A shower system and method, device and storage medium

Abstract

The application provides a spraying system and method, equipment and a storage medium, which are used for realizing precise and efficient spraying operation. The system comprises a carrier, a cloud-edge collaborative platform and an emergency communication network. The carrier is used for uploading the collected operation environment data to the cloud-edge collaborative platform through the emergency communication network, and performing mobile spraying operation according to the spraying strategy sent by the cloud-edge collaborative platform; the cloud-edge collaborative platform is in communication connection with the carrier, and is used for generating a spraying strategy according to the operation environment data uploaded by the carrier, and sending the spraying strategy to the carrier through the emergency communication network; and the emergency communication network is used for realizing data interaction between the carrier and the cloud-edge collaborative platform. The application improves the intelligent level and environmental adaptability of the spraying operation.

Description

Technical Field

[0001] This application relates to the field of the Internet of Things, and more specifically, to a spray system and method, apparatus and storage medium. Background Technology

[0002] In large-scale outdoor events such as marathons, cooling sprinkler systems are often installed along the course to ensure the comfort and safety of participants. Currently, fixed sprinkler stations or manually operated water trucks are commonly used in these events. While these traditional methods provide basic cooling, they have significant limitations in practical applications: fixed sprinkler stations cannot move with the athletes, easily creating blind spots; manual spraying makes it difficult to precisely control the water volume and coverage, leading to water waste, and the response speed is constrained by human judgment and operational efficiency.

[0003] Furthermore, existing spraying equipment typically lacks the ability to perceive and dynamically respond to environmental conditions (such as temperature, humidity, and wind speed) in real time, making it impossible to intelligently adjust spraying strategies based on the progress of the event, crowd density, and weather changes. At the same time, in event scenarios with dense crowds and high communication loads, traditional communication methods may face the risk of delays or interruptions, making it difficult to provide reliable support for emergency command and dispatch.

[0004] Therefore, it is evident that how to realize a smart spraying system that can dynamically adjust the spraying area based on real-time environmental data and maintain stable communication in complex communication environments has become a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] This application provides a sprinkler system, method, device, and storage medium to overcome the problems of coverage blind spots, resource waste, and response lag in existing traditional sprinkler systems, which are difficult to meet the needs of dynamic environmental control and efficient emergency response in marathon events. Fixed sprinkler stations cannot track athlete positions, manual operation relies on experience leading to uneven spraying, and lack the ability to perceive and adjust environmental parameters such as temperature and humidity in real time. At the same time, communication networks are prone to congestion due to dense crowds during events, affecting the efficiency of emergency command and equipment scheduling.

[0006] In a first aspect, a spraying system is provided, comprising: a vehicle for uploading collected operating environment data to a cloud-edge collaborative platform via an emergency communication network, and performing mobile spraying operations according to a spraying strategy sent by the cloud-edge collaborative platform; a cloud-edge collaborative platform, communicatively connected to the vehicle, for generating a spraying strategy based on the operating environment data uploaded by the vehicle, and sending the spraying strategy to the vehicle via the emergency communication network; and an emergency communication network for enabling data interaction between the vehicle and the cloud-edge collaborative platform.

[0007] Based on the methods described above, this application integrates multiple technologies such as 5G communication, IoT, and cloud-edge collaborative computing to construct a spraying system, achieving efficient control and emergency support for outdoor activities such as marathons. This system can collect operational environment data in real time and upload it to a cloud-edge collaborative platform via an emergency communication network. Combined with dynamically generated spraying strategies, it achieves precise vehicle positioning and intelligent spraying, effectively solving the problems of blind spots and delayed response of traditional fixed spraying equipment. Simultaneously, the modular design improves the system's deployment flexibility and maintenance efficiency, while the emergency network integrating multiple communication technologies ensures the stability and reliability of data interaction in complex environments. This system is not only suitable for sports events but can also be extended to agricultural plant protection, large-scale events, and other fields, providing innovative solutions for low-altitude economic and emergency communication applications, with significant social benefits and application value.

[0008] Secondly, a spraying method is provided, the method comprising: collecting environmental data through the vehicle and uploading the environmental data to the cloud-edge collaborative platform through the emergency communication network; generating a spraying strategy based on the received environmental data through the cloud-edge collaborative platform; distributing the spraying strategy to the corresponding vehicle through the emergency communication network, and having the vehicle execute the mobile spraying operation indicated by the spraying strategy; and a communication assurance step: during the execution of the uploading and distributing steps, monitoring and maintaining the availability of the communication link through the emergency communication network, and automatically switching to the backup communication link when the main communication link is abnormal.

[0009] Based on the methods described above, the spraying method of this invention collects environmental data from a vehicle and uploads it to a cloud-edge collaborative platform. Combined with real-time data analysis, it generates spraying strategies, achieving intelligent scheduling and precise control of spraying operations, effectively improving spraying efficiency and resource utilization. This method relies on 5G and IoT technologies to ensure real-time acquisition and transmission of environmental information, solving the problems of coverage blind spots and response delays inherent in traditional fixed spraying equipment. Simultaneously, through a cloud-edge collaborative decision-making mechanism, the system can dynamically adjust spraying parameters, enhancing its ability to respond to sudden environmental changes and improving the flexibility and reliability of event support. Furthermore, the combination of modular hardware design and an emergency communication network not only improves equipment deployment and maintenance efficiency but also ensures communication stability in complex environments, providing an efficient, intelligent, and reliable environmental control and emergency support solution for marathon events and other outdoor activities, demonstrating significant technological advancement and application value.

