Spray head control method of spray machine based on positioning trajectory strip modeling

Abstract

The application provides a pesticide spraying machine nozzle control method based on positioning track strip modeling, comprising: obtaining real-time position information and heading information of the pesticide spraying machine; in the process of spraying operation of the pesticide spraying machine, track points at each historical moment are collected, a coverage strip is generated with the position of each track point as a reference and the heading direction as a strip extension direction, and each coverage strip is stored as a sprayed coverage area; the spatial position of each nozzle on the spray rod of the pesticide spraying machine is determined in real time; if the spatial position falls into any coverage strip in the sprayed coverage area, it is determined that the nozzle is currently in a re-spraying area, and the nozzle is controlled to be closed; otherwise, it is determined that the nozzle is currently in a missed spraying area, and the nozzle is controlled to be kept open, thereby realizing accurate control of re-spraying and missed spraying at the nozzle level, effectively reducing the re-spraying rate and the missed spraying rate of pesticides, and improving spraying uniformity and pesticide utilization rate.

Description

Technical Field

[0001] This invention relates to the field of pesticide spraying control technology, and in particular to a method for controlling the nozzle of a pesticide sprayer based on positioning trajectory strip modeling. Background Technology

[0002] Currently, boom sprayers are mostly operated in the field using manual experience or simple zone switch control methods. When drivers are working back and forth in the field, due to irregular plots, S-shaped or turning routes, and wide spray widths, it is difficult to promptly and accurately determine whether each nozzle of the boom has covered the previously worked area. This easily leads to: double spraying (the same plot is sprayed multiple times, resulting in pesticide waste and increased risk of phytotoxicity); and missed spraying (unsprayed areas exist between adjacent work zones, leading to uneven pest control).

[0003] Some existing GPS-assisted spraying systems only use simple trajectory lines or regular rectangular grids to determine the spraying area. They lack detailed modeling of changes in the sprayer's attitude, arbitrary curve travel, and the actual coverage strip of each nozzle in space. As a result, the system cannot accurately determine whether each nozzle has covered the historical work area, making it difficult to achieve accurate identification of respraying and missed spraying at the nozzle level. Summary of the Invention

[0004] This invention provides a sprayer nozzle control method based on positioning trajectory strip modeling, which solves the problem that it is difficult to accurately identify overspray and underspray at the nozzle level in the prior art.

[0005] This invention provides a method for controlling the nozzle of a pesticide sprayer, comprising: Obtain the real-time location and heading information of the sprayer; During the spraying operation, trajectory points at various historical moments are collected. Based on the position of each trajectory point and the heading direction, a coverage strip is generated, and each coverage strip is stored as a sprayed coverage area. The spatial position of each nozzle on the spray bar of the sprayer is determined in real time; If the spatial location falls within any coverage strip of the already sprayed coverage area, it is determined that the nozzle is currently in a respray area, and the nozzle is controlled to be turned off; otherwise, it is determined that the nozzle is currently in a missed spray area, and the nozzle is controlled to remain on.

[0006] According to a sprayer nozzle control method provided by the present invention, the generation of the coverage strip includes: A local coordinate system is constructed with the trajectory point as the origin, the heading direction as the longitudinal axis, and the direction perpendicular to the heading direction as the lateral axis. According to the preset ratio, the total spray width of the spray boom is determined to be half the width of the horizontal strip of the coverage area; Obtain the forward distance between the trajectory point and the previous and next adjacent trajectory points, and determine the longitudinal half length of the coverage strip based on the forward distance according to a preset ratio; A covering strip is constructed using the horizontal half-width and the vertical half-length.

[0007] According to the present invention, a sprayer nozzle control method is provided, wherein the longitudinal half-length is composed of the forward half-length and the backward half-length of the trajectory point; The forward half-length is related to the distance from the trajectory point to the next adjacent trajectory point, and the backward half-length is related to the distance from the trajectory point to the previous adjacent trajectory point.

[0008] According to a sprayer nozzle control method provided by the present invention, determining whether a spatial position falls within any coverage strip of the already sprayed coverage area includes: The spatial position of the nozzle is transformed to the local coordinate system corresponding to each coverage strip to obtain the longitudinal and lateral coordinates of the nozzle in each local coordinate system; Determine the longitudinal coordinate and the corresponding longitudinal half-length of the coverage strip, and the transverse coordinate and the corresponding transverse half-width of the coverage strip. If the absolute value of the longitudinal coordinate is less than or equal to the longitudinal half-length and the absolute value of the transverse coordinate is less than or equal to the transverse half-width, determine that the nozzle position falls within the coverage strip.

