of the equipment; the upper limit of the pump parameter is determined by the smaller of the upper limit of the task-constrained pump parameter and the maximum allowable pump parameter value of the equipment.

[0066] The lower limit of the valve parameter is determined by the larger of the lower limit of the valve parameter under task constraints and the minimum value of the valve parameter allowed by the equipment; the upper limit of the valve parameter is determined by the smaller of the lower limit of the valve parameter under task constraints and the maximum value of the valve parameter allowed by the equipment.

[0067] If the lower limit of pump parameters is less than or equal to the upper limit of pump parameters and the lower limit of valve parameters is less than or equal to the upper limit of valve parameters, output the pump and valve constraints that have passed the verification. If they are not met, output a verification failure flag and terminate the reception of the task parameter set.

[0068] S1.2: Based on the zonal spray pattern, perform regular grid division within the operation boundary, disable and remove grid markings that intersect with the no-spray zone space, and obtain an effective grid.

[0069] Based on the verified zone spray widths, the widths of each spray width in the zone spray width are compared to obtain the minimum spray width, which is used as the standard side length of the work grid.

[0070] Calculate the minimum bounding rectangle of the work boundary that passes the verification. Set the lower left corner of the minimum bounding rectangle as the origin, the direction of the longer side as the main direction of the work, and the direction of the shorter side as the lateral direction.

[0071] Draw two sets of perpendicular parallel lines with a fixed standard side length along the main direction and side of the operation to generate a square operation grid that covers the circumscribed rectangle; the operation grid is numbered according to the row and column positions, with the row and column numbers starting from zero.

[0072] Perform boundary in-place determination on the geometric center point of each work grid; use the ray casting method to determine whether the geometric center point is located within the validated work boundary.

[0073] Draw a horizontal ray to the right from the geometric center point. If the number of intersections with the boundary polygon is odd, the ray is inside the boundary; if the number is even, the ray is outside the boundary.

[0074] All job grids whose center points are within the boundary are retained to form the initial job grid set.

[0075] For each job grid in the initial job grid set, the separation axis theorem is used to check the intersection relationships of the checked no-spray polygons:

[0076] Calculate the projection intervals of the work grid rectangle and the no-spray zone polygon on the main work direction axis and the lateral axis respectively. If the projection intervals of either axis do not overlap, they are determined to be non-intersecting. If the projection intervals of both axes overlap, they are determined to be intersecting.

[0077] The intersecting job grids are marked as disabled and removed, and the remaining job grids constitute the valid grid set.

[0078] S1.3: Generate coverage area index identifiers for the effective grid and establish geometric index entries, and determine the target spraying dose corresponding to the coverage area index identifiers based on the target dose prescription.

[0079] For each job grid in the valid grid set, a coverage area index identifier is generated. The coverage area index identifier consists of row and column numbers formatted as fixed lengths connected by hyphens.

[0080] Extract the coordinates of the lower left corner vertex, the upper right corner vertex, the geometric center point, and the standard side length of each task grid, and establish the geometric index item corresponding to the coverage area index identifier.

[0081] The target spraying dose is determined based on the validated target dose prescription, and the ray casting method is used to determine whether the geometric center point falls within the geometric range of a certain prescription grid in the target dose prescription:

[0082] When the number of intersections is odd, the target spraying dose is taken from the prescription grid record;

[0083] When no prescription grid with an odd number of intersections is found, the straight-line distance from the geometric center point to the geometric center point of each prescription grid is calculated, and the target spray dose corresponding to the prescription grid with the shortest distance is selected as the target spray dose corresponding to the coverage area index identifier.

[0084] S1.4: Determine the allowable range of operation parameters based on the zone spray width and pump valve constraints, generate parameter version identifiers and store them in association with the operation task parameter set, bind the effective grid, coverage area index identifier, geometric index item, target spray dose and parameter version identifier, and output coverage area index rules.

[0085] Based on the verified zone spray width and pump / valve constraints, the lower limit and upper limit of pump parameters are extracted to form the allowable closed interval of pump parameters; the lower limit and upper limit of valve parameters are extracted to form the allowable closed interval of valve parameters.

[0086] Extract the spray width corresponding to all zone numbers from the zone spray width to form the allowable set of spray width. Determine the allowable closed interval of pump parameters, the allowable closed interval of valve parameters and the allowable set of spray width as the allowable range of operating parameters.

[0087] The task parameter set is serialized according to a fixed field order (operation boundary, no-spray zone, target dose prescription, zone spray width, and pump valve constraints), and the output is a byte sequence.

[0088] Perform SHA-256 hash algorithm on the byte sequence to calculate a 256-bit hash value, and then solidify the 256-bit hash value as a hexadecimal string into a parameter version identifier.

[0089] The parameter version identifier is associated with the job task parameter set and stored together. A key-value pair is established with the parameter version identifier as the key and the validated job task parameter set as the value.

[0090] For each job grid in the effective grid set, a coverage area record is created. The coverage area record includes a coverage area index identifier, a geometric index item, a target spray dose, and a parameter version identifier. The coverage area records are then aggregated to form a coverage area record set.

[0091] Integrate the coverage area record set, parameter version identifier, and allowed range of job parameters, and encapsulate them to generate coverage area index rules.