[0010] Thirdly, a spraying apparatus is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method of any one of claims 6 to 7, so that the method of any one of the preceding aspects is performed.

[0011] Fourthly, a computer-readable storage medium is provided that stores one or more programs, which, when executed by an electronic device including multiple applications, cause the electronic device to perform the spraying method as claimed in any one of claims 6-7, thereby enabling the method of any of the above aspects to be performed.

[0012] Fifthly, a computer-readable storage medium is provided, on which a computer program or instructions are stored, which, when executed on a computer, cause the methods of any of the above aspects to be performed. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of a spray system applicable to the embodiments of this application; Figure 2 This is a schematic diagram of a communication control method applicable to an embodiment of this application; Figure 3 This is a schematic diagram of a spraying method applicable to the embodiments of this application. Detailed Implementation

[0014] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0015] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The specific operating methods in the method embodiments can also be applied to the device embodiments or system embodiments. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0016] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between different embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0017] It is understood that the various numerical designations used in this application are merely for descriptive convenience and are not intended to limit the scope of this application. The order of the process numbers does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

[0018] The terms "first," "second," "third," "fourth," and other various terminology (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0019] To facilitate understanding of the embodiments of this application, the terminology involved in the embodiments of this application will be briefly explained below.

[0020] Cloud-edge collaborative platform: used to connect intelligent sprinkler vehicles and cloud servers, enabling edge computing nodes to process operating environment data in real time and generate local sprinkler strategies, while the cloud server is responsible for storing historical data, training decision models and optimizing global sprinkler strategies.

[0021] Emergency communication network: Composed of 5G communication links, satellite communication modules and self-organizing network modules, it is used to ensure data interaction between the vehicle and the cloud-edge collaborative platform under different communication conditions. It has communication quality monitoring and automatic switching functions to ensure the stability and availability of communication links.

[0022] Edge computing unit: Deployed in the vehicle or edge node, it is used to process and analyze the operating environment data collected by the sensor in real time, generate preliminary spraying strategies, reduce dependence on cloud computing, and improve response speed and system efficiency.

[0023] Self-organizing network module: a distributed wireless communication technology that allows communication networks to be dynamically formed between vehicles or between vehicles and fixed nodes. It serves as a backup communication means when the main communication link (such as 5G) is interrupted or congested, thereby improving the communication reliability and coverage of the system.

[0024] Fuzzy PID control algorithm: used to dynamically adjust spraying parameters (such as atomized particle size, spraying intensity, etc.), combined with proportional, integral and derivative control mechanisms, to achieve precise control through real-time error feedback, thereby improving the adaptability and stability of spraying operations.

[0025] Based on this, this application provides a smart sprinkler system method and system based on 5G and Beidou to overcome the problems of coverage blind spots, resource waste and response lag in the traditional sprinkler system in the prior art, which are difficult to meet the needs of dynamic environmental control and efficient emergency response in marathon events. Figure 1 This is a schematic diagram of a spray system provided in an embodiment of this application. Figure 1 As shown, the spray system includes a vehicle 101, a cloud-edge collaborative platform 102, and an emergency communication network 103. The vehicle 101 is used to upload the collected operating environment data to the cloud-edge collaborative platform 102 via the emergency communication network 103, and execute mobile spraying operations according to the spraying strategy sent by the cloud-edge collaborative platform 102. The vehicle 101 includes a sensor module, a spraying module, a communication module, and a control module. The sensor module includes at least one of a temperature and humidity sensor, a wind speed sensor, a light sensor, a BeiDou positioning module, an inertial measurement unit, a liquid level sensor, a power sensor, and a motor temperature sensor, used to collect environmental data and vehicle operating data. The spraying module includes a detachable water tank, a charging interface, a magnetic centrifugal pump, and centrifugal nozzles. The communication module includes a 5G communication module, a self-organizing network module, and a satellite communication module. The control module includes an edge computing unit used to generate a first spraying strategy based on the operating environment data collected by the sensor module. The cloud-edge collaborative platform 102 is communicatively connected to the vehicle 101 and is used to generate a spraying strategy based on the operating environment data uploaded by the vehicle 101. This spraying strategy is then transmitted to the vehicle 101 via the emergency communication network 103. The cloud-edge collaborative platform 102 includes edge computing nodes and a cloud server. The edge computing nodes process the operating environment data uploaded by the vehicle 101 to generate local spraying strategies. The cloud server stores historical spraying data, trains decision-making models, and determines the spraying strategy based on the local spraying strategies generated by the edge computing nodes. The emergency communication network 103 is used to realize data interaction between the vehicle 101 and the cloud-edge collaborative platform 102. The emergency communication network 103 includes a 5G communication link, a satellite communication module, and a self-organizing network module. The 5G communication link provides communication services between the vehicle 101 and the cloud-edge collaborative platform 102; the satellite communication module provides communication services between the vehicle 101 and the cloud-edge collaborative platform 102 when the 5G communication link is congested or interrupted; and the self-organizing network module forms a self-organizing network link based on the vehicle 101 as a communication relay node, providing communication services between the vehicle 101 and the cloud-edge collaborative platform 102. In some implementations, the vehicle 101 includes a sensor module, a spraying module, a communication module, and a control module. The sensor module includes at least one of a temperature and humidity sensor, a wind speed sensor, a light sensor, a Beidou positioning module, an inertial measurement unit, a liquid level sensor, a power sensor, and a motor temperature sensor. It is used to collect environmental data and vehicle operation data, thereby enabling real-time monitoring of environmental conditions and vehicle operation status, and improving the accuracy and adaptability of the spraying strategy. In some implementations, the cloud-edge collaborative platform 102 includes edge computing nodes and a cloud server. The edge computing nodes are used to process the operating environment data uploaded by the vehicle 101 to generate local spraying strategies. The cloud server is used to store historical spraying data, train decision models, and determine spraying strategies based on the local spraying strategies generated by the edge computing nodes, thereby optimizing the global spraying strategy and improving overall scheduling efficiency. In some implementations, the emergency communication network 103 includes a 5G communication link, a satellite communication module, and a self-organizing network module. The 5G communication link is used to provide communication services between the vehicle 101 and the cloud-edge collaborative platform 102. The satellite communication module is used to provide communication services between the vehicle 101 and the cloud-edge collaborative platform 102 when the 5G communication link is congested or interrupted. The self-organizing network module is used to form a self-organizing network link based on the vehicle 101 as a communication relay node, and provides communication services between the vehicle 101 and the cloud-edge collaborative platform 102. This ensures that the system has stable communication capabilities under different communication environments and guarantees the timely transmission of emergency commands. In such Figure 1 In the method shown, the vehicle 101 collects operating environment data and uploads it to the cloud-edge collaboration platform 102. The cloud-edge collaboration platform 102 generates a spraying strategy and sends it to the vehicle 101 to execute the mobile spraying operation. At the same time, stable data interaction is achieved through the emergency communication network 103, thereby achieving the technical effect of real-time control of the event environment and efficient emergency communication support.

