Self-propelled boom sprayer method and system for uniform spray application around curves

Abstract

The application provides a self-propelled spray boom sprayer curve uniform spraying method and system, wherein the self-propelled spray boom sprayer curve uniform spraying method comprises the following steps: setting initial parameters and starting pesticide application operation; obtaining structure parameters, chassis parameters, turning angle parameters and wheel speed parameters; wherein the structure parameters comprise the chassis parameters; calculating a driving turning radius and an angular velocity according to the initial parameters, the chassis parameters, the turning angle parameters and the wheel speed parameters; calculating an actual required flow of each spray head according to the structure parameters, the driving turning radius and the angular velocity; fitting a straight line according to the flow-duty cycle of the spray head to obtain a duty cycle of each spray head; and adjusting the flow of the spray head according to the duty cycle. The application can improve spraying uniformity.

Description

Technical Field

[0001] This invention relates to the field of uniform spraying technology for plant protection, and in particular to a method and system for uniform spraying on a curved track using a self-propelled boom sprayer. Background Technology

[0002] With the increasing size of self-propelled boom sprayers in my country, the problem of uniform pesticide application during curves has become increasingly prominent. Currently, domestic speed-dependent variable spraying systems primarily adjust the total spray flow based on the travel speed of the self-propelled boom sprayer to achieve uniform pesticide application at different operating speeds. However, during curves, the inner and outer sides of the boom travel at different speeds, making it impossible to achieve consistent pesticide application by adjusting the total spray flow. Speed-dependent variable spraying systems are unsuitable, hindering the development of larger self-propelled boom sprayers. International researchers have used GPS technology to monitor the real-time travel status of self-propelled boom sprayers, compensating for the different flow rates of the electro-proportional nozzles on the inner and outer sides during curves, thus achieving consistent pesticide application and promoting the development of uniform curve spraying technology for self-propelled boom sprayers. However, GPS-based curve spraying methods for self-propelled boom sprayers have high requirements for the operating environment and satellite signal receiving equipment. When there are obstructions such as mountains or trees near the work site, unstable satellite signal reception will prevent the self-propelled boom sprayer from spraying evenly on curves, and may even lead to more serious uneven application of pesticides; when the performance of the satellite signal receiving equipment is low, the effect of the curve uniform spraying system is not significant. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a method and system for uniform spraying on curved sections of a self-propelled boom sprayer, which can improve spray uniformity.

[0004] This invention provides a method for uniform spraying on a curved path using a self-propelled boom sprayer, comprising:

[0005] Set initial parameters and begin application;

[0006] Obtain structural parameters, steering angle parameters, and wheel speed parameters; wherein, the structural parameters include chassis parameters;

[0007] The driving turning radius and angular velocity are calculated based on the initial parameters, chassis parameters, steering angle parameters, and wheel speed parameters.

[0008] Based on the structural parameters, the driving turning radius, and the angular velocity, the actual required flow rate for each nozzle is calculated.

[0009] The duty cycle of each nozzle is obtained by fitting a straight line based on the flow rate and duty cycle of the nozzle.

[0010] Adjust the nozzle flow rate according to the duty cycle.

[0011] Furthermore, the chassis parameters include: rear wheel track and vertical distance between the front and rear axles; the initial parameters include a cornering compensation threshold.

[0012] The driving turning radius and the angular velocity are calculated based on the chassis parameters, the steering angle parameters, and the wheel speed parameters, specifically including:

[0013] When |θ|≤e, ω=0;

[0014] When |θ|>e, ω=Vr / Rr;

[0015] Rc = Rr + L / 2;

[0016] Specifically, Rr is calculated using the following formula:

[0017] Rr = h / tanθ;

[0018] In the formula, θ represents the turning angle parameter in rad; Vr represents the wheel speed parameter in km / h; L represents the rear wheel track in m; h represents the vertical distance between the front and rear axles in m; and e represents the curve compensation threshold.

[0019] Furthermore, the initial parameters include the target application rate and the nozzle spacing; the structural parameters also include the spray bar parameters, specifically the nozzle number and nozzle position.