[0092] S2: Based on the coverage area indexing rules, extract the coverage area index identifier and geometric index item to form a coverage area set, establish a dose status record table and a credit record table, and construct a neighborhood feasible transfer relationship in combination with the task parameter set.

[0093] S2.1: Based on the coverage area indexing rules, extract the coverage area index identifier and the corresponding geometric index item to form a coverage area set.

[0094] Based on the coverage area indexing rules, each coverage area record in the coverage area record set is traversed to extract the coverage area index identifier and the corresponding geometric index item.

[0095] The coverage area index identifier is combined with the geometric index item to generate a basic spatial record. All basic spatial records are then collected to obtain the coverage area set.

[0096] S2.2: Use the index identifier of each coverage area in the coverage area set as the primary key to establish a dose status record table and a credit record table, and initialize them in combination with the task parameter set to generate a dose status record table containing the initial dose status and a credit record table containing the under-spray compensation amount.

[0097] Using the index identifier of each coverage area in the coverage area set as the primary key, create a dose status record table and a credit record table, and traverse each coverage area in the coverage area set in sequence:

[0098] Create a corresponding primary key record in the dose status record table, initialize the cumulative sprayed dose to 0, write the target sprayed dose read from the coverage area record into the target sprayed dose field, and initialize the operation status flag to not started.

[0099] Create a corresponding primary key record in the credit record table and initialize the debt repayment amount field to 0 (the initial value of 0 is the initial source of the debt repayment amount).

[0100] After completing the traversal, output a dose status record table containing the initial dose status and a credit record table containing the initial under-spray compensation amount.

[0101] S2.3: Determine adjacent coverage area pairs based on the geometric index items of the coverage area set. When two coverage areas share a boundary line segment, they are determined to be adjacent, and a feasible neighborhood transfer relationship is generated.

[0102] Geometric index items are extracted from each basic spatial record in the set of covered areas to determine adjacent covered area pairs; two covered areas are considered adjacent when they share a boundary line segment.

[0103] Traverse each basic spatial record in the set of covered regions as the current covered region record, extract the covered region index identifier and geometric index item of the current covered region record, and derive the four boundary line segments through the geometric index item.

[0104] Exclude the current coverage area record from the coverage area set, traverse each remaining basic space record as a candidate coverage area record, extract the coverage area index identifier and geometric index item of the candidate coverage area record, and derive the four boundary line segments of the candidate coverage area record.

[0105] Compare the boundary segments of the current coverage area record with the boundary segments of the candidate coverage area record one by one:

[0106] When the coordinates of the two endpoints of two boundary segments are completely identical, they are determined to share the same boundary segment;

[0107] If at least one shared boundary segment exists, the area is considered an adjacent coverage area pair.

[0108] Adjacent coverage area pairs are recorded as ordered pairs, and their reverse ordered pairs are also written. All ordered pairs are aggregated to form a neighborhood feasible transition relationship.

[0109] The neighborhood feasible transfer relationship is a mapping table with the coverage area index identifier as the primary key. Each record contains the coverage area index identifier and a list of adjacent coverage area index identifiers. The list of adjacent coverage area index identifiers stores all coverage area index identifiers that are adjacent to the coverage area index identifier.

[0110] S3: Real-time acquisition of job status and execution time alignment, location of current coverage area and mapping of target dose, update dose status record table and credit record table to generate credit-driven control target;

[0111] S3.1: Collect job status data in real time and align it with time, output aligned job status data, locate the current coverage area, and determine the target spraying dose for the current coverage area based on the target dose prescription.

[0112] The liquid spreader collects real-time operational status data, including the collection timestamp, vehicle position coordinates, vehicle heading angle, pump parameter values, and valve parameter values.

[0113] The collected job status data is sorted in ascending order by the collection timestamp to generate time-series job status data.

[0114] Iterate through the first record in the time series job status data, read the collection timestamp of the first record, and at the same time read the local clock time of the liquid spreader, calculate the time offset.

[0115] For each record in the time series job status data, add the record's collection timestamp to the time offset to obtain the aligned collection timestamp, and write the aligned collection timestamp to the corresponding record to form the aligned job status.

[0116] Read the cycle duration of the liquid spreader's operation process control cycle, and for two adjacent records in the alignment operation task status, read the vehicle position coordinates of the two records and calculate the straight-line distance between them.

[0117] The straight-line distance is converted into displacement per unit time based on the cycle duration. The value of displacement per unit time is determined as the vehicle speed corresponding to the next record, and the vehicle speed is written into the next alignment task status record. For the first alignment task status record, the vehicle speed is written as 0.

[0118] Based on the vehicle's position coordinates and heading angle in the alignment task status, and combined with the set of coverage area records in the coverage area index rules, the current coverage area is located.

[0119] Traverse each covered region record in the covered region record set and extract the geometric index item of the covered region record, which includes the coordinates of the lower left vertex and the upper right vertex.

[0120] The coordinates of the four corner points of the rectangular geometric range recorded in the coverage area are constructed based on the geometric index entries.

[0121] The ray casting method is used to determine whether the vehicle's position coordinates are within the geometric range of the recorded coverage area. A horizontal ray is drawn to the right from the vehicle's position coordinates, and the number of intersections between the ray and the boundary of the rectangular geometric range is counted.

