A uniform spray application control apparatus and method during a spray seeding operation

Abstract

The present application relates to the technical field of spray seeding control, and in particular to a uniform spray seeding control device and method in a spray seeding operation process. The method acquires a calibrated pipeline delay duration and an initial containing thickness of a dynamically scanned independent sector in front; when a vehicle deceleration trigger threshold is reached, a pipeline flow decay curve is predicted, and an excess slurry volume is calculated; the initial containing thickness of an effective sector is reduced by punishment using deceleration and flow rate decline rate, and a base construction thickness is deducted to obtain a receiving margin ratio to split out a supplementary slurry volume, and then the target total volume of each sector is obtained by combining the sliding consumption; finally, taking the current swing state of the spray gun as the starting point, the area of the flow decay curve is integrated along the time axis, the total volume is converted into the total duration of the spray gun, and the target angular velocity of the motor is controlled according to this to perform variable speed spray seeding. The present application converts fluid lag error into spatial non-uniform distribution, effectively avoids slurry slip loss, and ensures the uniformity of soil covering.

Description

Technical Field

[0001] This invention relates to the field of hydroseeding control technology, and specifically to a uniform hydroseeding control device and method in the hydroseeding operation process. Background Technology

[0002] In the ecological restoration of soil and rock slopes in highway and municipal transportation engineering, hydroseeding is widely used. Typically, hydroseeding vehicles use an onboard mud pump to pump a high-viscosity soil-water mixture (i.e., mud substrate) containing soil particles, plant seeds, and water-retaining agents into a high-pressure rubber hose tens of meters long, which then delivers it to a servo-driven oscillating spray gun at the rear of the vehicle, ultimately spraying it onto the slope surface. In actual construction, because the slope work sections are often rugged, hydroseeding vehicles inevitably encounter potholes or severe bumps during travel, causing sudden drops in speed or even requiring emergency braking.

[0003] Existing hydroseeding control systems typically rely on real-time vehicle speed feedback when they detect vehicle deceleration, employing a momentary, one-way mechanical control mechanism. This involves directly reducing the operating frequency of the mud pump in an attempt to immediately decrease the amount of mud sprayed. However, due to the extremely high viscosity of the water-soil mixture and the elastic deformation of the long-distance high-pressure rubber hose during operation (expansion under pressure and contraction upon depressurization), the mud flow at the end of the pipeline cannot be instantly cut off as the mud pump frequency decreases. Instead, it exhibits a slow, hysteretic decay period. During the pipeline delay, the vehicle's absolute speed is actually at a very low level or has stopped completely, but the spray gun will still continuously spew out a large amount of high-pressure mud. The existing control scheme does not make time-series predictions or spatial interventions for the lag phenomenon of fluid in long pipelines. This causes the uncontrolled and inevitable overflow of excess mud to be concentrated and dumped on the local slope that the spray gun is currently pointing at. Especially when the local area is a relatively steep rock and soil profile, the instantaneous accumulation of excess mud is very likely to exceed the physical bearing limit of the surface friction force, causing serious mud slippage and loss. This not only causes a high waste of construction substrate, but also directly destroys the uniformity of the macroscopic soil cover of the entire rock and soil slope, resulting in uneven growth quality of vegetation netting in the later stage, making it difficult to meet the engineering acceptance standards for ecological restoration. Summary of the Invention

[0004] To address the technical problem that existing hydroseeding control systems fail to predict and spatially intervene in the hysteresis attenuation of pipeline fluid during vehicle deceleration, leading to the concentrated dumping of excess slurry, resulting in localized over-coverage and slurry slippage and loss, and ultimately compromising the overall uniformity of the cover, the present invention aims to provide a uniform hydroseeding control device and method during hydroseeding operations. The specific technical solution adopted is as follows: In a first aspect, one embodiment of the present invention provides a method for controlling uniform spraying during a hydroseeding operation, the method comprising the following steps: The pipeline delay time of the spraying vehicle calibrated based on the shutdown pressure relief test was obtained, and the initial containment thickness of multiple independent sectors ahead was extracted by dynamic scanning during the journey. When the deceleration of the spraying vehicle triggers the preset deceleration threshold, the flow decay curve within the pipeline delay time is predicted based on the historical flow sequence; the excess mud volume is obtained based on the difference between the mud outflow volume corresponding to the flow decay curve and the forward theoretical mud volume calculated based on the current vehicle speed. By using the flow rate decrease rate of the deceleration and flow decay curves, the initial containment thickness of the remaining effective independent sector is penalized and reduced, while the foundation construction thickness is deducted to obtain the containment margin ratio of each effective independent sector, thereby splitting the excess mud volume into the supplementary mud volume of each effective independent sector; based on the forward-moving theoretical mud volume and the supplementary mud volume, the target total injection volume of each effective independent sector is obtained. Taking the current swing position and direction of the spray gun as the spatiotemporal starting point, the flow rate decay curve is approximated by continuous area integration along the time axis, and the total volume of the target spray is converted into the total time of the spray gun passing through each effective independent sector. Based on the total time of the spray gun passing through, the target angular velocity of the spray gun servo motor is obtained, and the spray gun is driven to perform variable speed mud spraying on the effective independent sector.

[0005] Furthermore, the method for obtaining the flow attenuation curve is as follows: The moment when the deceleration of the spraying vehicle triggers a preset deceleration threshold is taken as the deceleration trigger moment; The historical flow sequence captured at the moment of deceleration triggering and the frequency reduction of the mud pump inverter corresponding to the moment of deceleration triggering are used as input terms of an autoregressive integrated moving average model with exogenous variables to deduce a series of discrete flow values ​​within the pipeline delay time, thereby generating a flow decay curve.

[0006] Furthermore, the method for obtaining the excess mud volume is as follows: The flow rate decay curve within the pipeline delay time is numerically integrated and accumulated to obtain the mud outflow volume. Calculate the theoretical braking time of the spraying vehicle based on the absolute values ​​of the current speed and deceleration. Based on the relationship between the theoretical braking time and the pipeline delay time, and combined with the current vehicle speed, the absolute value of deceleration and the pipeline delay time, the forward sliding distance of the spraying operation vehicle is calculated. Multiply the forward sliding distance, the preset single sweep coverage width of the spraying vehicle, and the foundation construction thickness to obtain the theoretical reference mud volume for forward movement; The minimum value between the forward-moving theoretical reference mud volume and the mud outflow volume is taken as the forward-moving theoretical mud volume; The difference between the outflow volume of mud and the forward theoretical volume of mud is input into the ReLU function, which outputs the excess volume of mud.