[0020] Based on the structural parameters, the turning radius, and the angular velocity, the actual required flow rate for each nozzle is calculated, specifically including:

[0021] qk=0.006Qdω(Rc+(nc-k)d)

[0022] Wherein, qk represents the actual required flow rate; Q represents the target application rate, L / ha; d represents the nozzle spacing, m; ω represents the angular velocity, rad / s; Rc represents the driving turning radius, m; k represents the kth nozzle number from left to right; and nc represents the nozzle number located at the center of the spray bar.

[0023] Furthermore, based on the flow rate-duty cycle fitting line of the nozzle, the duty cycle of each nozzle is obtained, specifically including:

[0024] When qk > 0, zk = (qk - b) / a;

[0025] When qk≤0, zk=0;

[0026] In the formula, zk represents the duty cycle; qk represents the actual required flow rate; a represents the slope of the flow rate-duty cycle fitting line; and b represents the intercept of the flow rate-duty cycle fitting line.

[0027] Another aspect of the present invention provides a self-propelled boom sprayer curved uniform spraying system, comprising:

[0028] The human-computer interaction module is used to realize human-computer interaction and obtain the set initial parameters;

[0029] The data acquisition and processing module acquires structural parameters, chassis parameters, steering angle parameters, and wheel speed parameters; calculates the driving turning radius and angular velocity based on the initial parameters, chassis parameters, steering angle parameters, and wheel speed parameters; calculates the actual required flow rate for each nozzle based on the structural parameters, driving turning radius, and angular velocity; and obtains the duty cycle for each nozzle by fitting a straight line based on the nozzle's flow rate and duty cycle.

[0030] The spray control module adjusts the nozzle flow rate according to the set initial parameters and the duty cycle.

[0031] The resource scheduling module is used to automatically allocate the human-machine interaction module, the data acquisition and processing module, and the spray control module to execute the spraying process according to the above-mentioned method of uniform spraying on the curve of the self-propelled boom sprayer.

[0032] In another aspect, the present invention provides a self-propelled boom sprayer, equipped with the above-mentioned self-propelled boom sprayer curved uniform spraying system, comprising:

[0033] main body;

[0034] The spray bar, nozzle, right front wheel, and right rear wheel are mounted on the main body; wherein,

[0035] The right front wheel is equipped with a steering angle sensor, which is used to collect steering angle parameters;

[0036] The right rear wheel is equipped with a wheel speed sensor, which is used to collect wheel speed parameters.

[0037] Furthermore, the self-propelled boom sprayer also includes: a driver's cab, an on-board controller installed at the center of the boom, a spray control module installed on the boom, and a human-machine interface installed in the driver's cab;

[0038] The cornering sensor, the wheel speed sensor, and the human-machine interface are connected to the vehicle controller; the vehicle controller is equipped with the aforementioned self-propelled boom sprayer curve uniform spraying system.

[0039] Initial parameters are set through the human-computer interaction interface.

[0040] In another aspect, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described method for uniform spraying on a curved path of a self-propelled boom sprayer.

[0041] In another aspect, the present invention provides a computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the above-described method for uniform spraying on a curved path using a self-propelled boom sprayer.

[0042] In another aspect, the present invention provides a computer program product, wherein the computer program product stores a program or instructions, which, when executed by a processor, implement the above-described method for uniform spraying on a curved path of a self-propelled boom sprayer.

[0043] As can be seen from the above solutions, the advantages of the present invention are:

[0044] The spraying process begins with pre-set initial parameters. Based on these parameters, along with acquired chassis, turning angle, and wheel speed parameters, the driving radius and angular velocity are calculated. Using structural parameters and the calculated turning radius and angular velocity, the actual required flow rate for each nozzle is calculated. A straight line is fitted to the flow rate and duty cycle of each nozzle to obtain its duty cycle. The nozzle flow rate is then adjusted according to the duty cycle to ensure uniform spraying. This system ensures that the nozzles not only spray based on pre-set initial parameters but also acquire real-time data such as turning angle and wheel speed parameters during spraying. The duty cycle is calculated step-by-step based on this real-time data, guaranteeing the real-time accuracy of nozzle flow rate adjustments, improving spray uniformity, and achieving uniform spraying across the entire field using a self-propelled boom sprayer. Attached Figure Description

[0045] Figure 1 A schematic diagram of the process for uniform spraying on a curved path using a self-propelled boom sprayer provided by the present invention.