[0122] When the number of intersection points is odd, it is determined that the vehicle position coordinates are located inside the coverage area record, and the coverage area index identifier of the coverage area record is determined as the coverage area index identifier of the current coverage area.

[0123] When no coverage area record with an odd number of intersections is found after traversal, the straight-line distance from the vehicle position coordinates to the coordinates of each geometric center point in the coverage area record set is calculated, and the coverage area index identifier of the coverage area record with the shortest straight-line distance is selected as the coverage area index identifier of the current coverage area.

[0124] The target spraying dose for the current coverage area is determined based on the target dose prescription in the task parameter set.

[0125] Traverse each prescription record in the target dose prescription and extract the prescription grid geometry and target spray dose.

[0126] The ray method is used to determine whether the coordinates of the geometric center point of the current coverage area are within the geometric range of the prescription grid. A horizontal ray is drawn to the right from the coordinates of the geometric center point, and the number of intersections between the ray and the geometric range of the prescription grid is counted.

[0127] When the number of intersections is odd, the target spray dose recorded in the prescription is determined as the target spray dose for the current coverage area.

[0128] When no prescription record with an odd number of intersections is found, calculate the straight-line distance from the geometric center point coordinates to the geometric center point of each prescription grid in the target dose prescription, and select the target spray dose of the prescription record with the shortest straight-line distance as the target spray dose of the current coverage area.

[0129] It should be noted that the sampling period for the task status data is consistent with the duration of the task process control period; when there are missing samples or sampling jitter, the difference between the aligned collection timestamps of two adjacent records is used as the actual time interval for conversion.

[0130] The pump parameter value is the spray volumetric flow rate, in liters per second, and the valve parameter value is the valve opening control value, which is limited to the allowable closing range of the valve parameter.

[0131] S3.2: Based on the dose status record table and credit record table, calculate the dose difference using the target spray dose of the current coverage area and the initial dose status, and generate a credit-driven control target by combining the underspray compensation amount.

[0132] Based on the coverage area index identifier of the current coverage area in the alignment operation status data, the record corresponding to the coverage area index identifier is extracted from the dose status record table, the cumulative sprayed dose per unit area and the target sprayed dose are read, and the dose difference is calculated.

[0133] Extract records with the same coverage area index from the credit record table and read the amount of outstanding debt (initial value is 0).

[0134] The dosage difference plus the amount of under-spray compensation is used as the compensation requirement to generate a credit-driven control target.

[0135] When the credit-driven control target is positive, it means that underspraying should be compensated first. When the credit-driven control target is negative, it means that overspraying has occurred and overspraying should be suppressed.

[0136] S4: Generate partition plan control commands based on credit-driven control objectives. Apply pruning mask constraints and feasible region processing to the partition plan control commands in sequence to obtain executable commands. Estimate the variable execution delay of the executable commands online and calculate the trigger time. Encapsulate the executable commands and trigger times into an evidence chain delay queue.

[0137] S4.1: Generate corresponding partition plan control commands based on credit-driven control objectives, apply pruning mask constraints to the partition plan control commands according to the current coverage area and the no-spread zone, and output the constrained partition plan control commands.

[0138] Based on the credit-driven control target and the coverage area index identifier of the current coverage area in the aligned operation status data, the conditions for generating the zonal plan control command for the liquid spreader operation process control cycle are determined.

[0139] The credit-driven control target is the signed dose compensation requirement, with positive values ​​indicating the need to compensate for under-spray and negative values ​​indicating the need to suppress over-spray.

[0140] The zonal planning control command contains multiple zonal control entries. Each zonal control entry corresponds to a zonal number and contains the target pump parameter value and target valve parameter value for the zonal number.

[0141] Read the validated partition spray pattern. The partition spray pattern is a mapping table from partition number to spray pattern width. Traverse the set of partition numbers in the partition spray pattern, read the spray pattern width corresponding to the partition number and generate partition control entries, and collect and generate partition plan control commands.

[0142] The target pump parameter values ​​are expressed as follows:

[0143] ;

[0144] In the formula, For the target pump parameter values, Credit-driven control objectives For partition numbering Corresponding to the spray width, To align vehicle speed in the operational status data, This is the partition number.

[0145] when When compensating for underspray, This indicates that compensation requirements are involved in generating the target pump parameter values;

[0146] when When overjet is suppressed or no compensation is required, This indicates that no forward pump target is given, and the target pump parameter value is treated as zero.

[0147] The target valve parameter value is expressed as follows:

[0148] ;

[0149] In the formula, For the target valve parameter value, For indicator functions, This refers to the upper limit of the allowable closed interval for valve parameters. This is the lower limit of the allowable closed range for valve parameters.

[0150] When partition Target pump parameter values hour, This indicates that the target valve parameter value for this partition is in the open state.

[0151] when hour, This indicates that the target valve parameter value for the partition is in the closed state.

[0152] Read the verified no-spray zones, which are a list of closed polygons; determine the geometric range of the spray area in front of the vehicle based on the vehicle's position coordinates and heading angle, which is a fan-shaped area with the vehicle's position coordinates as the vertex and the vehicle's heading as the center.

[0153] The overlapping area between the spraying area and the no-spraying area in front of the vehicle is calculated using the geometric projection method, and then normalized based on the area of ​​the spraying area in front of the vehicle to output the overlap ratio.