[0009] A sprayer nozzle control method according to the present invention further includes: The current speed of the sprayer and the distance between the spatial position of the nozzle and the edge of the coverage strip are obtained. Based on the current speed and the distance, determine the predicted time for the nozzle to enter or exit the coverage strip; The nozzle opening and closing command is issued in advance according to the predicted time to compensate for the delay in the nozzle valve body action.

[0010] According to a sprayer nozzle control method provided by the present invention, after generating the coverage strip, the method further includes: Perform curvature analysis and / or velocity analysis on the trajectory points, and mark the trajectory points that meet the preset abnormal conditions as abnormal trajectory points; For the abnormal trajectory points, stop generating coverage strips or reduce the judgment weight of the generated coverage strips.

[0011] According to a sprayer nozzle control method provided by the present invention, after determining the spatial position of each nozzle on the spray bar of the sprayer in real time, the method further includes: When the sprayer restarts after being stopped, it reads the stored trajectory points from historical moments, regenerates the corresponding coverage strips, and reconstructs the sprayed coverage area, continuing to determine the spatial position of each nozzle and control the nozzles.

[0012] According to the sprayer nozzle control method provided by the present invention, when the sprayer is restarted after being stopped: If you choose to continue the previous operation, the trajectory points for the corresponding operation date will be read and the sprayed area will be reconstructed. If you choose to create a new job, the currently sprayed area will be cleared and the trajectory points will be recorded again from a new starting point.

[0013] According to a sprayer nozzle control method provided by the present invention, the step of acquiring the real-time position information of the sprayer includes: Receive latitude and longitude data output by the satellite positioning system; A local plane coordinate system is established with the initial trajectory point location as the origin. The latitude and longitude data collected subsequently are transformed into the local plane coordinate system through plane projection to obtain the real-time location information of the sprayer.

[0014] According to a method for controlling the nozzles of a pesticide sprayer provided by the present invention, the step of determining the spatial position of each nozzle on the spray bar of the pesticide sprayer in real time includes: Based on the spray boom parameters of the sprayer, determine the preset offset of each nozzle in the spray boom coordinate system; Based on the real-time position and heading information of the sprayer, the center position of the spray boom and the preset offset of each nozzle are converted into local planar coordinates to obtain the spatial position of each nozzle.

[0015] The present invention also 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 sprayer nozzle control method based on positioning trajectory strip modeling as described above.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the sprayer nozzle control method based on positioning trajectory strip modeling as described above.

[0017] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the sprayer nozzle control method based on positioning trajectory strip modeling as described above.

[0018] This invention provides a sprayer nozzle control method based on positioning trajectory strip modeling. By generating a coverage strip with the position of each trajectory point as a reference and the heading direction as the strip extension direction, the geometric description of the sprayed coverage area dynamically deviates with the actual travel direction of the sprayer. It can accurately match the actual coverage range of the spray width under any complex trajectory such as S-curves, oblique travel, and obstacle avoidance. This solves the deviation between the fixed direction grid or trajectory line description method and the actual coverage area. Combined with the real-time determination of the independent spatial position of each nozzle and the determination of whether it falls into the sprayed coverage area, if it falls into any coverage strip, it is determined as a re-spraying area and the nozzle is turned off; if it does not fall into any coverage strip, it is determined as a missed spraying area and the nozzle is kept on. This achieves precise control of re-spraying and missed spraying at the nozzle level, effectively reducing the pesticide re-spraying rate and missed spraying rate, and improving the spraying uniformity and pesticide utilization rate. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the sprayer nozzle control method based on positioning trajectory strip modeling provided by the present invention; Figure 2 This is a schematic diagram of the overall structure of the sprayer nozzle control method based on positioning trajectory strip modeling provided by the present invention; Figure 3 This is a schematic diagram showing the relationship between the nozzle and the sprayed strip provided by the present invention; Figure 4 This is a schematic diagram of the local coordinate system and the sprayed strip provided by the present invention; Figure 5 This is a schematic diagram of the breakpoint resume spraying process provided by the present invention; Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0022] Figure 1This is a flowchart illustrating the sprayer nozzle control method provided by the present invention.

[0023] like Figure 1 As shown, the present invention provides a sprayer nozzle control method, which is applied to a complete set of devices installed on a boom sprayer. The overall structure of the complete set of devices is as follows. Figure 2 As shown, the system comprises five parts: First, a BeiDou / GNSS positioning and attitude module, installed on the top of the cab, used to collect real-time data such as the sprayer's latitude, longitude, speed, and heading angle. It can also be connected to an tilt sensor to obtain roll and pitch angle information, further improving the accuracy of position calculations. Second, a boom and nozzle parameter configuration module, used to store parameters such as total boom width, number of nozzles, nozzle spacing, section division, and nozzle response time, which can be flexibly adjusted according to different models. Third, an on-board computing and storage module, using an on-board industrial tablet or embedded controller, responsible for all calculations and data storage, with a built-in database storing relevant data throughout the operation. Fourth, a nozzle control execution module, connected to the sprayer controller via a CAN bus or other industrial communication methods, driving the solenoid valves of each nozzle to complete opening and closing actions. Fifth, a human-machine interface, used to display information such as the current sprayer position, sprayed area, nozzle opening / closing status, and resume spraying prompts, while also allowing operators to select the operating mode.