[0007] Furthermore, the method for obtaining the acceptance margin ratio is as follows: Based on deceleration and flow rate decrease, a joint penalty weight for severe operating conditions is obtained; the joint penalty weight for severe operating conditions is positively correlated with deceleration; and the joint penalty weight for severe operating conditions is negatively correlated with flow rate decrease. For any valid independent sector, the initial capacity thickness of the valid independent sector is reduced by division penalty using the joint penalty weight of severe operating conditions, and the dynamic capacity thickness of the valid independent sector is obtained. The difference between the dynamic containment thickness and the foundation construction thickness is input into the ReLU function to output the containment margin of the effective independent sector; When the total acceptance margin of all valid independent sectors is greater than zero, divide the acceptance margin of each valid independent sector by the total acceptance margin of all valid independent sectors to obtain the acceptance margin ratio of each valid independent sector. When the sum of the acceptance margins of all valid independent sectors is equal to zero, the acceptance margin ratios of each valid independent sector are assigned equally.

[0008] Furthermore, the method for obtaining the total volume of the target jet is as follows: Divide the forward-shifted theoretical mud volume by the number of currently remaining effective independent sectors to obtain the basic mud volume that each effective independent sector should have. The target total jet volume for each effective independent sector is obtained by adding the base mud volume to the supplementary mud volume for each effective independent sector.

[0009] Furthermore, the method for obtaining the total duration of the spray gun is as follows: A time cursor is set along the time axis of the flow decay curve, and the total target spray volume of each effective independent sector is extracted sequentially along the current swing direction of the spray gun. For the currently extracted valid independent sectors, the area under the flow decay curve is accumulated and integrated along the time axis using a time cursor; When the accumulated integral area equals the total volume of the target jet of the currently extracted effective independent sector, record the time span of the time cursor advance; The time span is taken as the total time the spray gun has traversed the currently extracted valid independent sector; where the current stop time of the time cursor is the integration start time of the next valid independent sector.

[0010] Furthermore, the method of obtaining the target angular velocity of the spray gun servo motor based on the total duration of the spray gun's travel, and driving the spray gun to perform variable-speed mud spraying on the effective independent sector, is as follows: Obtain the total swing amplitude of the spray gun, divide the total swing amplitude of the spray gun by the total number of independent sectors, and obtain the preset span angle of each independent sector; For any valid independent sector, the target angular velocity of the spray gun servo motor corresponding to the valid independent sector is obtained by dividing the preset span angle by the total time the spray gun passes through the valid independent sector. When the target angular velocity is greater than the preset limit angular velocity threshold, the preset limit angular velocity threshold will be used as the actual angular velocity sent. When the target angular velocity is less than or equal to the preset limit angular velocity threshold, the target angular velocity is taken as the actual angular velocity sent. A smoothing filter function is inserted between the angular velocity commands sent to the spray gun servo motor for adjacent effective independent sectors to limit the rate of change of adjacent angular velocities to no more than the preset upper limit of the rate of change, thereby driving the spray gun to perform variable speed mud spraying.

[0011] Furthermore, the method for obtaining the effective independent sectors is as follows: Obtain the effective point cloud set in front of the field of view, divide the effective point cloud set into multiple independent sectors according to the horizontal view, extract the shortest distance of each independent sector from the front of the spraying vehicle, and combine the vehicle length to obtain the position reference distance of each independent sector relative to the rear spray gun. Obtain the forward sliding distance of the spraying vehicle during the deceleration period as a reference distance for driving; Independent sectors whose position reference distance is less than the sum of the driving reference distance and the spray gun blind spot distance are marked as invalid sectors that have been driven. The invalid sectors that have been driven are removed, and the remaining independent sectors are regarded as valid independent sectors.

[0012] Furthermore, the method for obtaining the initial accommodating thickness is as follows: For any independent sector, obtain the height difference between the highest and lowest distance measuring points in the vertical profile of that independent sector and the difference in the horizontal projection distance, and use them as the height difference and the horizontal difference respectively. The terrain dip angle of this independent sector is obtained based on the height difference, horizontal difference, and arctangent function; The initial containment thickness of the independent sector can be obtained by querying the mud adhesion mapping table using the terrain slope angle.

[0013] Secondly, another embodiment of the present invention provides a uniform spraying control device during a spraying operation. The device includes: a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of any of the above methods.

[0014] The present invention has the following beneficial effects: This invention first predicts the flow decay curve within the pipeline delay time based on historical flow sequences, accurately reflecting the uncontrollable hysteresis flow trend under the influence of pipeline high-pressure elastic expansion and high mud viscosity. This is beneficial for understanding the decay dynamics before the actual fluid outflow and providing an objective data benchmark for subsequent intervention. To avoid misjudging the mud consumed during normal construction work during vehicle deceleration as excess overflow, leading to inflated calculations, the invention further obtains the excess mud volume based on the difference between the mud outflow volume corresponding to the flow decay curve and the theoretical forward mud volume calculated based on the current vehicle speed. This accurately reflects the excess volume that would purely cause local overburden exceedance, ensuring the rigor and rationality of subsequent spatial reallocation of excess mud volume. Rationality; In order to objectively assess the true bearing capacity of the terrain under dynamic vehicle shock and continuous fluid scouring, and then by using the flow rate reduction rate of the deceleration and flow decay curves, the initial containment thickness of the remaining effective independent sectors is penalized and reduced. Simultaneously, the foundation construction thickness is deducted to obtain the acceptance margin ratio of each effective independent sector. This accurately reflects the landslide-resistant safety acceptance weight of each spatial grid after undergoing severe working conditions, which is beneficial for the safe and reasonable allocation of excess mud that must be discharged. Therefore, by using the acceptance margin ratio, the excess mud volume is divided into the supplementary mud volume of each effective independent sector, accurately reflecting the specific additional mud load that each effective independent sector should bear, which is beneficial. To prevent excessive backfill caused by concentrated dumping in a single steep slope area; to strictly unify the allocation of foundation construction consumption and excessive compensation under harsh conditions in a physical dimension, and based on the forward-moving theory of mud volume and replenishment mud volume, the target total spray volume of each effective independent sector is obtained, accurately reflecting the absolute total amount of mud that each effective independent sector actually needs to accept in the upcoming sweeping action, ensuring the absolute conservation of macroscopic volume calculation; to eliminate the time conversion distortion caused by the nonlinear decreasing flow rate during the pipeline delay period, and to achieve precise physical alignment between time prediction and spatial scanning, the flow rate decay curve is analyzed along the time axis with the current swing position and direction of the spray gun as the spatiotemporal starting point. Continuous area integral approximation converts the total volume of the target spray into the total time of the spray gun passing through each effective independent sector, accurately and seamlessly transforming the total volume of the spatial entity into the absolute time span at the bottom layer of the control system. In order to seamlessly implement the time compensation command to the control level, the target angular velocity of the spray gun servo motor is obtained based on the total time of the spray gun passage, realizing flexible speed adjustment of the servo actuator, driving the spray gun to perform variable speed mud spraying on the effective independent sectors, realizing an adaptive emptying mechanism that accelerates over steep slopes with weak bearing capacity and decelerates for long spraying on gentle slopes with strong bearing capacity. This effectively solves the problem of soil accumulation caused by fluid inertia in long pipelines, and effectively ensures the macroscopic uniformity and construction quality of soil cover on rock and soil slopes under complex working conditions. Attached Figure Description

[0015] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are 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.