[0154] The overlap ratio is expressed as:

[0155] ;

[0156] In the formula, This represents the overlap ratio (example values ​​range from 0 to 1). The geometric area for spraying in front of the vehicle body. This refers to the geometric region of the no-spray zone corresponding to the list of closed polygons in the no-spray zone. This represents the area of ​​the geometric region within the brackets.

[0157] The minimum spray width in the set of verified task parameters is used as the standard side length for regular grid division, and the minimum resolvable overlap area is determined by the square of the standard side length.

[0158] The area of ​​the sprayed area in front of the vehicle is calculated within the control cycle. When the area of ​​the sprayed area in front of the vehicle is zero, the overlap ratio threshold is set to zero.

[0159] When the area of ​​the sprayed area in front of the vehicle is positive, the ratio of the minimum resolvable overlap area to the area of ​​the sprayed area in front of the vehicle is determined as the overlap ratio threshold. and limited to .

[0160] when When the overlap between the spraying area in front of the vehicle and the no-spraying area is negligible, the zone control plan remains unchanged.

[0161] when When the spraying area in front of the vehicle overlaps with the no-spray zone, the heading centerline is determined based on the vehicle heading angle in the alignment operation task state. The heading centerline is a ray with the vehicle position coordinates as the starting point and the vehicle heading angle as the direction.

[0162] The set of trimmed partition numbers and the set of non-trimmed partition numbers are determined according to the principle of prioritizing the retention of the heading centerline and prioritizing the trimming of the sides.

[0163] The set of clipped partition numbers preferentially includes partition numbers on both sides of the heading centerline, while the set of non-clipped partition numbers is the set of partition numbers other than the set of clipped partition numbers.

[0164] The selection of the cropping partition number set satisfies the overlap ratio constraint, ensuring that the sum of the spray widths corresponding to the cropping partition number set is not less than the sum of the spray widths of all partitions.

[0165] For each zone number, calculate the absolute value of the lateral distance from the centerline of the zone spray strip to the heading centerline; sort all zones in descending order of the absolute value of the lateral distance, and if the absolute values ​​of the lateral distance are the same, sort them in ascending order of the zone number;

[0166] The partitions are added to the clipping partition number set in order of sorting results, and the sum of the clipping partition spray widths is accumulated;

[0167] When the sum of the cumulative widths of the trimmed zones reaches the overlap ratio for the first time, the process terminates and outputs the set of trimmed zone numbers; the remaining zone numbers are then aggregated into the set of non-trimmed zone numbers.

[0168] In the zonal planning control command, for zonal control entries whose zonal number belongs to the set of trimmed zonal numbers, the target pump parameter value is set to zero, and the target valve parameter value is set to the closed state at the same time.

[0169] For partition control entries whose partition numbers belong to the set of non-pruned partition numbers, keep the target pump parameter values ​​and target valve parameter values ​​unchanged, collect the updated partition control entries, and generate constrained partition plan control commands.

[0170] S4.2: Perform feasible domain processing on the constrained partition plan control command, adjust the partition plan control command to the allowable range of job parameters, output the executable command, estimate the variable execution delay corresponding to the executable command, and calculate the trigger time.

[0171] The effective overlap ratio is determined by the overlap ratio and the overlap ratio threshold:

[0172] When the overlap ratio is less than or equal to the overlap ratio threshold, the effective overlap ratio is set to 0; when the overlap ratio is greater than the overlap ratio threshold, the portion of the overlap ratio exceeding the threshold is defined as the overlap excess.

[0173] When the overlap ratio threshold is less than 1, the available remaining ratio is determined, and the length of the interval between the overlap ratio threshold and 1 is determined as the available remaining ratio; the overlap excess is proportionally converted according to the available remaining ratio to obtain the normalized excess ratio.

[0174] When the overlap ratio threshold is equal to 1, the effective overlap ratio is set to 0; when the normalized excess ratio is greater than 1, the effective overlap ratio is set to 1; when the normalized excess ratio is less than or equal to 1, the effective overlap ratio is set to the normalized excess ratio.

[0175] When the credit-driven control objective is positive, the credit bias coefficient is determined according to the effective overlap ratio:

[0176] When the effective overlap ratio is 0, the credit bias coefficient is 1;

[0177] When the effective overlap ratio is 1, the credit bias coefficient is 0.

[0178] When the effective overlap ratio is between 0 and 1, the credit bias coefficient is determined according to the linear correspondence between the effective overlap ratio changing from 0 to 1 and the credit bias coefficient changing from 1 to 0, and the value of the credit bias coefficient is limited to between 0 and 1.

[0179] When the credit-driven control objective is 0 or negative, the credit bias coefficient is set to 0.

[0180] Traverse each partition control entry in the constrained partition plan control command, read the partition number, target pump parameter value and target valve parameter value, and perform projection adjustment based on the allowable closed interval of the pump parameter and the allowable closed interval of the valve parameter.

[0181] When the credit-driven control target is positive and the partition number belongs to the set of non-pruned partition numbers, credit-priority projection is performed on the target pump parameter value.

[0182] When the credit-driven control target is a non-positive value or the partition number does not belong to the set of non-clipping partition numbers, standard projection is performed on the target pump parameter value.