[0024] The method mainly includes the following steps: 101. Obtain the real-time location and heading information of the sprayer.

[0025] Specifically, after the sprayer starts up and enters the working state, the Beidou / GNSS positioning and attitude module continuously outputs positioning data and heading data. The on-board computing and storage module receives this data in real time as the data basis, thereby enabling real-time monitoring of the sprayer's accurate position and direction of travel in the field.

[0026] 102. During the spraying operation of the sprayer, track points at each historical moment are collected. Based on the position of each track point and the direction of flight, a coverage strip is generated and each coverage strip is stored as the sprayed coverage area.

[0027] Specifically, when the nozzle is on and the sprayer is operating normally, the onboard computing module records a trajectory point at fixed time intervals. Each trajectory point simultaneously records its corresponding position information and the sprayer's heading angle at that moment. For each recorded trajectory point, a coverage strip with the same width as the total spray width of the boom is generated, centered on the location of that point and extending along the current heading of the sprayer. This strip represents the actual area of ​​ground covered by the boom when the sprayer reaches that position. All coverage strips generated at historical moments are stored in a local database, and all strips combined constitute the sprayed coverage area of ​​the entire field. Each coverage strip is perfectly aligned with the current heading, ensuring that the generated sprayed area closely matches the actual spraying range, regardless of whether the sprayer travels along an S-curve, diagonally, or around obstacles, thus solving the problem of large deviations between the fixed-direction grid and the actual spraying range.

[0028] 103. Determine the spatial position of each nozzle on the spray bar of the sprayer in real time.

[0029] Specifically, the on-board computing module calculates the actual spatial coordinates of each nozzle on the spray boom in the field based on the pre-configured spray boom structure parameters and the current position and heading of the sprayer. This gives the specific position of each nozzle and refines the control granularity from the entire spray boom or section to a single nozzle, providing the prerequisite for precise nozzle-level control.

[0030] 104. If the spatial location falls within any coverage strip of the already sprayed area, the nozzle is determined to be in a respray area, and the nozzle is controlled to close; otherwise, the nozzle is determined to be in a missed spray area, and the nozzle is controlled to remain open.

[0031] Specifically, for each nozzle's current position, it is compared one by one with all the stored coverage strips. If the nozzle's position falls within the range of any coverage strip, it means that this position has already been sprayed, and continuing to spray would cause duplicate spraying. In this case, the nozzle control module shuts down the corresponding nozzle. If the nozzle's position is not within the range of any coverage strip, it means that this position has not been sprayed and belongs to a missed area that needs to be sprayed. In this case, the nozzle is kept on and spraying continues.

[0032] The correspondence between the nozzle position and the sprayed strip is as follows: Figure 3As shown, multiple nozzles are distributed on the spray boom. As the sprayer moves, multiple rectangular strips generated by the historical trajectory together form the sprayed coverage area. When the spray boom moves near the sprayed area, some nozzles will enter the sprayed strip range, corresponding to the re-spray area, while some nozzles will be in areas not covered by the strips, corresponding to the missed spray areas. In actual reciprocating operation scenarios, the spray boom is fully open during the first operation, moving along the boundary of the plot and generating the first set of sprayed coverage strips. During the second return operation, the spray boom approaches one side of the previous operation trajectory, and some nozzles will fall into the coverage strip generated in the previous operation. These nozzles will automatically close, while the nozzles in the missed spray areas on the other side remain open, completing the second round of spraying. If there are previously missed areas in the middle of the plot, when the subsequent operation trajectory passes through this area, the system will detect that the current nozzle position is not within any strip range and will automatically keep the nozzles open to complete the re-spraying. By controlling the nozzles, the system can automatically identify and control overspray and missed spraying of individual nozzle particles, accurately shut off nozzles at overspray locations, and retain spraying at missed locations, effectively reducing pesticide waste and the risk of pesticide damage, and improving spray uniformity and pesticide utilization.

[0033] Furthermore, based on the above embodiments, the generation of the coverage strip in this embodiment includes: constructing a local coordinate system with the trajectory point as the origin, the heading direction as the longitudinal axis direction, and the direction perpendicular to the heading direction as the lateral axis direction; determining the total spray width of the spray boom as the lateral half-width of the coverage strip according to a preset ratio; obtaining the forward distance between the trajectory point and the previous adjacent trajectory point and the next adjacent trajectory point, and determining the longitudinal half-length of the coverage strip according to the forward distance according to a preset ratio; and constructing the coverage strip with the lateral half-width and the longitudinal half-length.