[0016] Figure 1 A schematic flowchart illustrating a method for controlling uniform spraying during a spraying operation, provided in an embodiment of the present invention. Figure 2 A structural diagram of a uniform spraying control system in a spraying operation process provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a computer device provided according to an embodiment of the present invention. Detailed Implementation

[0017] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of a uniform spraying control device and method in a spraying operation process according to the present invention. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0019] The following description, in conjunction with the accompanying drawings, details a specific scheme for a uniform spraying control device and method in the spraying operation process provided by the present invention.

[0020] Example 1: This invention proposes a method for controlling uniform spraying during hydroseeding operations. Please refer to [link to relevant documentation]. Figure 1 The diagram illustrates a schematic flowchart of a uniform spraying control method during a spraying operation according to an embodiment of the present invention. The method includes the following steps: Step S1: Obtain the pipeline delay time of the spraying vehicle based on the shutdown pressure relief test calibration, and extract the initial containment thickness of multiple independent sectors ahead by dynamic scanning during the journey.

[0021] Specifically, this embodiment uses a hydroseeding vehicle as an example for analysis; all subsequent references to hydroseeding vehicles refer to this specific vehicle. To eliminate timing delay errors caused by dynamic inertia and establish an accurate time reference, this embodiment first obtains the pipeline delay time calibrated by the hydroseeding vehicle based on a shutdown pressure relief test by executing a single physical calibration procedure. This accurately reflects the delay time from the issuance of the frequency converter command to the actual drop in flow rate at the end, which is beneficial for accurately determining the time window for excess mud overflow. It should be noted that this embodiment uses a shutdown pressure relief test instead of a pump start-up pressure build-up test. This is because the pressure decay and pipe diameter retraction time of high-viscosity soil-water mixtures in long-distance rubber hoses are usually longer than the pressure build-up time. Using pressure relief characteristics as the calibration reference can cover the worst hysteresis conditions, ensuring the accuracy of delay error analysis. In addition, pipeline delay time is affected by physical conditions such as material ratio and pipeline length. Therefore, if the material ratio of the water-soil mixture is changed during the hydroseeding operation, or the connection length of the high-pressure rubber hose is increased or decreased, the shutdown and pressure relief test must be performed again to recalibrate the pipeline delay time to ensure the accuracy of timing calculation.

[0022] The method for obtaining the pipeline delay time is as follows: the moment when the stop or frequency reduction command is issued by the spraying vehicle under full load and stable spraying conditions is taken as the command issuance time, that is, the absolute moment when the inverter receives the command, recorded by the internal high-precision clock; it is known that due to the high viscosity of the water-soil mixture in the long pipeline and the elastic deformation of the pipe diameter, there is a significant time lag in the flow response at the end of the pipeline. In order to accurately capture the endpoint of flow decay, the flow feedback value at the pipeline outlet is continuously read by an electromagnetic flowmeter installed at the pipeline outlet nozzle after the command issuance time. When the flow feedback value continuously falls and falls below the preset steady-state stop threshold, the corresponding moment is taken as the flow response time, that is, the absolute moment when the pipeline depressurization is completed; in this embodiment, the preset steady-state stop threshold is set to 5% of the rated full load flow to ensure that the state of substantial flow cessation can be accurately defined. The implementer can set the preset steady-state stop threshold according to the mud pump specifications, which is not limited here; in order to obtain an accurate time hysteresis constant, the pipeline delay time is obtained by subtracting the command issuance time from the flow response time.

[0023] It should be noted that, while acquiring the pipeline delay duration, the complete flow rate decline time-series data recorded during the shutdown and pressure relief test, from the command issuance time to the flow response time, is used in conjunction with the corresponding frequency reduction step signal to perform offline pre-training and parameter determination of the autoregressive integrated moving average model with exogenous variables. Specifically, the autoregressive coefficients, moving average order, and exogenous variable regression coefficients in the model are solved using maximum likelihood estimation or least squares method, enabling the model to truly learn and lock into the fluid hysteresis dynamics characteristics under the specific rubber hose and mud viscosity. After calibration, the trained model parameters are stored in the controller memory for subsequent online prediction. The autoregressive integrated moving average model is well-known and will not be elaborated further.

[0024] Considering that the chassis of the spraying vehicle may randomly tilt during travel due to potholes, causing random tilting of the radar's pitch and roll, this embodiment utilizes a vehicle attitude compensation mechanism combined with an inertial measurement unit to acquire 3D point cloud data of the effective slope ahead during dynamic scanning of the spraying vehicle. This is done to eliminate interference from bumps on the radar's scanning direction and ensure precise alignment between the scanned sector spatial data and the actual direction of the spray gun. Furthermore, considering the physical working span of the spray gun, background noise and invalid points beyond the spray range are removed to ensure data validity. The use of an inertial measurement unit is well-known and will not be elaborated further. To achieve spatial meshing of excess mud... The effective slope point cloud data is divided into multiple independent sectors by dividing the horizontal field of view in front of the field of view into equal parts according to a fixed resolution span, and a spatial index queue is established from left to right. For example, if the fixed resolution span corresponds to 20 equal parts, then independent sectors with indices 1 to 20 are established. The implementer can set the size of the fixed resolution span according to the actual situation, which is not limited here. In order to quantify the natural bearing limit of the terrain of each area on the mud, and thus obtain the initial bearing thickness of each independent sector, as the benchmark spatial constraint data for determining the remaining safe acceptance capacity of each independent sector, it is beneficial to provide a physical upper limit reference for the subsequent anti-slip space allocation.

[0025] The method for obtaining the initial accommodative thickness is as follows: First, by extracting a subset of the three-dimensional point cloud in each independent sector, the depth geometric features of each region are determined, such as projecting the point cloud coordinates in the vertical profile. Considering that random errors in single-point measurements may lead to distortion in the estimation of local terrain tilt angles, in order to accurately reflect the macroscopic tilt state of the sector, for any independent sector, the height difference between the highest and lowest ranging points in the vertical profile of that independent sector and the difference in the horizontal projection distance are obtained, and these are used as the height difference and the horizontal difference, respectively. It should be noted that the use of extreme point calculation effectively eliminates the random noise interference of single-point scanning. Given that retaining walls or nearly vertical steep rock faces may exist in real-world working conditions, to prevent the horizontal projection distance difference from approaching zero in such extreme terrain, which could lead to a zero denominator error in the arctangent function calculation and cause algorithm deadlock, the height difference is divided by the sum of the horizontal difference and a preset minimum displacement constant. The result of this division is then input into the arctangent function to obtain the terrain dip angle of that independent sector. This introduces a method to prevent the use of a zero minimum constant in the calculation. The formula for obtaining the terrain dip angle is: In the formula, The slope angle of the terrain; Highly different; For level differences; The minimum displacement constant is preset; The arctangent function is defined in this embodiment. The value is 0.001 meters to ensure that the calculated tilt angle under vertical conditions still smoothly approaches 90° without division by zero overflow. Implementers can set this value according to the processor's calculation accuracy level. No specific restrictions are imposed here; It is known that the thickness of high-viscosity mud that can be safely held on the soil and rock surface by its own friction varies with different slopes. Therefore, the initial holding thickness of the independent sector can be obtained by calling the mud adhesion mapping table based on the terrain slope angle. The mud adhesion mapping table is pre-stored in the device memory and records the extreme values ​​of mud thickness that will not cause landslide loss under different terrain slope angles. The larger the slope angle, the smaller the initial holding thickness obtained from the table.

