Spraying control system and spraying agricultural machine

Abstract

The present application provides a spraying control system and a spraying agricultural machine, the spraying control system being applied to the spraying agricultural machine. The spraying agricultural machine comprises a water tank, and a spraying rod frame in communication with the water tank, a plurality of spraying heads being disposed on the spraying rod frame. The spraying control system comprises an automatic driving unit, a path planning unit, and a spraying control unit. The automatic driving unit is used to detect automatic driving information of the spraying agricultural machine. The path planning unit is used to generate an operation area on the basis of the automatic driving information. The spraying control unit is used to, on the basis of the operation area and the automatic driving information, control at least some of the spraying heads on the spraying rod frame to spray a preset spraying quantity of pesticides at a target object. The present application considers factors affecting the spraying quantity, specifically the operation area and the automatic driving information factor, such that the control system can more accurately control the spraying quantity of the spraying heads.

Description

Spraying control systems and agricultural spraying machines

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to a Chinese patent application filed with the Patent Office of China on September 6, 2023, with application number 202311152140.6 and entitled “Spraying Control System and Spraying Agricultural Machinery,” the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application relates to the technical field of agricultural machinery, and in particular to a spraying control system and a spraying agricultural machine. Background Art

[0004] Currently, the spraying control system of a plant protection drone controls the nozzles to maintain a constant spray rate for spraying crops or weeds, regardless of whether the route is straight or curved. However, the nozzle spray rate cannot change with the drone's real-time speed. Consequently, the spray volume remains constant, resulting in uneven spraying across the fields. This inability to effectively control spray uniformity, and excessive or insufficient spraying is detrimental to crop yields and increases costs. Furthermore, the height of the drone's boom must be manually adjusted, making it difficult to maintain consistent spraying height. Wind influences the spraying height, affecting the fan-shaped pattern of the solution sprayed from the nozzles and, in turn, the amount of spray received by the fields. Finally, when turning or reversing, the drone's electro-hydraulic lift mechanism must be manually controlled to raise the sprayer, which is labor-intensive and prone to accidental damage to the boom. Consequently, the current level of automation in plant protection drones makes it difficult to maintain consistent spraying performance.

[0005] Summary of the Invention

[0006] In view of this, the present application provides a spraying control system and a spraying agricultural machine, which are used to control the spraying amount of the spray head of the spraying agricultural machine, and can control the spraying amount of the spray head more accurately.

[0007] In a first aspect, the present application provides a spray control system for use with an agricultural sprayer. The agricultural sprayer includes a water tank and a spray boom connected to the water tank, the spray boom being equipped with multiple nozzles. The spray control system includes an automatic driving unit, a path planning unit, and a spray control unit. The automatic driving unit is configured to detect automatic driving information from the agricultural sprayer, and the path planning unit is configured to generate an operating area based on the automatic driving information. The spray control unit is configured to control at least some of the nozzles on the spray boom to spray a predetermined amount of solution onto a target object based on the operating area and the automatic driving information.

[0008] In this way, the spraying control unit controls the nozzle to spray a preset spraying amount of solution on the target object according to the working area generated by the automatic driving unit and the automatic driving information detected by the automatic driving unit, taking into account the factors affecting the spraying amount, namely the working area and the automatic driving information factors, so that the control system can control the spraying amount of the nozzle more accurately.

[0009] In some embodiments of the first aspect, the automatic driving information includes position information of the spraying agricultural machinery, and the automatic driving unit includes an automatic driving controller and a positioning antenna. The automatic driving controller is used to: determine, based on the working boundary of the working area, the area outside the working boundary as the stop spraying area, and the area inside the working boundary as the non-stop spraying area; or determine, based on the working path within the working boundary, the area outside the working path as the stop spraying area, and the working path as the non-stop spraying area; the positioning antenna is used to detect the position information of the spraying agricultural machinery; the spraying control unit also includes a spraying controller, and the spraying controller is used to: obtain the nozzle position of each nozzle based on the position information and the position of the nozzle on the spray boom frame; control the nozzle to stop spraying when it is confirmed that the corresponding nozzle is in the stop spraying area according to the nozzle position; control the nozzle to spray a preset spraying amount of solution when it is confirmed that the corresponding nozzle is in the non-stop spraying area according to the nozzle position.