[0026] Figure 2 This is a schematic diagram of an emergency communication network method included in an embodiment of this application. Figure 2 As shown, the method includes steps S201, S202 and S203. S201, monitors the communication quality of 5G communication links; Specifically, the 5G communication module integrated into the intelligent spraying vehicle collects communication quality parameters of the 5G communication link in real time, such as signal strength, latency, and packet loss rate, and transmits these parameters to the control module for analysis and judgment. S202, When the communication quality is lower than a preset threshold, control the communication module to switch to the satellite communication link; Specifically, when the communication quality of the 5G communication link is detected to drop below a set threshold, the control module automatically switches the communication module from the 5G link to the satellite communication link according to a preset communication switching protocol to ensure the continuity and stability of communication. S203, when satellite communication is unavailable, communication is conducted based on the self-organizing network links formed between the vehicles; Specifically, when the satellite communication link is unavailable due to weather, equipment failure, or other reasons, the system activates the self-organizing network communication function, utilizing the wireless communication capabilities between intelligent spraying vehicles to construct a temporary self-organizing network link, thereby achieving reliable data transmission. In some implementations, such as Figure 2 In the method shown, the emergency communication network is configured to: monitor the communication quality of the 5G communication link; when the communication quality is lower than a preset threshold, control the communication module to switch to the satellite communication link; when the satellite communication link is unavailable, activate the self-organizing network link based on the intelligent spraying vehicle or the vehicle and the fixed node for communication. Thus, the availability of the communication system can be maintained even when multiple communication links fail, improving emergency response capabilities. In some implementations, such as Figure 2 In the method shown, the satellite communication module has anti-interference capabilities and high bandwidth characteristics, and can quickly take over communication tasks when the 5G communication link is interrupted, thereby ensuring the timely issuance and feedback of key instructions and improving the overall reliability of the system. In some implementations, such as Figure 2 In the method shown, the self-organizing network link is dynamically constructed by multiple intelligent spraying vehicles as relay nodes to form a multi-hop communication path, thereby effectively expanding the communication coverage, making up for the deficiencies of fixed communication infrastructure, and enhancing the communication robustness in complex environments. In such Figure 2 The method shown achieves multi-level and multi-mode emergency communication support by sequentially monitoring the quality of the 5G communication link, switching to the satellite communication link, and enabling the self-organizing network link when satellite communication is unavailable. This effectively responds to sudden communication interruptions and improves the system's stable operation capability in extreme environments.