[0034] Specifically, for each historical work point ( , Select the adjacent trajectory points before and after it. ( , ), ( , Construct a forward unit vector along the direction of travel. The calculation formula is (1): (1) Among them, the spacing between adjacent trajectory points The calculation formula is (2): (2) The forward unit vector can also be represented as =[cos sin ],in Let be the heading angle of the sprayer corresponding to this trajectory point. The lateral unit vector orthogonal to the forward unit vector is . The calculation formula is (3): =[-sin cos (3) Taking the planar coordinate position of this historical trajectory point as the origin, and the forward unit vector... The direction is the positive direction of the vertical axis, and the horizontal unit vector. The direction is the positive direction of the horizontal axis, and a local coordinate system corresponding to the trajectory point is established.

[0035] According to the preset ratio, the total spray width of the spray boom is determined to be half the horizontal width of the coverage strip. The total horizontal width of the coverage strip is consistent with the total spray width of the spray boom. Half of the total spray width is taken as the horizontal half width of the coverage strip in this local coordinate system.

[0036] Find the previous and next adjacent trajectory points of the current trajectory point, and calculate the travel distance from the current point to the previous point and the next point to the next point respectively. Combine these two distances to calculate the total longitudinal length of the coverage strip, and take half of the total length as the longitudinal half-length. For the first trajectory point at the start of the operation, if there are no preceding adjacent trajectory points, the backward half-length is taken as the preset default length value. For the last trajectory point at the end of the operation, if there are no subsequent adjacent trajectory points, the forward half-length is taken as the preset default length value, ensuring complete coverage of the strip at the beginning and end positions.

[0037] In the local coordinate system, a rectangular region is formed by taking half a width in each of the positive and negative horizontal directions and half a length in each of the positive and negative vertical directions, with the origin as the center. This rectangle is the coverage strip corresponding to the current trajectory point. The boundary of this rectangular strip in the local coordinate system satisfies (4) and (5): (4) (5) in, The total length of the strip along the direction of travel. This refers to the total horizontal width corresponding to the total spray width of the spray boom. The vertical coordinate is in the local coordinate system. The horizontal coordinate is the coordinate in the local coordinate system.

[0038] The shape of the local coordinate system and the covering strip is as follows: Figure 4As shown, a local coordinate system is formed by the longitudinal axis extending along the direction of travel and the transverse axis perpendicular to the direction of travel, centered on the historical work point. Rectangular strips are symmetrically distributed along both the longitudinal and transverse directions, centered on the origin. By standardizing the coverage area of ​​each trajectory point into a regular rectangle through the local coordinate system, the calculation is simple and accurate, and the strip direction perfectly matches the direction of travel, making it suitable for work scenarios involving arbitrary curves.

[0039] Furthermore, based on the above embodiments, in this embodiment, the longitudinal half-length is composed of the forward half-length and the backward half-length of the trajectory point; the forward half-length is related to the distance from the trajectory point to the next adjacent trajectory point, and the backward half-length is related to the distance from the trajectory point to the previous adjacent trajectory point.

[0040] Specifically, the total length of the strip The calculation formula is (6): (6) in, The distance from the current trajectory point to the previous adjacent trajectory point is used as the backward half-length. The distance from the current trajectory point to the next adjacent trajectory point is used as the forward half-length. The sum of the forward half-length and the backward half-length is the total length of the strip. The longitudinal half-length is equal to half the total length of the strip.

[0041] Each trajectory point is responsible for covering half the distance from it to the previous point and half the distance from it to the next point. The strips generated by two adjacent trajectory points are connected at the midpoint without gaps or excessive overlap, so that the coverage strips generated by all continuous trajectory points can be seamlessly connected, completely restoring the entire spraying range traveled by the sprayer and avoiding misjudgments of overspraying or missed spraying caused by strip connection problems.

[0042] Furthermore, based on the above embodiments, this embodiment determines whether the spatial position falls within any coverage strip in the sprayed coverage area, including: converting the spatial position of the nozzle to the local coordinate system corresponding to each coverage strip to obtain the longitudinal and lateral coordinates of the nozzle in each local coordinate system; determining the longitudinal coordinate and the longitudinal half-length of the corresponding coverage strip, and the lateral coordinate and the lateral half-width of the corresponding coverage strip; if the absolute value of the longitudinal coordinate is less than or equal to the longitudinal half-length and the absolute value of the lateral coordinate is less than or equal to the lateral half-width, it is determined that the nozzle position falls within the coverage strip.