[0010] In some embodiments of the first aspect, the automatic driving controller is also used to: determine the traveled working paths and non-traveled working paths in the non-stop spraying area; determine the spraying overlapping area based on the traveled working paths and non-traveled working paths; the spraying controller is also used to: when it is confirmed that the corresponding nozzle is located in the spraying overlapping area based on the nozzle position, control the nozzle to stop spraying after a preset period of time.

[0011] In some embodiments of the first aspect, the preset spraying amount includes a linear spraying amount, the automatic driving information also includes a rotation angle and a real-time speed of the spraying agricultural machinery, the automatic driving unit also includes an angle sensor, and the angle sensor is used to detect the rotation angle of the spraying agricultural machinery; the automatic driving controller is also used to obtain the real-time speed of the spraying agricultural machinery according to the position information and the preset algorithm; the spraying controller is also used to: when the operating path of the non-stop spraying area is determined to be a straight path according to the rotation angle, obtain the first speed of any nozzle according to the real-time speed and the nozzle position; obtain the linear spraying amount of the nozzle according to the first speed and the preset parameters, and control the nozzle to spray the solution of the linear spraying amount.

[0012] In some embodiments of the first aspect, the preset spraying amount also includes a curved spraying amount; the spraying controller is also used to: when the working path of the non-stop spraying area is determined to be a curved path according to the rotation angle, determine the second speed corresponding to each nozzle according to the real-time speed and the nozzle position; obtain the curved spraying amount of the nozzle according to the second speed and the preset parameters, and control the nozzle to spray the solution of the curved spraying amount.

[0013] In some embodiments of the first aspect, the preset spraying amount also includes a fixed-point spraying amount, and the spraying control unit also includes a visual module, which is used to identify the target object in the non-stop spraying area and generate a marking prescription map of the target object; the spraying controller is also used to: determine the target nozzle and the non-target nozzle according to the marking prescription map, wherein the target nozzle is the nozzle on the spray rod rack corresponding to the target object; obtain the fixed-point spraying amount according to the marking prescription map, control the target nozzle to spray the solution of the fixed-point spraying amount on the target object, and control the non-target nozzle to stop spraying.

[0014] In some embodiments of the first aspect, the spraying control unit also includes a spraying proportional valve, a flow meter and a pressure sensor, the flow meter is used to detect the flow rate of the solution in the spraying agricultural machine; the pressure sensor is used to detect the liquid pressure of the solution in the spraying agricultural machine; the spraying controller is also used to: obtain a duty cycle based on a preset spraying amount, solution flow rate and liquid pressure; control the spraying proportional valve to adjust the liquid pressure according to the duty cycle so that the nozzle sprays a preset spraying amount of solution.

[0015] In some embodiments of the first aspect, the spraying control system further includes a hydraulic lifting unit, which includes an ultrasonic ranging sensor, a hydraulic driver, a hydraulic proportional valve, and a hydraulic cylinder; the ultrasonic ranging sensor is used to detect the real-time distance between the nozzle and the target object; the hydraulic driver is used to control the hydraulic proportional valve to adjust the supply amount of hydraulic oil to the hydraulic cylinder according to the real-time distance; the hydraulic cylinder adjusts the height of the spray boom frame according to the supply amount to maintain a preset distance between the nozzle and the target object.

[0016] In some embodiments of the first aspect, the spraying control system further includes a display terminal and a central control unit, and the automatic driving unit, the path planning unit, and the spraying control unit are used to execute control instructions generated by the display terminal or the central control unit; wherein the display terminal is used to generate control instructions in response to the operator's input; and the central control unit is used to generate control instructions in response to information interaction with the automatic driving unit, the path planning unit, and the spraying control unit.