[0027] Figure 3 This is a schematic diagram of a spraying method included in an embodiment of this application. Figure 3 As shown, the method includes steps S301, S302, and S303. The S301 collects environmental data via a vehicle and uploads the environmental data to the cloud-edge collaborative platform via an emergency communication network. Specifically, the sensor modules on the vehicle collect data such as temperature, humidity, wind speed, and light intensity in the environment in real time. At the same time, the Beidou positioning module and IMU inertial measurement unit acquire position and attitude information. The edge computing unit preprocesses the collected data and generates a preliminary spraying strategy. Subsequently, the processed environmental data is uploaded to the cloud-edge collaborative platform through the integrated 5G communication module, self-organizing network module, or satellite communication module to ensure stable data transmission under different communication conditions. S302 generates a spraying strategy based on received environmental data through a cloud-edge collaborative platform. Specifically, after receiving environmental data uploaded from multiple vehicles, the cloud-edge collaborative platform analyzes the current environmental state using an AI model trained on historical data, while edge computing nodes process real-time data for local areas. Together, they generate a globally optimized spraying strategy. This strategy comprehensively considers path planning, spraying parameter adjustment, and resource allocation to achieve efficient and precise spraying operations. S303 transmits the spraying strategy to the corresponding vehicle via the emergency communication network, and the vehicle executes the mobile spraying operation indicated by the spraying strategy. Specifically, the spraying strategy generated by the cloud-edge collaboration platform is quickly distributed to the target vehicle through the priority mechanism of the emergency communication network. After the vehicle receives the strategy, the control module parses the strategy content, drives the actuator to move along the specified path, and performs spraying operations through magnetic centrifugal pumps or high-pressure plunger pumps according to the atomization particle size, spraying intensity and coverage range set in the strategy, so as to complete the precise spraying task in the dynamic environment. In some implementations, such as Figure 3 In the method shown, the vehicle adopts an octocopter structure and is equipped with a magnetic centrifugal pump and centrifugal nozzles, thereby achieving efficient atomization spraying through a multi-nozzle design, improving spray uniformity and coverage. In some implementations, such as Figure 3 In the method shown, the cloud-edge collaboration platform includes edge computing nodes deployed along the track to achieve real-time data processing of local areas, thereby improving the response speed and accuracy of spray strategy generation. In some implementations, such as Figure 3 The method shown includes an emergency communication network comprising a 5G private network, a satellite communication module, and an ad hoc network module, thereby switching to satellite communication or the ad hoc network when the 5G network is congested or interrupted, ensuring the reliable issuance of spraying strategies and the priority transmission of emergency instructions. In some implementations, such as Figure 3 In the method shown, the spraying strategy is generated based on multimodal data, which combines environmental parameters such as temperature, humidity, wind speed, and light, as well as the vehicle's position and attitude information, to achieve more intelligent and dynamic spraying strategy optimization. In some implementations, such as Figure 3 In the method shown, the vehicle acts as a temporary communication relay node to extend communication coverage, thereby enhancing the robustness of the communication network in emergency situations and ensuring the continuity and stability of the overall system operation. In such Figure 3In the method shown, environmental data is collected by the vehicle and uploaded to the cloud-edge collaborative platform. The cloud-edge collaborative platform generates a spraying strategy and sends it to the vehicle through the emergency communication network to carry out mobile spraying operations. This enables real-time control of the event environment and efficient emergency communication support, solving problems such as coverage blind spots, resource waste, and delayed emergency response in existing technologies.

[0028] In some implementations, during the upload and download steps, the availability of the communication link is monitored and maintained through an emergency communication network, and the system automatically switches to a backup communication link when the main communication link fails. Specifically, the system monitors the communication link status with the cloud-edge collaborative platform in real time through 5G communication modules, satellite communication modules, and self-organizing network modules integrated on the intelligent spraying vehicle. When congestion or interruption of the 5G communication link is detected, the system automatically switches the communication link to the satellite communication link or the self-organizing network link according to the preset communication switching protocol to ensure the continuity and stability of data uploading and downloading. In some implementations, the communication quality of the 5G communication link between the vehicle and the cloud-edge collaborative platform is monitored through an emergency communication network. When the communication quality is abnormal, the control communication module switches to a backup communication link, which includes a satellite communication link and / or a self-organizing network link. Thus, by monitoring the quality indicators of the 5G communication link in real time, such as signal strength, latency, and packet loss rate, a communication switching mechanism is immediately activated when the communication quality drops below a threshold, switching the communication link to a satellite communication link or a self-organizing network link. This ensures the reliable transmission of critical commands and data, improving the system's communication stability and response speed in complex environments. In some implementations, by integrating multimodal communication links and combining them with communication switching protocols, the technical effects of dynamic switching of communication links and emergency communication support can be achieved.

[0029] The method of this application will now be described in conjunction with specific embodiments. Example 1 In some implementations, the intelligent spraying vehicle includes hardware and software modules. The hardware modules include sensor modules, actuators, communication modules, and control modules. The sensor modules include temperature and humidity sensors, wind speed sensors, light sensors, a BeiDou positioning module, an IMU (Inertial Measurement Unit), a liquid level sensor, a power sensor, and a motor temperature sensor. The actuators are either an octocopter drone equipped with a magnetic centrifugal pump and centrifugal nozzles, or a four-wheel drive chassis unmanned vehicle equipped with a high-pressure plunger pump and a water tank. The communication module integrates a 5G communication module, a self-organizing network module, and a satellite communication module. The control module includes an edge computing unit for real-time processing of sensor data and generation of preliminary spraying strategies.

[0030] The software modules include data acquisition and preprocessing, edge computing, and control algorithms. The data acquisition and preprocessing section is responsible for collecting sensor data, preprocessing it, and transmitting it. The edge computing section processes the sensor data in real time to generate a preliminary spraying strategy. The control algorithms include path planning and parameter control algorithms. The path planning algorithm combines Dijkstra's algorithm with reinforcement learning to achieve dynamic path planning. The parameter control algorithm uses a fuzzy PID control algorithm to dynamically adjust spraying parameters, such as atomized particle size, spray intensity, and coverage area, based on real-time environmental data.