[0043] Specifically, for each historical coverage strip, the global planar coordinates of the current nozzle are transformed into coordinates in the local coordinate system according to the rules of that strip, resulting in the corresponding longitudinal and lateral coordinate values. Any planar point P(X,Y) relative to a historical point... Local coordinates ( , The calculation formulas are (7) and (8): (7) (8) in, , X and Y represent the x and y coordinates of the historical trajectory points in the local plane coordinate system, in meters; X and Y represent the x and y coordinates of the nozzle to be judged in the local plane coordinate system, in meters. The heading angle of the sprayer corresponding to this historical trajectory point, in radians; This represents the longitudinal coordinate of the nozzle in the local coordinate system of the strip, with positive numbers representing the front along the direction of travel and negative numbers representing the rear. This represents the lateral coordinate of the nozzle in the local coordinate system of the strip. Positive numbers represent one side of the lateral direction, and negative numbers represent the other side.

[0044] After obtaining the nozzle's longitudinal and transverse coordinates in the local coordinate system, the absolute values ​​of the two coordinates are taken and compared with the longitudinal half-length and transverse half-width of the strip. If the absolute value of the longitudinal coordinate does not exceed the longitudinal half-length, and the absolute value of the transverse coordinate does not exceed the transverse half-width, it means that the nozzle is located inside the rectangular strip, that is, it falls within the coverage strip.

[0045] In determining areas where spraying has been missed, a preset spraying threshold can be set. When the nozzle is not within any of the coverage strips, the gap distance between the nozzle and the nearest coverage strip is further calculated. If the gap distance is greater than the preset spraying threshold, it is then determined to be a missed area, and the nozzle remains open. If the gap distance is less than or equal to the preset spraying threshold, the nozzle can be kept open or closed depending on the actual working conditions to avoid unnecessary spraying or misjudgment caused by tiny gaps. The preset spraying threshold can be selected within the range of 0.1 meters to 0.5 meters according to the required operational accuracy. The determination of coverage is completed through coordinate transformation and simple numerical comparison. The calculation logic is simple, the calculation speed is fast, and it can meet the requirements of real-time field control. Increasing the spraying threshold can further reduce the probability of misjudgment and adapt to different operational accuracy requirements.

[0046] Furthermore, based on the above embodiments, this embodiment also includes: obtaining the current speed of the sprayer and the distance between the spatial position of the nozzle and the edge of the coverage strip; determining the predicted time for the nozzle to enter or exit the coverage strip based on the current speed and distance; and issuing the nozzle opening and closing command in advance according to the predicted time to compensate for the delay in the action of the nozzle valve body.

[0047] Specifically, the current travel speed of the sprayer is read from the output data of the positioning module. Simultaneously, the straight-line distance between the current position of the nozzle and the nearest edge of the coverage strip is calculated. Dividing the distance from the nozzle to the strip edge by the current travel speed of the sprayer yields the time required for the nozzle to reach the strip edge, which is the predicted time for entering or exiting the coverage strip. Before the nozzle reaches the strip edge, an open or close command is issued in advance, ensuring the valve operates precisely when the nozzle reaches the edge. For example, a close command is issued in advance when the nozzle is about to enter the already sprayed strip, so the valve is fully closed when the nozzle is completely inside the strip; conversely, an open command is issued in advance when the nozzle is about to leave the already sprayed strip, so the valve is fully open when the nozzle is completely out of the strip. The valve response time can be configured within the range of 0.1 to 0.5 seconds based on the parameters of the selected solenoid valve. This compensates for the action delay of the nozzle solenoid valve and the fluid transmission delay, improving the control accuracy of the strip edge and reducing double spraying and missed spraying at the edge.

[0048] Furthermore, based on the above embodiments, after generating the coverage strip in this embodiment, the method further includes: performing curvature analysis and / or velocity analysis on the trajectory points, marking the trajectory points that meet the preset abnormal conditions as abnormal trajectory points; and stopping the generation of coverage strips or reducing the judgment weight of the generated coverage strips for abnormal trajectory points.

[0049] Specifically, for each collected trajectory point, the curvature of the trajectory near that point is calculated, which is the turning radius, and the corresponding sprayer speed is read. If the curvature exceeds a preset curvature threshold, it indicates that the sprayer is making a sharp turn or U-turn; if the speed is below a preset speed threshold, it indicates that the sprayer is malfunctioning. Furthermore, if the nozzle corresponding to that trajectory point is closed, it is also marked as an abnormal trajectory point. The curvature threshold can be set to 0.05 radians per meter, and the speed threshold can be set to 0.5 meters per second; the specific values ​​can be adjusted according to the operational scenario.