[0046] Figure 2 A schematic diagram of a method for uniform spraying using a curved path with another self-propelled boom sprayer;

[0047] Figure 3 A schematic diagram of a self-propelled boom sprayer for uniform spraying on a curved track;

[0048] Figure 4 This is a schematic diagram of a self-propelled boom sprayer system for uniform spraying on a curved track.

[0049] Figure 5 This is a schematic diagram of a curved uniform spraying system for another self-propelled boom sprayer.

[0050] Figure 6 This is a schematic diagram of a self-propelled boom sprayer.

[0051] Figure 7 This is a schematic diagram of another self-propelled boom sprayer;

[0052] Figure 8 This is a schematic diagram of the software structure of a self-propelled boom sprayer curved uniform spraying system.

[0053] In the attached figures, the following labels are used:

[0054] 10-Self-propelled boom sprayer with curved track uniform spraying system;

[0055] 11-Human-computer interaction module;

[0056] 12-Data Acquisition and Processing Module;

[0057] 13-Spray control module;

[0058] 14-Resource Scheduling Module;

[0059] 21-Main Body;

[0060] 22-Spray boom;

[0061] 23-Sprayer head;

[0062] 24 - Right front wheel;

[0063] 25 - Right rear wheel;

[0064] 26 - Angle sensor;

[0065] 27 - Wheel speed sensor;

[0066] 28-Driver's cab;

[0067] 29-Vehicle controller;

[0068] 210 - Human-computer interaction interface. Detailed Implementation

[0069] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments to further understand the purpose, solution and effect of the present invention, but it is not intended to limit the scope of protection of the appended claims.

[0070] References to "embodiment," "another embodiment," "this embodiment," etc., in the specification refer to embodiments that may include specific features, structures, or characteristics, but not every embodiment must include these specific features, structures, or characteristics. Furthermore, such expressions do not refer to the same embodiment. Moreover, when describing specific features, structures, or characteristics in conjunction with embodiments, whether or not explicitly described, it is indicated that incorporating such features, structures, or characteristics into other embodiments is within the knowledge of those skilled in the art.

[0071] The specification and subsequent claims use certain terms to refer to specific components or parts. Those skilled in the art will understand that users or manufacturers may use different names or terms to refer to the same component or part. This specification and claims do not distinguish components or parts by differences in name, but rather by differences in function. The terms "comprising" and "including" used throughout the specification and claims are open-ended and should be interpreted as "including but not limited to". Furthermore, the term "connection" here includes any direct and indirect electrical connection means. Indirect electrical connection means include connections via other means.

[0072] Figures 1 to 3 The self-propelled boom sprayer's curved path uniform spraying method provided in this embodiment is as follows: Figure 1 As shown, the method for uniform spraying using a self-propelled boom sprayer with curved sections includes:

[0073] S1: Set initial parameters and begin application;

[0074] S2: Obtain structural parameters, steering angle parameters, and wheel speed parameters; among which, structural parameters include chassis parameters;

[0075] S3: The driving turning radius and angular velocity are calculated based on the initial parameters, chassis parameters, steering angle parameters, and wheel speed parameters;

[0076] S4: Calculate the actual required flow rate for each nozzle 23 based on structural parameters, turning radius, and angular velocity;

[0077] S5: Obtain the duty cycle of each nozzle 23 by fitting a straight line based on the flow rate-duty cycle of the nozzle 23;

[0078] S6: Adjust the flow rate of nozzle 23 according to the duty cycle.