[0031] In practical implementation, the intelligent spraying vehicle achieves high-precision fusion positioning through a BeiDou positioning module and a 5G communication module, improving navigation accuracy. Simultaneously, the system supports multi-modal data fusion analysis to optimize spraying strategies. When the 5G network experiences congestion or interruption, the system automatically switches to satellite communication or a self-organizing network to ensure priority transmission of emergency commands. Furthermore, the system adopts a detachable water tank and fast-charging interface design, facilitating maintenance and deployment and improving equipment efficiency and flexibility.

[0032] Example 2 In some implementations, the cloud-edge collaborative platform includes a cloud server and edge computing nodes. The cloud server stores historical data, trains AI models, and optimizes the global scheduling algorithm; the edge computing nodes are deployed along the track to process sensor data in real time. In terms of software components, the cloud-edge collaborative platform includes a data storage and management module responsible for storing, managing, and analyzing historical data; an AI model training module trains AI models based on historical data to optimize the global scheduling algorithm; and a global scheduling algorithm module generates and optimizes the global spraying strategy based on historical and real-time data. The cloud server and edge computing nodes interact via a 5G communication module, a self-organizing network module, or a satellite communication module to ensure efficient data transmission and collaborative decision-making in different network environments.

[0033] Example 3 In some implementations, the emergency communication network comprises both hardware and software components. The hardware components include a 5G private network, a satellite communication module, and a self-organizing network module. The 5G private network provides high-speed, low-latency communication services, ensuring the stability of real-time data transmission. The satellite communication module serves as a backup communication method, guaranteeing reliable transmission of emergency commands in the event of 5G network congestion or interruption. The self-organizing network module utilizes vehicles as temporary communication relay nodes to extend communication coverage and enhance the robustness of the communication network.

[0034] The software components include a communication switching protocol and a priority mechanism. The communication switching protocol dynamically switches communication links based on network status. When 5G network congestion or interruption is detected, it automatically switches to the satellite communication module; if satellite communication is unavailable, it further switches to the ad hoc network module to maintain communication continuity. The priority mechanism ensures that emergency commands are transmitted preferentially even when communication resources are limited by setting different communication priorities, improving emergency response efficiency. This communication system combines multiple communication technologies to achieve highly reliable, low-latency, and wide-coverage emergency communication support, providing solid technical support for event environment control and emergency response.

[0035] Example 4 In some implementations, the BeiDou-5G fusion positioning algorithm combines the high-precision positioning capability of the BeiDou positioning module with the low-latency data transmission characteristics of the 5G communication module to achieve high-precision real-time positioning of intelligent spraying vehicles. Specifically, in terms of positioning accuracy analysis, the BeiDou positioning module can achieve a positioning accuracy of ≤1 meter in dynamic environments and ≤0.1 meter in static environments, while the 5G communication module, through its low-latency characteristics, can transmit the vehicle's position information and environmental perception data in real time, thereby effectively improving the response speed and accuracy of the overall positioning system.

[0036] Regarding the fusion algorithm, a weighted fusion strategy is adopted to fuse the coordinate information provided by the BeiDou positioning module with the auxiliary positioning information transmitted by the 5G communication module, thereby reducing positioning errors. Specifically, the positioning errors Δx, Δy, and Δz are calculated along the x, y, and z axes, respectively, and weights are assigned according to the confidence level of the sensor data, ultimately generating a more accurate positioning result. This fusion algorithm can significantly improve positioning stability and accuracy in complex environments, providing reliable geographic information support for subsequent path planning and spraying strategy adjustments.

[0037] Example 5 In some implementations, the intelligent spraying strategy algorithm based on multimodal data includes a path planning algorithm and a parameter control algorithm. The path planning algorithm combines Dijkstra's algorithm with reinforcement learning to achieve dynamic path planning. It analyzes the environmental conditions using real-time sensor data, such as temperature, humidity, wind speed, light intensity, and location information, and dynamically adjusts the optimal path based on the current environmental conditions and task objectives. The path weight calculation formula is: wi = α·d i + β·c i +γ·e i , where d i c is the path distance. i For path complexity, e i α, β, and γ are environmental disturbance factors, and are weighting coefficients used to balance the influence of different factors on path selection.

[0038] The parameter control algorithm employs a fuzzy PID control algorithm to dynamically adjust spraying parameters, including atomized particle size, spray intensity, and coverage area, based on real-time sensor data. Specifically, the system first fuzzifies the input error e(t) using fuzzy logic, converting it into a fuzzy variable. Then, it determines the corresponding control output based on a preset fuzzy rule base. Subsequently, the PID controller precisely adjusts the control output to achieve a more stable spraying effect. The formula for the fuzzy PID control algorithm is: K p K i K d These are the proportional, integral, and differential coefficients, respectively, and e(t) is the error value at the current moment. This algorithm can effectively cope with the uncertainties brought about by environmental changes, and improve spraying efficiency and uniformity.