[0026] Step S2: When the deceleration of the spraying vehicle triggers the preset deceleration threshold, predict the flow decay curve within the pipeline delay time based on the historical flow sequence; obtain the excess mud volume based on the difference between the mud outflow volume corresponding to the flow decay curve and the forward theoretical mud volume calculated based on the current vehicle speed.

[0027] Specifically, considering that when spraying vehicles travel on complex slopes, severe chassis vibrations or crushing potholes can cause a sudden drop in speed, potentially leading to localized soil accumulation at the end of the pipeline, this embodiment sets a preset deceleration threshold to promptly capture disturbance signals and activate the intervention mechanism. This ensures the intervention system only intervenes when there is a severe disturbance sufficient to disrupt the uniformity of spraying. To ensure the system can filter out normal slight deceleration and accurately identify substantial emergency braking conditions that cause spraying imbalance, the implementer can set a preset deceleration threshold based on the chassis weight and suspension damping characteristics, which is not limited here. When the deceleration of the spraying vehicle triggers the preset deceleration threshold, it indicates that a severe condition has been encountered that causes excess fluid to overflow. In order to grasp the attenuation dynamics of the fluid in advance before it actually overflows, this embodiment predicts the flow attenuation curve within the pipeline delay time based on the historical flow sequence, which accurately reflects the uncontrollable hysteresis flow trend under the influence of pipeline high-pressure elastic expansion and high viscosity of mud. This is beneficial for subsequent calculation of excess entities and provides an objective data benchmark for spatial reconfiguration. Considering that the spraying vehicle is still sliding forward during the deceleration process, this sliding process itself requires the laying of mud. In order to avoid misjudging the mud consumed during normal construction as excess overflow and causing the calculation to be inflated, the excess mud volume is obtained based on the difference between the mud outflow volume corresponding to the flow decay curve and the theoretical mud volume forward calculated based on the current vehicle speed. This accurately reflects the excess amount of solid material that would cause local over-coverage, which is conducive to ensuring the rigor of subsequent volume allocation.

[0028] Preferably, in one feasible embodiment, the method for obtaining the flow decay curve is as follows: First, the moment when the deceleration of the spraying vehicle triggers a preset deceleration threshold is taken as the deceleration trigger moment, which facilitates anchoring the origin of the time coordinate system and dividing the historical sampling interval and the future prediction interval; in order to extract the steady-state characteristics of the fluid before intervention as the baseline inertia for algorithm deduction, the historical flow sequence intercepted up to the preset time of the deceleration trigger moment is obtained, and the flow velocity state of the high-pressure substrate at the moment of triggering emergency braking is determined, which is beneficial to improving the initial accuracy of time series prediction (in this embodiment, the preset time is set to 3.0 seconds, which includes at least 30 effective high-frequency sampling points to meet the algorithm convergence). (The implementer can set a preset duration according to the actual situation, which is not limited here); Considering that in the actual situation, since the historical flow before the deceleration trigger moment is in a stable high flow state, if only relying on historical data to drive, the algorithm will follow the inertial error to predict that the future flow will continue to remain stable, and cannot spontaneously deduce the flow attenuation trend caused by system intervention. Therefore, in order to repair the logical blind spot of the pure data-driven model when facing sudden changes, this embodiment further obtains the frequency reduction of the mud pump frequency converter at the deceleration trigger moment, that is, the absolute value of the difference between the new target frequency issued by the system after detecting the emergency braking and the original stable operating frequency, as a step signal representing the intensity of physical intervention; To accurately predict the nonlinear decline process under physical intervention, an autoregressive integrated moving average model with exogenous variables, pre-trained based on shutdown and pressure relief test data, is invoked. Historical flow sequences and frequency decline are used as inputs to this model, which then predicts a series of discrete flow values ​​within the pipeline delay time. Specifically, during online prediction, the current frequency decline is input. Using the learned hysteresis transfer function and pre-stored regression coefficients, the abrupt frequency jump signal is mapped to a flow attenuation trajectory consistent with physical inertia. The model's autoregressive and moving average terms are used to fit the inertia fluctuations of historical flow and filter out sensor noise. Simultaneously, the exogenous variable of frequency decline guides the model to break its stationary inertia, reasonably predicting a downward attenuation trajectory consistent with physical laws. The autoregressive integrated moving average model is well-known and will not be elaborated further. To facilitate subsequent continuous area integration calculations, a series of discrete flow values ​​are fitted using linear interpolation or spline interpolation algorithms to generate flow attenuation curves. Linear interpolation and spline interpolation algorithms are well-known techniques and will not be elaborated further.

[0029] Preferably, in one feasible method of this embodiment, the method for obtaining the excess mud volume is as follows: considering that the area under the flow decay curve physically represents the fluid volume, the flow decay curve within the pipeline delay time is numerically integrated and accumulated (that is, the instantaneous flow rate at each discrete time point on the curve is integrally calculated with respect to time) to obtain the mud outflow volume, which accurately reflects the total amount of mud that will inevitably gush out of the nozzle during this uninterruptible lag period; considering that the spraying operation vehicle may have completely stopped before the pipeline is completely depressurized, at this time the vehicle's forward movement no longer consumes mud, in order to accurately define the effective distance of mud consumption, the theoretical stopping time of the spraying operation vehicle is calculated based on the absolute value of the current vehicle speed and deceleration, that is, the current vehicle speed is divided by the absolute value of the deceleration; Considering that the relative lengths of braking time and depressurization time can alter the kinematic equation of state, and to prevent logical errors in distance calculation due to physical time exceeding limits, the forward sliding distance of the spraying vehicle is calculated based on the relationship between the theoretical braking time and the pipeline delay time, combined with the current vehicle speed, the absolute value of deceleration, and the pipeline delay time, ensuring the physical rationality of the sliding distance calculation. The specific calculation process for the forward sliding distance is as follows: if the theoretical braking time is greater than or equal to the pipeline delay time, it indicates that the spraying vehicle is still moving when the depressurization ends. The forward sliding distance is calculated according to the basic formula for uniformly decelerated linear motion, i.e. In the formula, Current vehicle speed The absolute value of the deceleration. For pipeline delay time, The symbol represents the absolute value. If the theoretical braking time is less than the pipeline delay time, it means that the pipeline has not been fully depressurized before the spraying vehicle stops. The forward sliding distance is calculated according to the braking limit distance formula, i.e. ; To quantify the standard mud volume required for this legal sliding route, the forward sliding distance, the preset single-sweep coverage width of the spraying vehicle, and the foundation construction thickness are multiplied to obtain the theoretical reference mud volume for forward sliding. This means that this portion of mud will normally cover the sliding section without causing excessive thickness. Considering that under certain slight braking conditions, if the predicted demand for the sliding section exceeds the actual total flow capacity of the pipeline, it will cause the target value of the subsequent area integration to exceed the physical total area under the flow decay curve, leading to algorithm deadlock. To ensure that the target total volume of spatial allocation is within the absolute upper limit of the fluid decay trajectory, the theoretical reference mud volume for forward sliding is multiplied by the mud outflow volume. The minimum value in the product is taken as the forward theoretical mud volume. The preset single-sweep coverage width and foundation construction thickness are standard operating constants pre-entered into the equipment memory by engineering technicians, representing the standard paving width and thickness designed in the drawings. The foundation construction thickness is less than 80% of the minimum initial capacity thickness of all independent sectors to ensure sufficient margin to accommodate excess mud. The difference between the outflow mud volume and the forward theoretical mud volume is input into the ReLU function, which outputs the excess mud volume. Through the above minimum value selection operation, it is forcibly ensured that the sum of the sliding consumption and excess compensation volumes is always equal to the total outflow mud volume, achieving a mathematical closed loop in the integral algorithm. The ReLU function is well-known and will not be elaborated further.