[0079] The spraying process begins with pre-set initial parameters. Based on these initial parameters and acquired chassis, turning angle, and wheel speed parameters, the driving radius and angular velocity are calculated. Using structural parameters and the calculated turning radius and angular velocity, the actual required flow rate for each nozzle 23 is further calculated. A straight line is fitted to the flow rate and duty cycle of each nozzle 23 to obtain its duty cycle. The flow rate of the nozzle 23 is adjusted according to the duty cycle to ensure uniform spraying. This system ensures that the nozzles 23 not only spray according to the pre-set initial parameters but also acquire real-time data such as turning angle and wheel speed parameters during spraying. The duty cycle is calculated step-by-step based on this real-time data, guaranteeing the real-time and accurate adjustment of the nozzle flow rate, improving spray uniformity, and achieving uniform spraying across the entire field using a self-propelled boom sprayer.

[0080] In one embodiment, the initial parameters include parameters such as the curve application compensation threshold e, the nozzle spacing d, and the target application rate Q.

[0081] In one embodiment, the chassis parameters include: rear wheel track and vertical distance between the front and rear axles; initial parameters include a cornering compensation threshold; the driving turning radius and angular velocity are calculated based on the chassis parameters, steering angle parameters, and wheel speed parameters, specifically including:

[0082] When |θ|≤e, ω=0;

[0083] When |θ|>e, ω=Vr / Rr;

[0084] Rc = Rr + L / 2;

[0085] Specifically, Rr is calculated using the following formula:

[0086] Rr = h / tanθ;

[0087] In the formula, θ represents the steering angle parameter in rad; Vr represents the wheel speed parameter in km / h; L represents the rear wheel track in m; h represents the vertical distance between the front and rear axles in m; and e represents the curve compensation threshold.

[0088] In one embodiment, the values ​​of the angle sensor 26 (angle parameter θ) and the wheel speed sensor 27 (wheel speed parameter Vr) are collected in real time. Based on the Ackermann steering principle and combined with the chassis parameters of the self-propelled boom sprayer, the turning radius Rc and angular velocity ω of the self-propelled boom sprayer are calculated.

[0089] In one embodiment, the turning angle parameter θ is obtained from the real-time collected value of the turning angle sensor 26 (right turn when θ>0; left turn when θ<0); Vr is the real-time collected value of the wheel speed sensor 27, i.e., the wheel speed parameter; L is the rear wheel track of the self-propelled boom sprayer, h is the vertical distance between the front and rear axles of the self-propelled boom sprayer, in meters; e is the curve application compensation threshold, which can be set according to actual operation requirements.

[0090] In one embodiment, the initial parameters include the target dosage and the nozzle spacing; the structural parameters also include the spray bar parameters, which specifically include the nozzle number and the nozzle position.

[0091] Based on structural parameters, turning radius, and angular velocity, the actual required flow rate for each nozzle 23 is calculated, specifically including:

[0092] qk=0.006Qdω(Rc+(nc-k)d)

[0093] Where qk represents the actual required flow rate; Q represents the target application rate, L / ha; d represents the nozzle spacing, m; ω represents the angular velocity, rad / s; Rc represents the turning radius, m; k represents the number of the kth nozzle 23 from left to right, which is the nozzle position; nc represents the number of the nozzle 23 located at the center of the spray bar 22, which is the nozzle number.

[0094] In one embodiment, based on the self-propelled boom sprayer's turning radius Rc and angular velocity ω, and combined with rigid body kinematics and geometric relationships, and the structural parameters of the boom 22, the actual required flow rate qk for each nozzle 23 is calculated.

[0095] In one embodiment, the nozzle 23 is an electro-proportional nozzle. Based on the flow rate-duty cycle fitting line of the electro-proportional nozzle, the duty cycle zk is sent to each electro-proportional nozzle to adjust the flow rate and achieve consistent pesticide application across the entire plot.

[0096] In one embodiment, the flow-duty cycle fitting line represents the flow control characteristics of nozzles with different electro-proportional ratios. This is typically built into the controller during production. If the user does not use the original equipment, they need to measure it themselves and then change the flow-duty cycle fitting line parameters through the human-machine interface. Measurement method: Under set spray pressure and PWM frequency, measure the flow rate corresponding to different duty cycles, and then perform linear fitting to obtain the control curve, i.e., the flow-duty cycle fitting line. Flow rate = slope of the line × duty cycle + intercept of the line, thus allowing the duty cycle to be calculated based on the required flow rate.