[0039] Example 6 In some implementations, the satellite-5G-ad hoc network communication handover protocol includes a handover mechanism and a priority mechanism. The handover mechanism automatically switches to satellite communication or ad hoc network communication when 5G network congestion or interruption occurs, ensuring communication continuity and stability. Specifically, when the 5G signal strength is detected to be below a preset threshold or the data transmission delay exceeds a set range, the system triggers handover conditions, prioritizing connection to the satellite communication module. If satellite communication is unavailable or the signal quality does not meet requirements, it further switches to ad hoc network mode, utilizing the vehicle as a temporary communication relay node to extend communication coverage. This handover process is monitored and executed in real-time by the control algorithm in the communication module, ensuring the smoothness and timeliness of the handover process.

[0040] A priority mechanism ensures the timely transmission of emergency commands. The system categorizes data based on the urgency of communication tasks and assigns different priorities to different types of tasks. Emergency commands (such as equipment malfunction alarms and personnel location requests) are given the highest priority. When communication resources are limited, the system prioritizes the transmission of high-priority data packets to ensure that critical information is delivered quickly. The priority mechanism is implemented through a software-layer scheduling algorithm, combined with status feedback from communication modules, to dynamically adjust the data transmission order, thereby improving the system's emergency response capabilities in complex environments.

[0041] Example 7 In some implementations, the detachable water tank and fast-charging interface include mechanical structures and connection methods. The water tank is made of lightweight materials, and its overall structure is designed for easy disassembly and assembly to meet the needs of rapid replacement in different scenarios. The bottom of the water tank features a snap-fit ​​connection structure with corresponding slots and fasteners at the connection point between this structure and the vehicle body. The water tank can be quickly installed or removed through simple pressing and rotating operations. Simultaneously, the top of the water tank features a standardized fast-charging interface that is compatible with the vehicle's internal power system, supporting fast charging to ensure the vehicle can quickly regain its working capacity after prolonged operation.

[0042] Regarding the connection method, the mechanical connection adopts a snap-fit ​​design, allowing the water tank and the carrier to be fixed or separated without the need for additional tools, improving operational efficiency and reducing maintenance time. For electrical connections, the fast charging interface uses a standardized plug-in method, ensuring compatibility with the same charging equipment across different carrier models, enhancing the system's versatility and convenience. Furthermore, the charging interface is equipped with an anti-accidental contact protection device to prevent short circuits or damage caused by accidental contact when not charging.

[0043] Example 8 In some implementations, the atomization control technology of the magnetic centrifugal pump and centrifugal nozzle comprises two parts: structural design and control algorithm. In terms of structural design, the magnetic centrifugal pump employs a magnetic drive method, achieving liquid delivery through non-contact magnetic coupling, avoiding leakage problems that may arise from traditional mechanical seals, while simultaneously improving pump operating efficiency and reliability. The centrifugal nozzle uses a multi-nozzle design, capable of dispersing liquid into fine particles, improving atomization effect, and enhancing spray uniformity and coverage. The nozzle has an adjustable atomization channel inside, allowing dynamic control of the atomized particle size by changing the nozzle opening size or fluid pressure.

[0044] Regarding the control algorithm, the atomization control algorithm dynamically adjusts the atomized particle size, spray intensity, and coverage area based on real-time collected environmental parameters (such as temperature, humidity, and wind speed) and data feedback from sensor modules. Specifically, the control algorithm employs a fuzzy PID control strategy, calculating the control output in real time based on the error between the current environmental conditions and the target spray parameters to optimize the spraying effect. The proportional coefficient K... p The integral coefficient K is used for rapid response to error changes. i The differential coefficient K is used to eliminate steady-state error. d This is used to suppress system oscillations, thereby achieving precise atomization control. Furthermore, this control algorithm works in conjunction with the path planning algorithm to ensure that spraying parameters can be adaptively adjusted according to changes in vehicle position and environment during movement, improving overall spraying efficiency and system intelligence.

[0045] Example 9 In some implementations, environmental control for marathon events is achieved through intelligent spraying vehicles. These vehicles include sensor modules, actuators, communication modules, and control modules. The sensor modules contain temperature and humidity sensors, wind speed sensors, light sensors, a BeiDou positioning module, an IMU (Inertial Measurement Unit), a liquid level sensor, a power sensor, and a motor temperature sensor, used to collect environmental parameters along the racecourse in real time. The actuators, depending on the event requirements, can be either drones or unmanned vehicles. Drones are equipped with an octocopter structure, a magnetic centrifugal pump, and centrifugal nozzles, while unmanned vehicles are equipped with a four-wheel drive chassis, a high-pressure plunger pump, and a water storage tank. The communication module integrates a 5G communication module, a self-organizing network module, and a satellite communication module to ensure the stability and reliability of data transmission. The control module includes an edge computing unit for real-time processing of sensor data and generation of preliminary spraying strategies.

[0046] In terms of path planning, the system combines Dijkstra's algorithm with reinforcement learning to dynamically adjust the spraying path to adapt to changes in the track environment. Simultaneously, a fuzzy PID control algorithm is used for parameter tuning, dynamically adjusting atomized particle size, spray intensity, and coverage to achieve optimal environmental control. Edge computing nodes in the cloud-edge collaborative platform are deployed along the track to process sensor data in real time and upload the data to a cloud server for storage and analysis. The cloud server trains AI models based on historical data and optimizes the global scheduling algorithm, thereby improving the overall system's intelligence level.