[0050] For trajectory points marked as abnormal, you can choose not to generate corresponding coverage strips and directly exclude them from the already sprayed coverage area. Alternatively, you can choose to reduce the judgment weight of the strip. With a reduced weight, it will only be judged as a re-spraying area when the nozzle falls into multiple normal strips simultaneously. The abnormal strip is only displayed for reference and will not trigger the nozzle to shut down independently. In actual end-point operation scenarios, the sprayer needs to turn around when it reaches the end of the plot. At this time, the heading changes significantly and the vehicle speed is low. The system will mark the trajectory points in these areas as abnormal and reduce the weight of the corresponding strips to avoid generating false duplicate coverage areas in the end-point area, which could cause subsequent nozzles to shut down erroneously. Optionally, the strips in the end-point area will not participate in the missed spraying judgment and will only be displayed on the human-machine interface for reference.

[0051] By filtering out invalid trajectories under abnormal operating conditions such as turning, U-turn, low speed, and nozzle closure, distorted coverage strips are avoided, misjudgments are reduced, and control accuracy under complex operating conditions is improved.

[0052] Furthermore, based on the above embodiments, after determining the spatial position of each nozzle on the spray bar of the sprayer in real time, this embodiment also includes: when the sprayer is restarted after being stopped, reading the trajectory points of the stored historical moments, regenerating the corresponding coverage strips and reconstructing the sprayed coverage area, and continuing to determine the spatial position of each nozzle and control the nozzles.

[0053] Specifically, the onboard computing module's database contains a start-point table and a trajectory point table. The start-point table records information such as the date, time, starting latitude and longitude, and baseline longitude for each operation. The trajectory point table stores data such as trajectory points, heading, and nozzle status at each sampling moment. All data is continuously written to the corresponding tables during operation and is not lost due to shutdown or shutdown. When the sprayer restarts after being shut down for reasons such as adding pesticides or maintenance, the system reads all previously stored historical trajectory points from the corresponding tables in the database. Following the same rules as during operation, it regenerates coverage strips for each trajectory point, restoring the previously sprayed coverage area. After reconstruction, the system can continue to calculate nozzle positions in real time, determine re-spraying and missed spraying, and control nozzle opening and closing according to the previous logic.

[0054] If a satellite positioning signal is briefly lost during operation, the system retains the last valid position and heading data, temporarily suspends recording trajectory points, and resumes normal recording once the signal is restored, avoiding invalid data from interfering with the modeling of already sprayed areas. The overall process for resuming spraying after a break is as follows: Figure 5 As shown: At the start of the operation, the starting point information is recorded first. During the operation, the trajectory point data is continuously recorded. After the machine stops, all data is retained. After restarting, the historical trajectory point data is read, the sprayed coverage area is reconstructed, and then new trajectory points are collected in real time to continue the operation until the operation is completed. This realizes the function of resuming spraying at the breakpoint. After stopping the machine in the middle, there is no need to replan the operation range, and there will be no re-spraying or missed spraying due to human memory deviation, ensuring the integrity and uniformity of spraying the entire area.

[0055] Furthermore, based on the above embodiments, when the sprayer restarts after being stopped in this embodiment: if the user chooses to continue the previous operation, the trajectory points of the corresponding operation date are read and the sprayed coverage area is reconstructed; if the user chooses to start a new operation, the current sprayed coverage area is cleared and the trajectory points are re-recorded from a new starting point.

[0056] Specifically, if the operator chooses to continue the previous job, the system will retrieve the date and corresponding trajectory point data of the most recent job, reconstruct the sprayed area, and continue the job from the position where the machine was last stopped. If the operator chooses to create a new job, the system will clear all currently stored coverage strips and trajectory point data, use the current position as the new job starting point, and restart recording the trajectory and generating coverage strips. Operators can view the job history through the human-machine interface, select the corresponding job mode, and the interface will synchronously display information such as the currently sprayed area and the opening and closing status of the nozzles, flexibly adapting to different job scenarios. For multiple jobs on the same area, the operator can choose to continue spraying; for jobs on different areas, the operator can choose to create a new job. The operation is simple and intuitive.

[0057] Furthermore, based on the above embodiments, this embodiment obtains the real-time location information of the sprayer by: receiving latitude and longitude data output by the satellite positioning system; establishing a local plane coordinate system with the location of the trajectory point collected for the first time as the origin; and converting the latitude and longitude data collected subsequently to the local plane coordinate system through a plane projection method to obtain the real-time location information of the sprayer.