[0183] Among them, credit-first projection is performed on the target pump parameter values, which is expressed as:

[0184] ;

[0185] In the formula, For partitioning The executable target pump parameter values, This is the credit bias coefficient. For indicator functions, Preserve tags for partitions, For standard projection functions, This represents the upper limit of the allowable closed interval for pump parameters. This is the lower limit of the allowable closed interval for pump parameters.

[0186] It should be noted that, The quantity within the parentheses is denoted as the pre-projection pump parameter value: when the pre-projection pump parameter value is less than the lower limit of the pump parameter... At that time, take the lower limit of pump parameters. When the pump parameter value before projection is greater than the upper limit of the pump parameter. At that time, take the upper limit of pump parameters. When the pump parameter value before projection falls between the lower limit and the upper limit of the pump parameter, the pump parameter value before projection is taken.

[0187] When partition number When it belongs to the non-clipping partition number set, When the partition number When not belonging to the non-clipping partition number set .

[0188] The standard projection applied to the target pump parameter values ​​is expressed as follows:

[0189] ;

[0190] ;

[0191] In the formula, The target pump parameter values ​​are limited to the allowable closed range of pump parameters. The projection results within.

[0192] Update the target valve parameter values ​​based on the projected target pump parameter values:

[0193] When the projected target pump parameter value is positive, the target valve parameter value is taken as the upper limit of the valve parameter's allowed closed interval; when the projected target pump parameter value is non-positive, the target valve parameter value is taken as the lower limit of the valve parameter's allowed closed interval. The projection results of each zone control item are collected to generate an executable command.

[0194] Based on the executable command, traverse the partition control entries in the executable command, count the number of partitions whose valve states have changed compared to the previous executable command, and obtain the number of switched partitions.

[0195] The executable target pump parameter values ​​of each partition in the executable command are collected in order of partition number to generate the pump parameter sequence of the current partition; the executable target pump parameter values ​​of each partition in the previous executable command are collected in order of the same partition number to form the pump parameter sequence of the previous partition.

[0196] If there is no previously issued executable command, initialize the executable target pump parameter values ​​of each partition in the previous partition pump parameter sequence to 0.

[0197] The magnitude of pump parameter variation is determined based on the current zonal pump parameter sequence and the previous zonal pump parameter sequence.

[0198] The variation range of the pump parameters is expressed as follows:

[0199] ;

[0200] In the formula, For the partitions in this executable command The executable target pump parameter values, For the partition in the previously issued executable command The executable target pump parameter values, This represents the variation range of pump parameters.

[0201] Based on the number of switching zones and the magnitude of pump parameter changes, combined with the single-zone switching time and unit adjustment time for the same diameter, the variable execution delay is estimated.

[0202] Read the alignment acquisition timestamp of the current record in the alignment task status data and use it as the time reference for the trigger time.

[0203] Starting from the aligned acquisition timestamp, the variable execution delay is used as the forward offset to advance the time and obtain the trigger moment.

[0204] The variable execution delay is expressed as:

[0205] ;

[0206] In the formula, Variable execution delay (unit: seconds). To switch the number of partitions (dimensionless). The range of pump parameter variation (unit: pump parameter measurement unit). This refers to the single-partition switching time (unit: seconds, representing the time required for a single switch from off to on or from on to off). The unit adjustment time (unit: seconds / pump, indicating the adjustment time corresponding to the unit change of pump parameters). The time (in seconds) for continuous adjustment of pump parameters.

[0207] It should be noted that the single-zone switching time is determined by the valve actuator switching response time and the cycle length of the operation process control cycle.

[0208] For example, when determining the specific value, the valve actuator switching response time is compared with the cycle length of the operation process control cycle, and the maximum value is taken as the single-zone switching time. The valve actuator switching response time is determined by the valve status feedback being sent through the zone control command to achieve the target switching state and continuously maintaining it for at least one operation process control cycle.

[0209] The unit adjustment time is determined by the maximum adjustment rate of the pump parameters. The maximum allowable change per second of the pump parameters given in the equipment specification of the pump controller is obtained (the unit of measurement is consistent with the change range of the pump parameters). The time required for the pump parameters to change by one unit of measurement is taken as the unit adjustment time (which is the reciprocal of the maximum adjustment rate).

[0210] S4.3: Encapsulate the executable command, trigger time, and variable execution delay to generate a delayed execution evidence entry, and append it to the evidence chain delay queue.

[0211] Based on the executable command, trigger time, variable execution delay, coverage area index identifier of the current coverage area, and credit-driven control target, delay execution evidence entries are generated.

[0212] The delayed execution evidence entry includes an executable command field, a trigger time field, a variable execution delay field, a coverage area index identifier field, and a credit-driven control target field.

[0213] The delayed execution evidence entries are serialized according to a fixed field order to obtain a byte sequence; the SHA-256 hash value is calculated for the byte sequence, and the hash value is used as an integrity verification field and bound to the delayed execution evidence entries.

[0214] The delayed execution evidence entries bound to hash values ​​are inserted into the evidence chain delay queue in ascending order of trigger time, and the updated evidence chain delay queue is output. It should be noted that the evidence chain delay queue is a queue maintained in ascending order of trigger time, used to store the inserted delayed execution evidence entries in the order of trigger time.