[0097] In one embodiment, the duty cycle of each nozzle 23 is obtained by fitting a straight line based on the flow rate-duty cycle of the nozzle 23, specifically including:

[0098] When qk > 0, zk = (qk - b) / a;

[0099] When qk≤0, zk=0;

[0100] In the formula, zk represents the duty cycle; qk represents the actual required flow rate; a represents the slope of the flow rate-duty cycle fitting line; and b represents the intercept of the flow rate-duty cycle fitting line.

[0101] In one embodiment, such as Figure 2 As shown, the process of uniform spraying on curves using a self-propelled boom sprayer includes: first, setting parameters such as chassis parameters, boom 22 parameters, and operating parameters; starting the uniform spraying system on curves, beginning the spraying operation, and collecting the values ​​θ from the angle sensor 26 and Vr from the wheel speed sensor 27 in real time.

[0102] If |θ|>e, perform the following calculations:

[0103] Rr=h / tanθ; ω=Vr / Rr; Rc=Rr+L / 2;

[0104] qk=0.006Qdω(Rc+(nc-k)d);

[0105] If qk > 0, then zk = (qk - b) / a;

[0106] If qk is not greater than 0, then zk = 0;

[0107] If |θ| is not greater than e, then:

[0108] ω=0, self-propelled boom sprayer travels in a straight line

[0109] qk=QdVr / 600

[0110] zk=(qk-b) / a. It should be noted that the job parameters include the initial parameters.

[0111] In one embodiment, such as Figure 3 As shown, θ is the steering angle parameter, which is the driving steering angle measured by the steering angle sensor 26 installed on the right front wheel 24 of the self-propelled boom sprayer, and Vr is the wheel speed parameter, which is the driving speed measured by the wheel speed sensor 27 installed on the right rear wheel 25 of the self-propelled boom sprayer.

[0112] In one embodiment, such as Figure 4 , Figure 5 As shown, a self-propelled boom sprayer curved uniform spraying system 10 is also provided, comprising:

[0113] Human-computer interaction module 11 is used to realize human-computer interaction and obtain the set initial parameters;

[0114] The data acquisition and processing module 12 acquires structural parameters, chassis parameters, steering angle parameters, and wheel speed parameters; calculates the driving turning radius and angular velocity based on the initial parameters, chassis parameters, steering angle parameters, and wheel speed parameters; calculates the actual required flow rate of each nozzle 23 based on the structural parameters, driving turning radius, and angular velocity; and obtains the duty cycle of each nozzle 23 by fitting a straight line based on the flow rate-duty cycle of the nozzle 23.

[0115] The spray control module 13 adjusts the flow rate of the nozzle 23 according to the set initial parameters and duty cycle;

[0116] The resource scheduling module 14 is used to automatically allocate the human-machine interaction module 11, the data acquisition and processing module 12, and the spray control module 13 to execute the spraying process according to the above-mentioned self-propelled boom sprayer curved uniform spraying method.

[0117] In one embodiment, the human-machine interaction module 11 is used to realize human-machine interaction, obtain set parameters such as the curve application compensation threshold e, nozzle spacing d, and target application amount Q of the self-propelled boom sprayer, visualize application uniformity and nozzle flow rate, and start / stop operation.

[0118] In one embodiment, the nozzle spacing d, the center nozzle number nc, the rear wheel track L, and the vertical distance h between the front and rear axles are structural parameters of the self-propelled boom sprayer itself. Users obtain these structural parameters and input them, thus enabling the self-propelled boom sprayer curve uniform spraying system 10 to be applied to different models of self-propelled boom sprayers. The curve spraying compensation threshold e actually prevents the measured steering angle from oscillating near 0 due to measurement errors by the angle sensor 26, which would worsen system stability and affect the normal operation of flow control equipment such as the electro-proportional nozzles. Additionally, it allows for slight steering wheel movements. The deflection setting is designed to align with driving characteristics, meaning the self-propelled boom sprayer continuously corrects its steering angle left and right during operation to maintain straight-line travel. The primary setting is based on the steering angle measurement resolution. When using a high-precision steering angle sensor, this value can be set relatively low – essentially equivalent to the sensor's graduation value. A secondary setting is based on user needs; this value can be increased appropriately when application accuracy requirements are not high. The curve application compensation threshold e and target application rate Q are application operation parameters set by the user based on farmland application needs, i.e., how many liters of pesticide solution are needed per hectare, i.e., the target application rate.