[0058] Specifically, the BeiDou / GNSS positioning module receives satellite signals in real time, calculates the latitude and longitude data of the current location, and outputs it to the vehicle-mounted computing module. At the start of the first operation, the system uses the latitude and longitude of the first acquired trajectory point as the origin of the local plane coordinate system, sets the corresponding baseline meridian, and uses an approximate plane projection method to convert all subsequent acquired latitude and longitude into plane coordinates in meters, i.e., position information in the local plane coordinate system. Let the latitude and longitude of the initial acquisition origin be (…). , ), No. n The latitude and longitude of each sampling point are ( , The transformed local plane coordinates are ( , Then the formula for coordinate transformation is (9) (10):: (9) (10) Where R is the equivalent Earth radius or projection scale factor, in meters; , These are the latitudes of the nth sampling point and the origin, respectively, in radians; , These are the longitudes of the nth sampling point and the origin, respectively, in radians; This is the correction factor corresponding to the base latitude; , These are the x and y coordinates of the nth sampling point in the local plane coordinate system, respectively, in meters.

[0059] Furthermore, based on the above embodiments, this embodiment determines the spatial position of each nozzle on the spray boom of the sprayer in real time, including: determining the preset offset of each nozzle in the spray boom coordinate system based on the spray boom parameters of the sprayer; and converting the center position of the spray boom and the preset offset of each nozzle into local plane coordinates according to the real-time position information and heading information of the sprayer, thereby obtaining the spatial position of each nozzle.

[0060] Specifically, a spray boom coordinate system is established with its center position as the origin. Based on parameters such as the total spray width, the number of nozzles, and the nozzle spacing, the lateral offset distance of each nozzle in the spray boom coordinate system is calculated in advance and stored as a preset offset in the parameter configuration module. The positions of the spray boom center and the sprayer positioning reference point are relatively fixed. First, the local plane coordinates of the spray boom center are obtained based on the real-time position of the sprayer. Then, combined with the current heading angle, the lateral offset of each nozzle is converted into an offset in the global plane coordinate system and superimposed on the spray boom center coordinate system to obtain the real-time spatial position of each nozzle.

[0061] As a practical engineering approach, the judgment results at the nozzle level can be aggregated to the section level. The spray bar is divided into multiple control sections according to its structure, and each section contains multiple nozzles. After obtaining the opening and closing judgment results of each nozzle, they are aggregated to the section to which they belong, generating opening and closing control commands for each section. Then, the nozzle control execution module drives the solenoid valves of each section to operate in a unified manner.

[0062] Taking a self-propelled boom sprayer as an example, the total spray width of the boom is 12 meters, symmetrically arranged on the left and right, and divided into 5 sections. Each section contains several nozzles arranged at equal intervals. The Beidou / GNSS receiver outputs positioning and heading data of 5-10Hz. The system records the trajectory point once every 0.2 seconds. The vehicle terminal is connected to the spray controller through the CAN bus to realize the opening and closing control of the nozzles at the section level.

[0063] By using a preset offset and coordinate transformation, the real-time position of each nozzle can be quickly calculated. This method involves minimal computation, offers high real-time performance, and is integrated into a segment-level control approach. It is compatible with existing spray boom hardware control architectures, has low modification costs, and is easy to promote.

[0064] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6As shown, the electronic device may include a processor 610, a communication interface 620, a memory 630, and a communication bus 640. The processor 610, communication interface 620, and memory 630 communicate with each other via the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a sprayer nozzle control method. The method includes: acquiring real-time position and heading information of the sprayer; during the spraying operation, collecting trajectory points at various historical moments, generating coverage strips based on the position of each trajectory point and the heading direction as the strip extension direction, and storing each coverage strip as a sprayed coverage area; determining the spatial position of each nozzle on the sprayer's boom in real time; if the spatial position falls within any coverage strip in the sprayed coverage area, determining that the nozzle is currently in a re-spraying area and controlling the nozzle to close; otherwise, determining that the nozzle is currently in a missed spraying area and controlling the nozzle to remain open.

[0065] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0066] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the sprayer nozzle control method provided by the above methods. The method includes: acquiring real-time position information and heading information of the sprayer; during the spraying operation of the sprayer, collecting trajectory points at each historical moment, generating a coverage strip with the position of each trajectory point as a reference and the heading direction as the strip extension direction, and storing each coverage strip as a sprayed coverage area; determining the spatial position of each nozzle on the spray bar of the sprayer in real time; if the spatial position falls within any coverage strip in the sprayed coverage area, determining that the nozzle is currently in a re-spraying area and controlling the nozzle to close; otherwise, determining that the nozzle is currently in a missed spraying area and controlling the nozzle to remain open.

[0067] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the sprayer nozzle control method provided by the above methods. The method includes: acquiring real-time position information and heading information of the sprayer; during the spraying operation of the sprayer, collecting trajectory points at each historical moment, generating coverage strips based on the position of each trajectory point and the heading direction as the strip extension direction, and storing each coverage strip as a sprayed coverage area; determining the spatial position of each nozzle on the spray boom of the sprayer in real time; if the spatial position falls within any coverage strip in the sprayed coverage area, determining that the nozzle is currently in a re-spraying area and controlling the nozzle to close; otherwise, determining that the nozzle is currently in a missed spraying area and controlling the nozzle to remain open.