[0215] S5: At the triggering moment, extract executable commands from the evidence chain delay queue and issue them for execution, collect the execution response and generate aligned evidence objects.

[0216] S5.1: At the triggering time, retrieve the evidence chain delay queue and locate the delay execution evidence entry corresponding to the triggering time.

[0217] The current time is monitored based on the local clock of the liquid dispenser vehicle.

[0218] When the local clock of the liquid dispenser reaches or exceeds the trigger time of the delayed execution evidence entry at the head of the evidence chain delay queue, the delayed execution evidence entry at the head of the queue is located as the delayed execution evidence entry corresponding to the trigger time.

[0219] The evidence chain delay queue is maintained in ascending order of trigger time, and the trigger time of the evidence entry at the head of the queue is the earliest trigger time in the current queue.

[0220] Read the trigger time, variable execution delay, executable command, coverage area index identifier and integrity verification hash value of the delay execution evidence entry corresponding to the trigger time, and output the delay execution evidence entry corresponding to the located trigger time.

[0221] For example, when the trigger time of the head of the evidence chain delay queue has arrived, the head entry is located immediately.

[0222] S5.2: Extract executable commands based on time-delayed execution evidence entries and issue them for execution. Collect the execution response corresponding to the executable command, align the execution response with the trigger time, and output the aligned execution response.

[0223] Based on the time delay execution evidence entry corresponding to the location trigger time, the executable command is extracted and sent to the liquid spreader pump valve actuator.

[0224] Collect the execution response corresponding to the executable command. The execution response includes the actual pump parameter value, the actual valve parameter value, and the execution response timestamp.

[0225] Align the execution response timestamp with the trigger time:

[0226] When the execution response timestamp lags behind the trigger time, it is adjusted backward to the time corresponding to the trigger time.

[0227] When the execution response timestamp is ahead of the trigger time, it is adjusted to the time corresponding to the trigger time to generate an aligned execution response timestamp.

[0228] Replace the original execution response timestamp with the aligned execution response timestamp to generate the aligned execution response.

[0229] S5.3: Encapsulate the executable command, trigger time, variable execution delay, coverage area index identifier, and aligned execution response to form an alignment evidence object.

[0230] Based on the executable command, trigger time, variable execution delay, coverage area index identifier, and aligned execution response, an alignment evidence object is encapsulated.

[0231] The aligned evidence object includes an executable command field, a trigger time field, a variable execution delay field, a coverage area index identifier field, and an aligned execution response field.

[0232] S6: Write back the correction dose status record table based on the aligned evidence object, and update the credit record table under the constraint of feasible transfer relationship in the neighborhood. Seal the parameter version identifier, aligned evidence object, write-back record and update record, and generate a replayable operation record.

[0233] S6.1: Determine the coverage area corresponding to the coverage area index identifier based on the alignment evidence object, write the alignment execution response into the dose status record table and perform incremental write-back update to generate a write-back record.

[0234] The area of ​​the coverage region is determined based on the geometric index entry corresponding to the coverage region index identifier in the coverage region index rules.

[0235] The execution time interval is determined based on the trigger time and variable execution delay in the aligned evidence object, and the spraying dose (dose per unit area) for this execution is determined based on the actual pump parameter values, the execution time interval and the coverage area.

[0236] The dosage to be sprayed in this instance is expressed as follows:

[0237] ;

[0238] In the formula, The spraying dosage for this application is in liters per square meter. The actual pump parameter values ​​(in liters per second) in the aligned execution response. The execution time interval (in seconds). The area covered is in square meters.

[0239] Perform an incremental update on the cumulative sprayed dose field of the corresponding record in the dose status record table. The incremental value is the sprayed dose to be executed this time. Update the operation status flag field to executed and generate a write-back record.

[0240] It should be noted that the write-back record includes the previous and new values ​​of the fields for coverage area index identifier, trigger time, and cumulative sprayed dose.

[0241] S6.2: Identify the underspray status based on the dose status record table and the target dose prescription, determine the basis for underspray compensation and update, update the credit record table, and generate an update record.

[0242] Based on the corresponding record in the write-back dose status record table and the target spray dose bound in the coverage area index rule, the current dose deviation is determined. When the current dose deviation is positive, it is identified as an underspray state.

[0243] Extract records with the same coverage area index from the credit record table, update the overdue payment amount field based on the overdue payment status, generate the basis for overdue payment updates, and output the updated records.

[0244] Among them, the overspray clearing update is represented as:

[0245] ;

[0246] In the formula, This is the updated amount of unpaid spray compensation. This is the amount of unsprayed material cleared before the update. For the target spraying dosage, To accumulate the amount sprayed, This is the function for finding the maximum value.

[0247] For example, when the target spraying dose is 1.0 liters per square meter and the cumulative sprayed dose is 0.7 liters per square meter, the overspray compensation amount is updated by 0.3 liters per square meter.

[0248] It should be noted that the update record includes the previous and new values ​​of the fields of coverage area index identifier, trigger time, and amount of under-sprayed water clearing.

[0249] S6.3: Under the constraint of feasible transfer relationship in the neighborhood, perform underspray compensation update by selecting the adjacent coverage area range according to the underspray compensation update criteria, and write the update record synchronously.