[0030] Step S3: By using the flow rate decrease rate of the deceleration and flow decay curves, the initial containment thickness of the remaining effective independent sectors is penalized and reduced, while the foundation construction thickness is deducted. The containment margin ratio of each effective independent sector is obtained, thereby splitting the excess mud volume into the supplementary mud volume of each effective independent sector. Based on the forward theoretical mud volume and the supplementary mud volume, the target total injection volume of each effective independent sector is obtained.

[0031] Specifically, considering the severe conditions of violent braking and slow pipeline depressurization, the mud on the slope surface is prone to slippage due to its own inertia and high-pressure impact. Its actual mud holding capacity will be far lower than the static measurement value. To objectively assess the terrain bearing capacity under dynamic disturbance, the initial holding thickness of the remaining effective independent sectors is penalized and reduced by using the flow rate decrease rate of the deceleration and flow decay curves, thus dynamically correcting the safe adhesion thickness. Furthermore, considering that each independent sector already requires a foundation construction thickness meeting engineering standards, to accurately calculate how much additional overflow mud each effective independent sector can accommodate, the foundation construction thickness is deducted to determine the remaining mud holding capacity of each effective independent sector. The quantity is used to obtain the proportion of the acceptance margin for each effective independent sector, which is conducive to quantifying the proportion of the anti-mudslide capacity of each effective independent sector. Then, the excess mud volume is divided into the supplementary mud volume of each effective independent sector through the acceptance margin proportion. In order to strictly unify the basic construction consumption of the sliding section with the distribution of excess compensation under severe working conditions in the physical dimension and ensure the volume conservation of the subsequent area integral, the target total spray volume of each effective independent sector is obtained based on the forward theory mud volume and supplementary mud volume. This accurately determines the absolute total amount of mud that each effective independent sector actually needs to accept in the upcoming sweeping action, which is conducive to providing a unified physical target value for the subsequent accurate mapping of volume to absolute time span.

[0032] Preferably, in one feasible embodiment of this method, the effective independent sector acquisition method is as follows: First, extract the shortest distance between each independent sector and the front of the spraying vehicle. Considering that the lidar is installed at the front of the vehicle and the spray gun is installed at the rear, in order to establish a unified execution coordinate system and prevent misjudgment of the area already passed due to ignoring the physical length of the vehicle body, the aforementioned shortest distance is added to the preset body length of the spraying vehicle. The spatial index detected by the lidar is uniformly translated and mapped to the coordinate system of the spray gun at the rear of the vehicle, thereby obtaining the position reference distance of each independent sector relative to the spray gun at the rear of the vehicle, accurately reflecting the absolute physical depth of each independent sector in the initial stage of deceleration; it is known from the detection of deceleration to the completion of the process. During the spraying process, the vehicle inevitably slides forward. To eliminate areas that truly leave the actual spray range of the spray gun after sliding, and to obtain the forward sliding distance of the vehicle during deceleration as a reference distance, accurately reflecting the dynamic offset of the vehicle's overall coordinate system; considering that the spray gun is usually installed at the rear of the vehicle and has a downward spray angle blind spot, to prevent the forced distribution of mud to the underside of the vehicle or near-end blind spots that cannot be hit, independent sectors whose position reference distance is less than the sum of the travel reference distance and the spray gun blind spot distance are marked as driven invalid sectors. These driven invalid sectors are then eliminated, and the remaining independent sectors are considered valid independent sectors. The coordinate translation achieved by accumulating the preset vehicle length ensures that the system can accurately identify those sectors that, although swept by the front of the vehicle, are still within the effective working half-axis of the spray gun, greatly expanding the safe acceptance range of excess mud. In this embodiment, the preset vehicle length is set to 8 meters and the spray gun blind spot distance is set to 1.5 meters. The implementer can set the preset vehicle length and spray gun blind spot distance according to the actual wheelbase of the vehicle and the installation position of the spray gun base, which is not limited here.