[0119] In one embodiment, the data acquisition and processing module 12 is used to call the mathematical model of the actual required flow rate of the nozzle 23 based on the rotation angle parameter and the wheel speed parameter to calculate the target duty cycle zk of the electro-proportional nozzle.

[0120] In one embodiment, the spray control module 13 stabilizes the spray pressure and controls the flow rate of the electro-proportional nozzle according to the set operating parameters.

[0121] In one embodiment, the resource scheduling module 14 is used to allocate system resources such as image resources, input / output control, and memory management, and automatically allocate the module to execute the spraying process according to the steps of the curve uniform spraying method.

[0122] In one embodiment, the method and system of the present invention establish a mathematical model of the actual required flow rate of the nozzle 23 when the self-propelled boom sprayer is operating on a curve based on the Ackermann steering principle. It gives full play to the advantages of the sensor's good real-time performance and the independent controllable flow rate of the electro-proportional nozzle, solves the problem of uneven pesticide application when the self-propelled boom sprayer is operating on a curve, and realizes uniform pesticide application operation of the self-propelled boom sprayer across the entire field.

[0123] This system embodiment can be implemented in conjunction with the implementation methods described above. The relevant technical details mentioned in the implementation methods of the following embodiments remain valid in the implementation methods of this system embodiment, and will not be repeated here to avoid repetition.

[0124] In one embodiment, such as Figure 6 , Figure 7 The diagram also shows a self-propelled boom sprayer equipped with the aforementioned self-propelled boom sprayer curved uniform spraying system 10, comprising:

[0125] Main body 21;

[0126] The spray boom 22, nozzle 23, right front wheel 24, and right rear wheel 25 are installed on the main body 21; among them...

[0127] The right front wheel 24 is equipped with a steering angle sensor 26, which is used to collect steering angle parameters;

[0128] The right rear wheel 25 is equipped with a wheel speed sensor 27, which is used to collect wheel speed parameters.

[0129] In one embodiment, the data acquisition and processing module 12 is used to calculate the target duty cycle zk of the electric proportional nozzle by calling the mathematical model of the actual required flow rate of the nozzle based on the data collected by sensors such as the angle sensor 26 and the wheel speed sensor 27.

[0130] In one embodiment, the chassis parameters include: rear wheel track and vertical distance between the front and rear axles; initial parameters include a cornering compensation threshold; the driving turning radius and angular velocity are calculated based on the chassis parameters, steering angle parameters, and wheel speed parameters, specifically including:

[0131] When |θ|≤e, ω=0; the self-propelled boom sprayer travels in a straight line;

[0132] When |θ|>e, ω=Vr / Rr;

[0133] Rc = Rr + L / 2;

[0134] Specifically, Rr is calculated using the following formula:

[0135] Rr = h / tanθ;

[0136] In the formula, θ represents the steering angle parameter in rad; Vr represents the wheel speed parameter in km / h; L represents the rear wheel track in m; h represents the vertical distance between the front and rear axles in m; and e represents the curve compensation threshold.

[0137] In one embodiment, the self-propelled boom sprayer further includes: a cab 28, an on-board controller 29 installed at the center of the boom 22, a spray control module 13 installed on the boom 22, and a human-machine interface 210 installed in the cab 28; an angle sensor 26, a wheel speed sensor 27, and the human-machine interface 210 are connected to the on-board controller 29; the on-board controller 29 is equipped with the aforementioned self-propelled boom sprayer curve uniform spraying system 10; initial parameters are set through the human-machine interface 210.