[0047] For emergency response, the system is equipped with an emergency communication network, including a 5G private network, satellite communication modules, and self-organizing network modules. When the 5G network becomes congested or interrupted, the system automatically switches to satellite communication or self-organizing network mode to ensure priority transmission of emergency commands. Furthermore, the vehicle acts as a temporary communication relay node, expanding communication coverage and improving emergency response efficiency. Through these technical solutions, the system can achieve efficient and precise environmental control and reliable emergency communication support during marathon events.

[0048] Example 10 In some implementations, the intelligent spraying vehicle includes a sensor module, actuators, a communication module, and a control module. The sensor module includes temperature and humidity sensors, wind speed sensors, light sensors, a BeiDou positioning module, an IMU (Inertial Measurement Unit), a liquid level sensor, a power sensor, and a motor temperature sensor, used to collect environmental data in real time and transmit it to the control module. The actuators include a drone and an unmanned vehicle. The drone uses an octocopter structure and is equipped with a magnetic centrifugal pump and centrifugal nozzles; the unmanned vehicle uses a four-wheel drive chassis and is equipped with a high-pressure plunger pump and a water storage tank. The communication module integrates a 5G communication module, a self-organizing network module, and a satellite communication module to achieve high-speed, low-latency communication services, and switches to satellite communication or the self-organizing network when the 5G network is congested or interrupted. The control module includes an edge computing unit for real-time processing of sensor data and generating an initial spraying strategy.

[0049] The cloud-edge collaborative platform consists of cloud servers and edge computing nodes. The cloud servers are used to store historical data, train AI models, and optimize the global scheduling algorithm. The edge computing nodes are deployed along the track to process sensor data in real time. The data storage and management module is responsible for storing, managing, and analyzing historical data. The AI ​​model training module trains AI models based on historical data and optimizes the global scheduling algorithm. The global scheduling algorithm dynamically optimizes the global spraying strategy based on historical and real-time data.

[0050] The emergency communication network comprises a 5G private network, a satellite communication module, and a self-organizing network module. The 5G private network provides high-speed, low-latency communication services. The satellite communication module ensures the transmission of emergency commands when the 5G network is congested or interrupted. The self-organizing network module allows vehicles to act as temporary communication relay nodes, extending communication coverage. A communication switching protocol automatically switches to satellite communication or the self-organizing network when the 5G network is congested or interrupted, and a priority mechanism ensures the priority transmission of emergency commands.

[0051] In concert environment control scenarios, the system uses sensor modules to perceive environmental changes in real time, combines Dijkstra's algorithm and reinforcement learning to achieve dynamic path planning, and employs fuzzy PID control algorithm to dynamically adjust atomized particle size, spray intensity, and coverage. When the 5G network experiences congestion or interruption, the system automatically switches to satellite communication or a self-organizing network, with the vehicle acting as a temporary communication relay node to extend communication coverage and ensure priority transmission of emergency commands.

[0052] In agricultural plant protection and environmental control scenarios, the system uses sensor modules to perceive changes in the farmland environment in real time, combines Dijkstra's algorithm with reinforcement learning to achieve dynamic path planning, and employs a fuzzy PID control algorithm to dynamically adjust spraying parameters. Simultaneously, when the 5G network is congested or interrupted, the system switches to satellite communication or a self-organizing network, with the vehicle acting as a temporary communication relay node to extend communication coverage and ensure priority transmission of emergency commands.

[0053] Example 11 In some implementations, the event environment control and emergency support service model includes environmental control services and emergency support services. Environmental control services are implemented through intelligent spraying vehicles, which include a sensor module, actuators, a communication module, and a control module. The sensor module collects environmental parameters in real time, such as temperature, humidity, wind speed, and light intensity, and obtains location information through a BeiDou positioning module and an IMU inertial measurement unit. The actuators include drones and unmanned vehicles. The drones employ an octocopter structure and are equipped with a magnetic centrifugal pump and centrifugal nozzles for atomized spraying. The unmanned vehicles use a four-wheel drive chassis and are equipped with a high-pressure plunger pump and a water tank for targeted spraying. The communication module integrates a 5G communication module, a self-organizing network module, and a satellite communication module to ensure communication stability and reliability. The control module includes an edge computing unit for real-time processing of sensor data and generating preliminary spraying strategies.

[0054] With the support of a cloud-edge collaborative platform, the system can achieve global scheduling and optimization. The cloud server stores historical data, trains AI models, and optimizes the global scheduling algorithm; edge computing nodes are deployed along the track to process sensor data in real time and assist in generating spraying strategies. The software includes data acquisition and preprocessing, edge computing, path planning algorithms, and fuzzy PID control algorithms. The path planning algorithm combines Dijkstra's algorithm with reinforcement learning to achieve dynamic path planning; the fuzzy PID control algorithm dynamically adjusts spraying parameters, such as atomized particle size, spray intensity, and coverage area, based on real-time environmental data.