[0250] When the basis for the underspray compensation update is positive, the underspray compensation update is initiated.

[0251] Extract the list of adjacent coverage area index identifiers corresponding to the current coverage area index identifier from the feasible transfer relationship in the neighborhood, and determine the range of adjacent coverage areas.

[0252] The individual allocation amount is determined based on the number of coverage areas in adjacent coverage areas. The individual allocation amount is the ratio of the updated underspray compensation amount to the number of adjacent coverage areas.

[0253] Perform an incremental update on the debt repayment amount field of each adjacent coverage area in the credit record table, with the incremental value being a single allocated amount.

[0254] The apportionment amount is determined based on the number of coverage areas within the adjacent coverage area range, and the delinquency repayment amount field of each adjacent coverage area within the adjacent coverage area range is incrementally updated and synchronously written into the update record.

[0255] Update the current coverage area's outstanding payment amount field in the credit record table to zero as a status marker that the outstanding payment has been transferred, and write it to the update record simultaneously.

[0256] For example, when the basis for underspray compensation and update is 0.4 liters per square meter and the number of adjacent coverage areas is 2, the apportionment amount corresponding to each adjacent record within the adjacent coverage area is 0.2 liters per square meter.

[0257] S6.4: Aggregate parameter version identifiers, aligned evidence objects, write-back records and update records and write them into the version header information. Sort the aligned evidence objects by trigger time to generate an evidence sequence. Group the write-back records and update records by coverage area index identifiers and sort them by trigger time within the group to generate a ledger sequence.

[0258] The aligned evidence objects are sorted in ascending order according to their trigger times to generate an evidence sequence.

[0259] The write-back records and update records are aggregated to form a ledger record set, and grouped by the coverage area index identifier. Within each group, the records are sorted in ascending order by the trigger time to generate a ledger sequence.

[0260] Write version header information, which includes the parameter version identifier.

[0261] For example, after multiple aligned evidence objects are sorted by trigger time, the evidence sequence reflects the execution time sequence; after the ledger sequence is grouped by the coverage area index identifier, each group is sorted by trigger time.

[0262] S6.5: Establish a one-to-one correspondence between the evidence sequence and the ledger sequence according to the coverage area index identifier and the trigger time, and write the associated information. Seal the version header information, evidence sequence, ledger sequence and associated information to generate a replayable operation record.

[0263] Based on the alignment evidence object coverage area index identifier and trigger time in the evidence sequence, a correspondence is established with the records with the same coverage area index identifier in the ledger sequence.

[0264] For each aligned evidence object, establish a correspondence by filtering records in the ledger sequence that have the same coverage area index identifier and the same trigger time, and write the association information.

[0265] When no records with the same trigger time exist, a corresponding relationship is established by selecting the record in the ledger sequence whose trigger time is less than the maximum value of the trigger time of the alignment evidence object.

[0266] It archives version header information, evidence sequence, ledger sequence and related information, generates replayable job records, and supports replaying job processes by indexing by trigger time or coverage area.

[0267] This embodiment also provides a computer device applicable to the automated control method for the operation of a liquid spreader truck, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to realize the automated control method for the operation of a liquid spreader truck as proposed in the above embodiment.

[0268] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0269] This embodiment also provides a storage medium storing a computer program. When executed by a processor, the program implements the automated control method for the liquid spreader operation process proposed in the above embodiments. The storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0270] In summary, this invention achieves predictable execution by structurally binding and queuing executable commands, trigger times, and variable execution delays. This allows control commands to operate independently of the assumption of immediate issuance, anchoring the timing sequence with the trigger time. Within the control cycle, command generation, delay estimation, and trigger scheduling are decoupled, reducing the disturbance to dosage calculation caused by random delays introduced by pump valve switching and pump parameter adjustment. This ensures that the cumulative update of the unit area spraying dosage and the recursive update of the underspray compensation amount have a consistent time reference, reducing the cumulative drift of dosage deviation in continuous control cycles and achieving stable convergence of the operation process and maintaining dosage consistency.

[0271] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An automated control method for the operation of a liquid spreader truck, characterized in that: include, Receive the job task parameter set and fix the parameter version identifier, and output the coverage area index rules; Based on the coverage area indexing rules, the coverage area index identifier and geometric index item are extracted to form a coverage area set, a dose status record table and a credit record table are established, and a neighborhood feasible transfer relationship is constructed in combination with the task parameter set; Real-time acquisition of job status and execution time alignment, location of current coverage area and mapping of target dose, updating dose status record table and credit record table to generate credit-driven control target; Based on the credit-driven control objective, a partition plan control command is generated. The partition plan control command is then subjected to a pruning mask constraint and feasible region processing to obtain an executable command. The variable execution delay of the executable command is estimated online and the trigger time is calculated. The executable command and the trigger time are then encapsulated into an evidence chain delay queue. At the triggering moment, the executable command is retrieved from the evidence chain delay queue and executed, and the execution response is collected to generate an aligned evidence object; Based on the alignment evidence object, the correction dose status record table is written back, and the credit record table is updated under the constraint of feasible transfer relationship in the neighborhood. The parameter version identifier, alignment evidence object, write-back record and update record are sealed to generate a replayable operation record.