[0138] In one embodiment, parameters such as the curve application compensation threshold e, nozzle spacing d, and target application rate Q of the self-propelled boom sprayer are set via the human-machine interface 210. Clicking the "Start Operation" button on the human-machine interface 210 initiates the application operation.

[0139] In one embodiment, the self-propelled boom sprayer can adopt control methods such as user-side control, user-remote control, and unmanned control. User-side control can be achieved through methods such as indoor control from the driver's cab 28 or drone control. Specifically, drone control uses a drone as the control device. User-remote control can be achieved through methods such as near-orbit satellite.

[0140] In one embodiment, an electric unmanned device is also provided, which is equipped with the above-mentioned self-propelled boom sprayer curved uniform spraying system 10, comprising:

[0141] Main body 21;

[0142] The spray boom 22, nozzle 23, right front wheel 24, and right rear wheel 25 are installed on the main body 21; among them...

[0143] The right front wheel 24 is equipped with a steering angle sensor 26, which is used to collect steering angle parameters;

[0144] The right rear wheel 25 is equipped with a wheel speed sensor 27, which is used to collect wheel speed parameters;

[0145] The battery unit provides power to the entire electric unmanned equipment. It enables unmanned, automatic, and uniform spraying, improving the convenience of pesticide application.

[0146] This device embodiment can be implemented in conjunction with the implementation methods described above. The relevant technical details mentioned in the implementation methods of the following embodiments remain valid in the implementation methods of this system embodiment, and will not be repeated here to avoid repetition.

[0147] In one embodiment, such as Figure 8As shown, a self-propelled boom sprayer curve uniform spraying system software is also provided. This system software was developed using Codesys 3.5 and employs a multi-threaded operation mode to handle the operation of different modules. The system software includes: a human-machine interaction module 11, used for human-machine interaction, acquiring set parameters such as the curve spraying compensation threshold e, nozzle spacing d, and target spraying amount Q, and starting / stopping the spraying program; a data acquisition and processing module 12, used to calculate the target duty cycle zk of the electro-proportional nozzle by calling the mathematical model of the actual required flow rate of the nozzle 23 based on data collected by sensors such as the angle sensor 26 and wheel speed sensor 27; a spray control module 13, used to stabilize the spray pressure and control the flow rate of the electro-proportional nozzle according to the set operating parameters; and a resource scheduling module 14, used to allocate system resources such as image resources, input / output control, and memory management, and automatically allocate the modules to execute the spraying process according to the steps of the self-propelled boom sprayer curve uniform spraying method.

[0148] This system software embodiment can be implemented in conjunction with the implementation methods described above. The relevant technical details mentioned in the implementation methods of the following embodiments remain valid in the implementation methods of this system embodiment, and will not be repeated here to avoid repetition.

[0149] In one embodiment, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the above-described method for uniform spraying on a curved path of a self-propelled boom sprayer.

[0150] In one embodiment, a computer-readable storage medium is also provided for storing a computer program that, when executed by a processor, implements the above-described method for uniform spraying on a curved path using a self-propelled boom sprayer.

[0151] In one embodiment, a computer program product is also provided, which stores a program or instructions that, when executed by a processor, implement the above-described method for uniform spraying on a curved path of a self-propelled boom sprayer.