[0055] Emergency support services are provided through an emergency communication network, which includes a 5G private network, satellite communication modules, and self-organizing network modules. When the 5G network becomes congested or interrupted, the system automatically switches to satellite communication or the self-organizing network to ensure priority transmission of emergency commands. The communication switching protocol is based on network status; if the 5G network is unavailable, satellite communication is used; if satellite communication is unavailable, the self-organizing network is used. Simultaneously, the system employs a priority mechanism to ensure that emergency commands are transmitted preferentially even when communication resources are limited. Furthermore, intelligent spraying vehicles can serve as temporary communication relay nodes, extending communication coverage and enhancing emergency response capabilities.

[0056] In specific application scenarios, such as marathon events, the system dynamically adjusts its spraying strategy based on real-time environmental changes to cope with adverse conditions such as high temperatures and dryness. In the event of communication interruptions or emergencies, the system quickly switches communication methods to ensure timely delivery of emergency instructions and utilizes vehicles as relay nodes to extend communication coverage, improving emergency response efficiency. This system is also applicable to other outdoor activities such as concerts and agricultural plant protection, achieving efficient coordination between environmental control and emergency support.

[0057] The sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0058] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions between different embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0059] Those skilled in the art will recognize that, based on the units and algorithm steps described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is implemented in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0060] The apparatus provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings. The description of the apparatus embodiments corresponds to the description of the method embodiments. Therefore, for content not described in detail, please refer to the method embodiments above. For the sake of brevity, some content will not be repeated.

[0061] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0062] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0063] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of apparatus or units may be electrical, mechanical, or other forms.

[0064] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0065] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0066] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0067] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A spray system, characterized in that, include: The vehicle is used to upload the collected operating environment data to the cloud-edge collaboration platform through the emergency communication network, and to perform mobile spraying operations according to the spraying strategy sent by the cloud-edge collaboration platform. The cloud-edge collaborative platform is communicatively connected to the vehicle and is used to generate a spraying strategy based on the operating environment data uploaded by the vehicle, and send the spraying strategy to the vehicle through the emergency communication network. An emergency communication network is used to enable data interaction between the vehicle and the cloud-edge collaborative platform.

2. The system according to claim 1, characterized in that, The vehicle includes: The sensor module includes at least one of a temperature and humidity sensor, a wind speed sensor, a light sensor, a Beidou positioning module, an inertial measurement unit, a liquid level sensor, a power sensor, and a motor temperature sensor, used to collect environmental data and the vehicle's operating data. The spray module includes a detachable water tank, a charging interface, a magnetic centrifugal pump, and centrifugal nozzles; Communication modules, including 5G communication modules, self-organizing network modules, and satellite communication modules; The control module includes an edge computing unit, which is used to generate a first spraying strategy based on the operating environment data collected by the sensor module.

3. The system according to claim 1, characterized in that, The cloud-edge collaboration platform includes: Edge computing nodes are used to process the operating environment data uploaded by the vehicle and generate local spraying strategies. A cloud server is used to store historical spraying data, train decision models, and determine the spraying strategy based on the local spraying strategy generated by the edge computing nodes.

4. The system according to claim 1, characterized in that, The emergency communication network includes: 5G communication link, used to provide communication services between the vehicle and the cloud-edge collaboration platform; A satellite communication module is used to provide communication services between the vehicle and the cloud-edge collaborative platform when the 5G communication link is congested or interrupted. The self-organizing network module is used to form a self-organizing network link based on the vehicle as a communication relay node, and to provide communication services between the vehicle and the cloud-edge collaborative platform; monitor the communication quality of the 5G communication link; when the communication quality is lower than a preset threshold, control the communication module to switch to the satellite communication link; when the satellite communication is unavailable, communicate based on the self-organizing network link formed between the vehicles.

5. The system according to claim 4, characterized in that, The emergency communication network is configured as follows: Monitor the communication quality of the 5G communication link; When the communication quality is lower than a preset threshold, the communication module is controlled to switch to a satellite communication link; When the satellite communication link is unavailable, communication is initiated through a self-organizing network link formed between the intelligent spraying vehicles or between the vehicles and fixed nodes.

6. A spraying method, applied to the spraying system as described in any one of claims 1 to 5, characterized in that, The method includes: The vehicle collects environmental data and uploads the environmental data to the cloud-edge collaboration platform via the emergency communication network. The cloud-edge collaboration platform generates a spraying strategy based on the received environmental data. The spraying strategy is transmitted to the corresponding vehicle through the emergency communication network, and the vehicle performs the mobile spraying operation indicated by the spraying strategy. Communication assurance steps: During the execution of the upload and download steps, the availability of the communication link is monitored and maintained through the emergency communication network, and the system automatically switches to the backup communication link when the main communication link fails.

7. The method according to claim 6, characterized in that, Also includes: The communication quality of the 5G communication link between the vehicle and the cloud-edge collaborative platform is monitored through the emergency communication network. When communication quality is abnormal, the communication module is controlled to switch to a backup communication link, wherein the backup communication link includes a satellite communication link and / or a self-organizing network link.

8. A spraying device, comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the method as described in any one of claims 6 to 7.

9. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of applications, cause the electronic device to perform the spraying method as described in any one of claims 6-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions that, when executed on a computer, cause the spraying method as described in any one of claims 6-7 to be performed.

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