2. The automated control method for the operation of a liquid spreader as described in claim 1, characterized in that: The specific steps for receiving the job task parameter set, fixing the parameter version identifier, and outputting the coverage area index rules are as follows. Receive a set of operation task parameters, which includes operation boundaries, no-spray zones, target dose prescriptions, zoned spray widths, and pump and valve constraints; Based on the zonal spray pattern, regular grids are divided within the operational boundary. Grids that intersect with the no-spray zone are disabled and removed to obtain effective grids. Generate coverage area index identifiers and establish geometric index entries for the effective grid, and determine the target spraying dose corresponding to the coverage area index identifier based on the target dose prescription; Based on the zoned spray width and pump valve constraints, the allowable range of operation parameters is determined, a parameter version identifier is generated and associated with the operation task parameter set for storage, the effective grid, coverage area index identifier, geometric index item, target spray dose are bound to the parameter version identifier, and the coverage area index rule is output.

3. The automated control method for the operation of a liquid spreader as described in claim 1, characterized in that: The specific steps for constructing feasible neighborhood transition relationships by combining the task parameter set are as follows: Based on the coverage area indexing rules, the coverage area index identifier and the corresponding geometric index item are extracted to form a coverage area set; A dose status record table and a credit record table are established using the index identifier of each coverage area in the coverage area set as the primary key. The table is then initialized in conjunction with the task parameter set to generate a dose status record table containing the initial dose status and a credit record table containing the amount of under-spray compensation. Adjacent coverage area pairs are determined based on the geometric index entries of the coverage area set. When two coverage areas share a complete boundary line segment and the coordinates of their two endpoints are completely consistent, they are determined to be adjacent, and a feasible neighborhood transfer relationship is generated.

4. The automated control method for the operation of a liquid spreader as described in claim 1, characterized in that: The real-time acquisition of task status and execution time alignment, location of the current coverage area and mapping of the target dose, and updating of the dose status record table and credit record table to generate a credit-driven control target are as follows: The system collects and aligns the status data of the operation tasks in real time, outputs the aligned operation status data, locates the current coverage area, and determines the target spraying dose for the current coverage area based on the target dose prescription. Based on the dose status record table and credit record table, the dose difference is calculated by using the target spray dose of the current coverage area and the initial dose status, and credit-driven control targets are generated by combining the underspray compensation amount.

5. The automated control method for the operation of a liquid spreader as described in claim 1, characterized in that: The specific steps for encapsulating the executable command and trigger time into an evidence chain delay queue are as follows: Based on the credit-driven control objective, generate the corresponding zoning plan control command, apply the pruning mask constraint to the zoning plan control command according to the current coverage area and the no-spraying zone, and output the constrained zoning plan control command; Perform feasible region processing on the constrained partition plan control command, adjust the partition plan control command to the allowable range of job parameters, output executable commands, estimate the variable execution delay corresponding to the executable commands, and calculate the trigger time; The executable command, trigger time, and variable execution delay are encapsulated to generate a delayed execution evidence entry, which is then appended to the evidence chain delay queue.

6. The automated control method for the operation of a liquid spreader as described in claim 1, characterized in that: The specific steps for generating aligned evidence objects through the collection and execution response are as follows. At the triggering time, retrieve the evidence chain delay queue and locate the delay execution evidence entry corresponding to the triggering time; Based on the time-delayed execution evidence entries, extract executable commands and issue them for execution. Collect the execution response corresponding to the executable command, align the execution response with the trigger time, and output the aligned execution response. The executable command, trigger time, variable execution delay, coverage area index identifier, and aligned execution response are encapsulated to form an alignment evidence object.

7. The automated control method for the operation of a liquid spreader as described in claim 1, characterized in that: The specific steps for writing back and correcting the dose status record table based on aligned evidence objects, and performing underspray compensation updates under the constraint of feasible transition relations in the neighborhood, are as follows. Based on the alignment evidence object, determine the coverage area corresponding to the coverage area index identifier, write the alignment execution response into the dose status record table and perform incremental write-back update to generate a write-back record; Based on the dosage status record sheet and the target dosage prescription, identify the under-spray status, determine the basis for under-spray compensation and update, update the credit record sheet, and generate an update record; Under the constraint of feasible transfer relationship in the neighborhood, the adjacent coverage area is selected according to the underspray compensation update criteria to perform underspray compensation update, and the update record is written synchronously.

8. The automated control method for the operation of a liquid spreader as described in claim 1, characterized in that: The sealed parameter version identifier, aligned evidence object, write-back record, and update record are used to generate a replayable job record. The specific steps are as follows: The parameter version identifier is aggregated and written into the version header information. The aligned evidence objects are sorted by trigger time to generate an evidence sequence. The write-back records and update records are aggregated to form a ledger record set, and grouped by the coverage area index identifier. Within each group, the ledger sequence is generated by sorting the trigger time in ascending order. Establish a one-to-one correspondence between the evidence sequence and the ledger sequence according to the coverage area index identifier and the trigger time, and write the associated information. Seal the version header information, evidence sequence, ledger sequence and associated information to generate a replayable operation record.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the automated control method for the operation process of the liquid spreader as described in any one of claims 1 to 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the automated control method for the operation process of the liquid spreader as described in any one of claims 1 to 8.

Images