[0068] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0069] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the nozzle of a pesticide sprayer, characterized in that, include: Obtain the real-time location and heading information of the sprayer; During the spraying operation, trajectory points at various historical moments are collected. Based on the position of each trajectory point and the heading direction, a coverage strip is generated, and each coverage strip is stored as a sprayed coverage area. The spatial position of each nozzle on the spray bar of the sprayer is determined in real time; If the spatial location falls within any coverage strip of the already sprayed coverage area, it is determined that the nozzle is currently in a respray area, and the nozzle is controlled to be turned off; otherwise, it is determined that the nozzle is currently in a missed spray area, and the nozzle is controlled to remain on.

2. The sprayer nozzle control method according to claim 1, characterized in that, The generation of the coverage strip includes: A local coordinate system is constructed with the trajectory point as the origin, the heading direction as the longitudinal axis, and the direction perpendicular to the heading direction as the lateral axis. According to the preset ratio, the total spray width of the spray boom is determined to be half the width of the horizontal strip of the coverage area; Obtain the forward distance between the trajectory point and the previous and next adjacent trajectory points, and determine the longitudinal half length of the coverage strip based on the forward distance according to a preset ratio; A covering strip is constructed using the horizontal half-width and the vertical half-length.

3. The sprayer nozzle control method according to claim 2, characterized in that, The longitudinal half-length is composed of the forward half-length and the backward half-length of the trajectory point; The forward half-length is related to the distance from the trajectory point to the next adjacent trajectory point, and the backward half-length is related to the distance from the trajectory point to the previous adjacent trajectory point.

4. The sprayer nozzle control method according to claim 1, characterized in that, Determining whether a spatial location falls within any coverage strip of the sprayed coverage area includes: The spatial position of the nozzle is transformed to the local coordinate system corresponding to each coverage strip to obtain the longitudinal and lateral coordinates of the nozzle in each local coordinate system; Determine the longitudinal coordinate and the corresponding longitudinal half-length of the coverage strip, and the transverse coordinate and the corresponding transverse half-width of the coverage strip. If the absolute value of the longitudinal coordinate is less than or equal to the longitudinal half-length and the absolute value of the transverse coordinate is less than or equal to the transverse half-width, determine that the nozzle position falls within the coverage strip.

5. The sprayer nozzle control method according to claim 1, characterized in that, Also includes: The current speed of the sprayer and the distance between the spatial position of the nozzle and the edge of the coverage strip are obtained. Based on the current speed and the distance, determine the predicted time for the nozzle to enter or exit the coverage strip; The nozzle opening and closing command is issued in advance according to the predicted time to compensate for the delay in the nozzle valve body action.

6. The sprayer nozzle control method according to claim 1, characterized in that, After generating the coverage stripe, the process further includes: Perform curvature analysis and / or velocity analysis on the trajectory points, and mark the trajectory points that meet the preset abnormal conditions as abnormal trajectory points; For the abnormal trajectory points, stop generating coverage strips or reduce the judgment weight of the generated coverage strips.

7. The sprayer nozzle control method according to claim 1, characterized in that, After determining the spatial position of each nozzle on the spray bar of the sprayer in real time, the method further includes: When the sprayer restarts after being stopped, it reads the stored trajectory points from historical moments, regenerates the corresponding coverage strips, and reconstructs the sprayed coverage area, continuing to determine the spatial position of each nozzle and control the nozzles.

8. The sprayer nozzle control method according to claim 7, characterized in that, When the sprayer is restarted after being stopped: If you choose to continue the previous operation, the trajectory points for the corresponding operation date will be read and the sprayed area will be reconstructed. If you choose to create a new job, the currently sprayed area will be cleared and the trajectory points will be recorded again from a new starting point.

9. The sprayer nozzle control method according to any one of claims 1-8, characterized in that, The acquisition of the real-time location information of the sprayer includes: Receive latitude and longitude data output by the satellite positioning system; A local plane coordinate system is established with the initial trajectory point location as the origin. The latitude and longitude data collected subsequently are transformed into the local plane coordinate system through plane projection to obtain the real-time location information of the sprayer.

10. The sprayer nozzle control method according to any one of claims 1-8, characterized in that, The real-time determination of the spatial position of each nozzle on the spray bar of the sprayer includes: Based on the spray boom parameters of the sprayer, determine the preset offset of each nozzle in the spray boom coordinate system; Based on the real-time position and heading information of the sprayer, the center position of the spray boom and the preset offset of each nozzle are converted into local planar coordinates to obtain the spatial position of each nozzle.

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