[0033] Preferably, in one feasible method of this embodiment, the method for obtaining the acceptance margin ratio is as follows: It is known that the violent vibration of the spraying vehicle and the delayed spraying of the pipeline fluid are two synergistic factors that damage the stability of the slope cover. The violent vibration of the spraying vehicle is directly related to the deceleration. The larger the absolute value of the deceleration, the more abrupt the chassis braking, and the stronger the transient disturbance of the vehicle body posture to the mud spray trajectory. The delayed spraying of the pipeline fluid is directly related to the flow rate decrease rate of the flow decay curve. The smaller the flow rate decrease rate, the slower the pressure unloading in the pipeline, the longer the duration of the delayed spraying, and the stronger the scouring force. In order to comprehensively consider these two physical characteristics, deceleration and flow rate decrease rate, so that the system can accurately and objectively quantify the degree of damage to the static bearing capacity of the slope under the current working conditions, and then obtain the joint penalty weight of the severe working conditions based on the deceleration and flow rate decrease rate. Among them, the joint penalty weight of the severe working conditions is positively correlated with the deceleration; the joint penalty weight of the severe working conditions is negatively correlated with the flow rate decrease rate. Specifically, the calculation formula of the joint penalty weight of the severe working conditions is: In the formula, P represents the weight of the joint penalty for severe working conditions; This is the absolute value of the deceleration; The reference braking deceleration is used to eliminate the unit of deceleration; The flow rate decrease rate (i.e., the average slope obtained by dividing the absolute value of the difference between the beginning and end of the flow rate decay curve by the pipeline delay time). The baseline flow rate decrease rate is used to eliminate the units of the flow rate decrease rate. To prevent the denominator from being zero, a minimum positive number is pre-set. This is a function to find the maximum value. The absolute value symbol is used; this embodiment sets it as follows: The range of values ​​is This ensures that the deceleration of common engineering vehicles is standardized, allowing implementers to set the appropriate deceleration based on the weight of the spraying vehicle. No restrictions are imposed here; settings An empirical slope of 10%-20% per second decrease at rated flow rate is used to ensure matching the normal pressure relief rate caused by hose inner diameter expansion. The implementer can set this according to the material and diameter of the rubber hose. No restrictions are imposed here; settings The value is set to 0.01 to ensure stable formula calculations even when the flow rate is extremely stable. Implementers can adjust this value based on the processor's computational precision. No restrictions are imposed here; the addition of 1 in the formula ensures that the lower limit of the joint penalty weight for severe working conditions is never lower than 1, thus completely eliminating the abnormal situation of abnormal increase in the containment thickness. To project the assessment results of the aforementioned severe working conditions onto the spatial bearing capacity, for any effective independent sector, the initial containment thickness of the effective independent sector is reduced by dividing the initial containment thickness by the joint penalty weight for severe working conditions to obtain the dynamic containment thickness of the effective independent sector. This ensures that the more severe the working conditions, the lower the calculated allowable bearing capacity limit. Considering that after the reduction due to severe working conditions, the dynamic containment limit of some steep slope sectors may not even meet the foundation construction requirements, the difference between the dynamic containment thickness and the foundation construction thickness is further input into the ReLU function to output the acceptance margin of the effective independent sector. This ensures that when the difference is negative, the margin is forcibly set to zero to prevent negative margins from participating in the global calculation and causing allocation errors. When the total acceptance margin of all effective independent sectors is greater than zero, the acceptance margin of each effective independent sector is divided by the total acceptance margin of all effective independent sectors to obtain the acceptance margin ratio of each effective independent sector. This ensures that the effective independent sectors with smooth and safe conditions can proportionally obtain a larger share of mud. When the total acceptance margin of all effective independent sectors is equal to zero, it indicates that under the current extreme and severe working conditions, none of the effective independent sectors on the entire working face can provide safe additional acceptance space. To prevent division by zero errors and to provide a safety net allocation logic under extreme working conditions, the acceptance margin ratio of each effective independent sector is assigned an equal value. In this embodiment, all are assigned a value of 1. (N is the number of currently remaining valid independent sectors), ensuring that evenly distributed drainage can still be forced evenly when there is no safety margin (it should be added that if evenly distributed distribution is adopted later, the mud thickness of a single sector still seriously exceeds the physical safety limit, the system will trigger the safety pressure relief protection mode, forcibly driving the spray gun to point to the flood interception ditch at the bottom of the slope or the preset spoil disposal area). The implementer can set the value assigned according to the engineering tolerance, and there is no limitation here.

[0034] After determining the acceptance margin ratio for each effective independent sector, to accurately allocate the total volume of mud that cannot be withdrawn in time to the spatial grid, the acceptance margin ratio of each effective independent sector is multiplied by the excess mud volume to determine the supplementary mud volume for each effective independent sector. To evenly distribute the necessary conventional construction consumption for the coasting section to each work area, the forward-moving theoretical mud volume is divided by the current number of remaining effective independent sectors to obtain the basic mud volume that each effective independent sector should receive, essentially representing the minimum guaranteed paving base for each area during vehicle deceleration and coasting. To achieve strict unity between basic consumption and excess compensation allocation in a physical dimension, the basic mud volume that should be received is added to the supplementary mud volume of each effective independent sector to obtain the target total injection volume for each effective independent sector. This ensures that the sum of the target total injection volumes of all effective independent sectors is always equal to the total mud volume flowing out of the pipeline, thus providing an absolutely conserved physical target value for subsequent area integration on the flow decay curve.

[0035] Step S4: Taking the current swing position and direction of the spray gun as the spatiotemporal starting point, perform continuous area integration approximation on the flow rate decay curve along the time axis to convert the total target spray volume into the total spray gun travel time of each effective independent sector; obtain the target angular velocity of the spray gun servo motor based on the total spray gun travel time, and drive the spray gun to perform variable speed mud spraying on the effective independent sector.

[0036] Specifically, considering that the mud flow rate decreases non-linearly over time during the pipeline delay period, using a simple average flow rate for division would lead to distortion of the residence time. Furthermore, the reciprocating sweep of the spray gun has a strict physical directionality. To achieve precise alignment between time prediction and spatial scanning, the current swing position and direction of the spray gun are used as the spatiotemporal starting point. Continuous area integration is performed along the time axis to approximate the flow rate decay curve, converting the total target spray volume into the total spray gun travel time for each effective independent sector. This accurately transforms the uncontrollable total target spray volume into the time compensation amount of the actuator. To translate the time command into the control level, the target angular velocity of the spray gun servo motor is obtained based on the total spray gun travel time. This accurately drives the spray gun to perform variable-speed mud spraying on the effective independent sectors, achieving adaptive anti-loss and drainage by accelerating across steep slopes with weak bearing capacity and decelerating for longer spraying on gentle slopes with strong bearing capacity. This effectively avoids the concentrated dumping and slippage of excess mud on local steep slopes, ensuring the uniformity of the macroscopic soil covering and the construction quality of the spraying operation.

[0037] Preferably, in one feasible embodiment, the method for obtaining the total duration of the spray gun is as follows: a time cursor is set along the time axis of the flow rate decay curve, i.e., the deceleration trigger moment is taken as the initial integration start moment; simultaneously, the target total spray volume of each effective independent sector is extracted sequentially along the current swing direction of the spray gun. For example, if the spray gun is currently swinging from left to right, it is extracted sequentially from the currently pointing effective independent sector index to the right; for the currently extracted effective independent sector, the area below the flow rate decay curve is accumulated and integrated along the time axis by the time cursor, i.e., the volume of the instantaneous flow rate decreasing monotonically with time is calculated; when the accumulated integrated area is equal to the target total spray volume of the currently extracted effective independent sector, the time span of the time cursor advance is recorded, which accurately reflects the absolute real time required to empty the target total spray volume of the currently extracted effective independent sector under the nonlinear decay characteristics of this segment, and then the above time span is taken as the total duration of the spray gun passing through the currently extracted effective independent sector; wherein, the current stopping moment of the time cursor is the integration start moment of the next effective independent sector.