[0152] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A method for uniform spraying on a curved path using a self-propelled boom sprayer, characterized in that, Include: The initial parameters are set through the human-computer interaction module and the pesticide application operation is started. The initial parameters include the curve pesticide application compensation threshold, the target pesticide application amount and the nozzle spacing. The data acquisition and processing module acquires structural parameters, turning angle parameters, and wheel speed parameters in real time. The structural parameters include chassis parameters and spray boom parameters. The chassis parameters include the rear wheel track and the vertical distance between the front and rear axles. The spray boom parameters specifically include the nozzle number and nozzle position. The driving turning radius and angular velocity are calculated based on the initial parameters, chassis parameters, steering angle parameters, and wheel speed parameters: When |θ|≤e, ω=0; When |θ|>e, ω=Vr / Rr; Rc = Rr + L / 2; Specifically, Rr is calculated using the following formula: Rr = h / tanθ; In the formula, θ represents the turning angle parameter, rad; Vr represents the wheel speed parameter, km / h; L represents the rear wheel track, m; h represents the vertical distance between the front and rear axles, m; e represents the cornering compensation threshold; Rc represents the driving turning radius, m; ω represents the angular velocity; Based on the structural parameters, the turning radius, and the angular velocity, the actual required flow rate for each nozzle is calculated, specifically including: qk=0.006Qdω(Rc+(nc-k)d); Wherein, qk represents the actual required flow rate; Q represents the target application rate, L / ha; d represents the nozzle spacing, m; ω represents the angular velocity, rad / s; Rc represents the driving turning radius, m; k represents the kth nozzle number from left to right; nc represents the nozzle number located at the center of the spray bar; The duty cycle of each nozzle is obtained by fitting a straight line based on the flow rate and duty cycle of the nozzle. The spray control module adjusts the nozzle flow rate according to the duty cycle. The resource scheduling module automatically allocates the human-computer interaction module, the data acquisition and processing module, and the spray control module to execute the spraying process.

2. The method for uniform spraying on a curved path using a self-propelled boom sprayer according to claim 1, characterized in that, The duty cycle of each nozzle is obtained by fitting a straight line based on the flow rate and duty cycle of the nozzle, specifically including: When qk > 0, zk = (qk - b) / a; When qk≤0, zk=0; In the formula, zk represents the duty cycle; qk represents the actual required flow rate; a represents the slope of the flow rate-duty cycle fitting line; and b represents the intercept of the flow rate-duty cycle fitting line.

3. A self-propelled boom sprayer with curved track uniform spraying system, characterized in that, include: The human-computer interaction module is used to realize human-computer interaction and obtain the set initial parameters; The data acquisition and processing module acquires structural parameters, chassis parameters, steering angle parameters, and wheel speed parameters; and calculates the driving turning radius and angular velocity based on the initial parameters, chassis parameters, steering angle parameters, and wheel speed parameters. Based on the structural parameters, the driving turning radius, and the angular velocity, the actual required flow rate for each nozzle is calculated. The duty cycle of each nozzle is obtained by fitting a straight line based on the flow rate and duty cycle of the nozzle. The spray control module adjusts the nozzle flow rate according to the set initial parameters and the duty cycle. The resource scheduling module is used to automatically allocate the human-machine interaction module, the data acquisition and processing module, and the spray control module to execute the spraying process in the self-propelled boom sprayer uniform spraying method with curves according to claim 1 or 2.

4. A self-propelled boom sprayer, characterized in that, Deploying the self-propelled boom sprayer curved uniform spraying system as described in claim 3, comprising: main body; The spray bar, nozzle, right front wheel, and right rear wheel are mounted on the main body; wherein, The right front wheel is equipped with a steering angle sensor, which is used to collect steering angle parameters; The right rear wheel is equipped with a wheel speed sensor, which is used to collect wheel speed parameters.

5. The self-propelled boom sprayer according to claim 4, characterized in that, Also includes: The driver's cab, the vehicle-mounted controller installed at the center of the spray boom, the spray control module installed on the spray boom, and the human-machine interface installed in the driver's cab; The cornering sensor, the wheel speed sensor, and the human-machine interface are connected to the vehicle controller; the vehicle controller is equipped with the aforementioned self-propelled boom sprayer curve uniform spraying system. Initial parameters are set through the human-computer interaction interface.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for uniform spraying on a curved path using a self-propelled boom sprayer as described in any one of claims 1 to 2.

7. A computer-readable storage medium, characterized in that, Used to store computer programs, which, when executed by a processor, implement the method for uniform spraying on a curved path of a self-propelled boom sprayer as described in any one of claims 1 to 2.

8. A computer program product, characterized in that, The computer program product stores a program or instruction that, when executed by a processor, implements the method for uniform spraying on a curved path of a self-propelled boom sprayer as described in any one of claims 1 to 2.

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