[0038] Preferably, in one feasible method of this embodiment, the method of driving the spray gun to perform variable-speed mud spraying on effective independent sectors is as follows: In order to establish a spatial reference for angular velocity conversion, this embodiment first obtains the total swing amplitude of the spray gun, divides the total swing amplitude of the spray gun by the total number of independent sectors, and obtains the preset span angle of each independent sector, that is, the fixed geometric angle corresponding to each independent sector; in order to convert the time command into the motor speed control command, for any effective independent sector, the preset span angle is divided by the total spray gun passage time of the effective independent sector to obtain the target angular velocity of the spray gun servo motor corresponding to the effective independent sector. This accurately reflects that since the steep slope sector only needs to spray a very small amount of basic volume, the time for integrally squeezing out this part of the volume under the extremely high flow rate state in the early stage of hysteresis is very short. At this time, the target angular velocity will increase significantly to achieve accelerated passing; conversely, for the gentle slope sector with a large amount of compensation mud and a long integration time (i.e., a long total spray gun passage time), the target angular velocity is smaller (i.e., the slower it rotates). Considering that in some extremely steep slope sectors, no additional dwell time is allocated and the total elapsed time calculated at the beginning of integration is extremely short, the calculated target angular velocity may spike instantaneously. To prevent physical failure of the motor due to overshoot and overload, this embodiment sets a preset limit angular velocity threshold as the maximum safe speed of the spray gun servo motor specified in the hardware manual, ensuring the safety of hardware operation. Implementers can set the preset limit angular velocity threshold according to the performance parameters of the spray gun servo motor, which is not limited here. When the target angular velocity is greater than the preset limit angular velocity threshold, it indicates that there is a risk of out-of-bounds command. In order to protect the drive mechanism, the preset limit angular velocity threshold is used as the actual issued angular velocity, forcibly clamping it within the safe range. When the target angular velocity is less than or equal to the preset limit angular velocity threshold, it indicates that the command is in the safe range, and the target angular velocity is used as the actual issued angular velocity. Furthermore, to eliminate mechanical vibrations and current surges caused by excessively large spans between adjacent effective independent sector commands, a smoothing filter function (such as an S-shaped acceleration / deceleration ramp function) is inserted between the angular velocity commands for adjacent effective independent sectors sent to the spray gun servo motor. This limits the rate of change of adjacent angular velocities to a preset upper limit, ensuring a smooth transition in the spray gun's oscillation motion and driving the spray gun to perform variable-speed mud spraying. In this embodiment, the preset upper limit of the rate of change is set to a preset limit angular velocity threshold. To ensure that the spray gun servo motor can complete the speed switching under safe acceleration, the implementer can set the upper limit of the preset rate of change according to the maximum transient current bearing capacity of the spray gun servo motor driver, which is not limited here.

[0039] In summary, this embodiment obtains the calibrated pipeline delay time and the initial containment thickness of the dynamically scanned independent sector ahead; when the vehicle deceleration triggers the threshold, it predicts the pipeline flow rate decay curve and calculates the excess mud volume; it uses deceleration and flow rate decrease rate to penalize and reduce the initial containment thickness of the effective sector and deduct the foundation construction thickness to obtain the acceptance margin ratio to separate the supplementary mud volume, and then combines the sliding consumption to obtain the target total spray volume of each sector; finally, starting from the current swing state of the spray gun, it performs area integration along the time axis on the flow rate decay curve, converts the total volume into the total time the spray gun travels, and controls the target angular velocity of the motor to perform variable speed spraying. This invention transforms fluid hysteresis error into spatial non-uniform velocity distribution, effectively avoiding mud slippage and loss, and ensuring the uniformity of the cover soil.

[0040] Example 2: This invention also proposes a uniform spraying control system during the hydroseeding operation process; please refer to [link / reference]. Figure 2 The diagram illustrates a uniform spraying control system for a spraying operation provided by an embodiment of the present invention. The system includes: a data acquisition module 10, an excess mud volume acquisition module 20, a target total spray volume acquisition module 30, and a mud spraying control module 40.

[0041] The data acquisition module 10 is used to acquire the pipeline delay time of the spraying operation vehicle based on the shutdown pressure relief test calibration, and to dynamically scan and extract the initial containment thickness of multiple independent sectors ahead during the journey.

[0042] The excess mud volume acquisition module 20 is used to predict the flow decay curve within the pipeline delay time based on the historical flow sequence when the deceleration of the spraying operation vehicle triggers the preset deceleration threshold; and to acquire the excess mud volume based on the difference between the mud outflow volume corresponding to the flow decay curve and the forward theoretical mud volume calculated based on the current vehicle speed.

[0043] The target total injection volume acquisition module 30 is used to penalize and reduce the initial containment thickness of the remaining effective independent sectors by using the flow rate decrease rate of the deceleration and flow decay curves, while deducting the foundation construction thickness, to obtain the containment margin ratio of each effective independent sector, thereby splitting the excess mud volume into the supplementary mud volume of each effective independent sector; based on the forward theoretical mud volume and the supplementary mud volume, the target total injection volume of each effective independent sector is obtained.

[0044] The mud spraying control module 40 is used to approximate the flow rate decay curve by continuous area integration along the time axis with the current swing position and direction of the spray gun as the spatiotemporal starting point, and convert the total target spray volume into the total spraying time of each effective independent sector; based on the total spraying time, the target angular velocity of the spray gun servo motor is obtained, and the spray gun is driven to perform variable speed mud spraying on the effective independent sector.

[0045] It should be noted that the system provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the computer equipment can be divided into different functional modules to complete all or part of the functions described above. In addition, the uniform spraying control system and the uniform spraying control method provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0046] Example 3: This invention also proposes a uniform spraying control device for a hydroseeding operation. The device includes a memory and a processor. The memory stores executable program code, and the processor calls and executes the executable program code to perform a uniform spraying control method for a hydroseeding operation provided in the embodiments of this application. Specifically, the device may be a chip, component, or module. The chip may include a connected processor and memory; the memory stores instructions, and when the processor calls and executes the instructions, the chip can perform the uniform spraying control method for a hydroseeding operation provided in the above embodiments.

[0047] In addition, this embodiment also protects a computer device; please refer to [link to relevant documentation]. Figure 3 The computer device includes a memory 401, a processor 402, and a computer program 403 stored in the memory 401 and running on the processor 402. When the processor 402 executes the computer program 403, the computer device can perform any of the uniform spraying control methods described above in the spraying operation process.

[0048] Example 4: The present invention also provides a computer-readable storage medium storing computer program code, which, when executed on a computer, causes the computer to perform the aforementioned method steps to implement a uniform spraying control method in the spraying operation process provided in the above embodiments.

[0049] It should be noted that the order of the above embodiments is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired result.

Claims

1. A method for controlling uniform spraying during a hydroseeding operation, characterized in that, The method includes the following steps: The pipeline delay time of the spraying vehicle calibrated based on the shutdown pressure relief test was obtained, and the initial containment thickness of multiple independent sectors ahead was extracted by dynamic scanning during the journey. When the deceleration of the spraying vehicle triggers the preset deceleration threshold, the flow decay curve within the pipeline delay time is predicted based on the historical flow sequence; the excess mud volume is obtained based on the difference between the mud outflow volume corresponding to the flow decay curve and the forward theoretical mud volume calculated based on the current vehicle speed. By using the flow rate decrease rate of the deceleration and flow decay curves, the initial containment thickness of the remaining effective independent sector is penalized and reduced, while the foundation construction thickness is deducted to obtain the containment margin ratio of each effective independent sector, thereby splitting the excess mud volume into the supplementary mud volume of each effective independent sector; based on the forward-moving theoretical mud volume and the supplementary mud volume, the target total injection volume of each effective independent sector is obtained. Taking the current swing position and direction of the spray gun as the spatiotemporal starting point, the flow rate decay curve is approximated by continuous area integration along the time axis, and the total volume of the target spray is converted into the total time of the spray gun passing through each effective independent sector. Based on the total time of the spray gun passing through, the target angular velocity of the spray gun servo motor is obtained, and the spray gun is driven to perform variable speed mud spraying on the effective independent sector.

2. The method for controlling uniform spraying during a hydroseeding operation as described in claim 1, characterized in that, The method for obtaining the flow attenuation curve is as follows: The moment when the deceleration of the spraying vehicle triggers a preset deceleration threshold is taken as the deceleration trigger moment; The historical flow sequence captured at the moment of deceleration triggering and the frequency reduction of the mud pump inverter corresponding to the moment of deceleration triggering are used as input terms of an autoregressive integrated moving average model with exogenous variables to deduce a series of discrete flow values ​​within the pipeline delay time, thereby generating a flow decay curve.

3. The method for controlling uniform spraying during a hydroseeding operation as described in claim 1, characterized in that, The method for obtaining the excess mud volume is as follows: The flow rate decay curve within the pipeline delay time is numerically integrated and accumulated to obtain the mud outflow volume. Calculate the theoretical braking time of the spraying vehicle based on the absolute values ​​of the current speed and deceleration. Based on the relationship between the theoretical braking time and the pipeline delay time, and combined with the current vehicle speed, the absolute value of deceleration and the pipeline delay time, the forward sliding distance of the spraying operation vehicle is calculated. Multiply the forward sliding distance, the preset single sweep coverage width of the spraying vehicle, and the foundation construction thickness to obtain the theoretical reference mud volume for forward movement; The minimum value between the forward-moving theoretical reference mud volume and the mud outflow volume is taken as the forward-moving theoretical mud volume; The difference between the outflow volume of mud and the forward theoretical volume of mud is input into the ReLU function, which outputs the excess volume of mud.

4. The method for controlling uniform spraying during a hydroseeding operation as described in claim 1, characterized in that, The method for obtaining the acceptance margin ratio is as follows: Based on deceleration and flow rate decrease, a joint penalty weight for severe operating conditions is obtained; the joint penalty weight for severe operating conditions is positively correlated with deceleration; and the joint penalty weight for severe operating conditions is negatively correlated with flow rate decrease. For any valid independent sector, the initial capacity thickness of the valid independent sector is reduced by division penalty using the joint penalty weight of severe operating conditions, and the dynamic capacity thickness of the valid independent sector is obtained. The difference between the dynamic containment thickness and the foundation construction thickness is input into the ReLU function to output the containment margin of the effective independent sector; When the total acceptance margin of all valid independent sectors is greater than zero, divide the acceptance margin of each valid independent sector by the total acceptance margin of all valid independent sectors to obtain the acceptance margin ratio of each valid independent sector. When the sum of the acceptance margins of all valid independent sectors is equal to zero, the acceptance margin ratios of each valid independent sector are assigned equally.

5. The method for controlling uniform spraying during a hydroseeding operation as described in claim 1, characterized in that, The method for obtaining the total volume of the target jet is as follows: Divide the forward-shifted theoretical mud volume by the number of currently remaining effective independent sectors to obtain the basic mud volume that each effective independent sector should have. The target total jet volume for each effective independent sector is obtained by adding the base mud volume to the supplementary mud volume for each effective independent sector.

6. The method for controlling uniform spraying during a hydroseeding operation as described in claim 1, characterized in that, The method for obtaining the total duration of the spray gun is as follows: A time cursor is set along the time axis of the flow decay curve, and the total target spray volume of each effective independent sector is extracted sequentially along the current swing direction of the spray gun. For the currently extracted valid independent sectors, the area under the flow decay curve is accumulated and integrated along the time axis using a time cursor; When the accumulated integral area equals the total volume of the target jet of the currently extracted effective independent sector, record the time span of the time cursor advance; The time span is taken as the total time the spray gun has traversed the currently extracted valid independent sector; where the current stop time of the time cursor is the integration start time of the next valid independent sector.

7. The method for controlling uniform spraying during a hydroseeding operation as described in claim 1, characterized in that, The method for driving the spray gun to perform variable-speed mud spraying on effective independent sectors is as follows: (This is based on obtaining the target angular velocity of the spray gun servo motor according to the total spray gun travel time.) Obtain the total swing amplitude of the spray gun, divide the total swing amplitude of the spray gun by the total number of independent sectors, and obtain the preset span angle of each independent sector; For any valid independent sector, the target angular velocity of the spray gun servo motor corresponding to the valid independent sector is obtained by dividing the preset span angle by the total time the spray gun passes through the valid independent sector. When the target angular velocity is greater than the preset limit angular velocity threshold, the preset limit angular velocity threshold will be used as the actual angular velocity sent. When the target angular velocity is less than or equal to the preset limit angular velocity threshold, the target angular velocity is taken as the actual angular velocity sent. A smoothing filter function is inserted between the angular velocity commands sent to the spray gun servo motor for adjacent effective independent sectors to limit the rate of change of adjacent angular velocities to no more than a preset upper limit of the rate of change, thereby driving the spray gun to perform variable speed mud spraying.

8. The method for controlling uniform spraying during a hydroseeding operation as described in claim 1, characterized in that, The method for obtaining the effective independent sectors is as follows: Obtain the effective point cloud set in front of the field of view, divide the effective point cloud set into multiple independent sectors according to the horizontal view, extract the shortest distance of each independent sector from the front of the spraying vehicle, and combine the vehicle length to obtain the position reference distance of each independent sector relative to the rear spray gun. Obtain the forward sliding distance of the spraying vehicle during the deceleration period as a reference distance for driving; Independent sectors whose position reference distance is less than the sum of the driving reference distance and the spray gun blind spot distance are marked as driven invalid sectors. Drive invalid sectors are removed, and the remaining independent sectors are treated as valid independent sectors.

9. The method for controlling uniform spraying during a hydroseeding operation as described in claim 1, characterized in that, The method for obtaining the initial accommodative thickness is as follows: For any independent sector, obtain the height difference between the highest and lowest distance measuring points in the vertical profile of that independent sector and the difference in the horizontal projection distance, and use them as the height difference and the horizontal difference respectively. The terrain dip angle of this independent sector is obtained based on the height difference, horizontal difference, and arctangent function; The initial containment thickness of the independent sector can be obtained by querying the mud adhesion mapping table using the terrain slope angle.

10. A uniform spraying control device during a hydroseeding operation, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the uniform spraying control method in the spraying operation process described in any one of claims 1-9.

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