[0017] A second aspect of the present application provides a spraying agricultural machine, which includes a water tank, a spray boom frame, a plurality of spray heads provided on the spray boom frame, and the spraying control system as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG1 is a diagram of a spraying application scenario of an existing plant protection machine;

[0019] FIG2 is a schematic structural diagram of a spraying agricultural machine according to an embodiment of the present application.

[0020] FIG3 is another structural schematic diagram of the agricultural spraying machine shown in FIG2 .

[0021] FIG4 is a schematic structural diagram of a spray control system according to an embodiment of the present application.

[0022] FIG5 is a schematic diagram of an application scenario of the control terminal of the spray control system shown in FIG4 .

[0023] FIG6 is a schematic diagram of an application scenario of the spray control system shown in FIG4 .

[0024] FIG7 is a schematic diagram of the structure of the automatic driving unit of the spraying control system shown in FIG4 .

[0025] FIG8 is a schematic diagram of another application scenario of the spray control system shown in FIG4 .

[0026] FIG9 is a schematic diagram of another application scenario of the spray control system shown in FIG4 .

[0027] FIG10 is a schematic structural diagram of a spray control unit of the spray control system shown in FIG4 .

[0028] FIG11 is a schematic diagram of another application scenario of the spray control system shown in FIG4 .

[0029] FIG. 12 is a schematic diagram of an application scenario of another embodiment of the spray control system shown in FIG. 4 .

[0030] FIG13 is a schematic diagram of another application scenario of another embodiment of the spray control system shown in FIG4 .

[0031] FIG. 14A is a schematic diagram of an application scenario of yet another embodiment of the spray control system shown in FIG. 4 .

[0032] FIG14B is a schematic diagram of another application scenario of yet another embodiment of the spray control system shown in FIG4 .

[0033] FIG14C is a schematic diagram of another application scenario of another embodiment of the spray control system shown in FIG4 .

[0034] FIG. 15 is a schematic diagram of yet another application scenario of an embodiment of the spray control system shown in FIG. 4 .

[0035] FIG16 is a schematic structural diagram of the hydraulic lifting unit of the spray control system shown in FIG4 .

[0036] FIG17 is another structural diagram of the spray control system according to an embodiment of the present application.

[0037] The accompanying drawings are described as follows: 100, agricultural spraying machine; 10, driving mechanism; 20, operating mechanism; 21, connecting piece; 22, water tank; 23, spraying device; 24, spray rod frame; 25, nozzle; 2501, nozzle; 2502, nozzle; 200, spraying control system; 30, central control unit; 40, automatic driving unit; 41, positioning antenna; 411, first antenna; 412, second antenna; 42, communication antenna; 43, steering wheel; 44, posture sensor; 45, camera module; 451, first camera; 452, wireless transmission module; 46, angle sensor; 47, automatic driving controller; 50 , path planning unit; 60, spray control unit; 61, spray controller; 62, integrated valve; 621, spray proportional valve; 623, pressure sensor; 622, flow meter; 63, visual module; 631, camera driver; 632, second camera; 633, fill light; 70, control terminal; 71, display unit; 80, electro-hydraulic lifting unit; 81, hydraulic driver; 82, ultrasonic ranging sensor; 83, hydraulic proportional valve; 84, position liquid cylinder. DETAILED DESCRIPTION

[0038] In this application, the term "plurality" refers to two or more. In addition, it should be understood that in the description of this application, the terms "first" and "second" are used only for the purpose of distinguishing descriptions and should not be construed as controlling or implying relative importance or order.

[0039] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0040] The following is a brief description of the relevant technology.

[0041] Currently, the spray control system of a plant protection drone controls the nozzles to maintain a constant spray rate for crops or weeds, regardless of whether the drone is traveling on a straight or curved path. This rate doesn't change with the drone's real-time speed, resulting in a constant spray volume. This leads to uneven spray distribution across the fields within the operating area. For example, as the drone's speed increases, the nozzle spray volume remains constant, meaning that fields receiving less spray during periods of increased speed than during periods of constant speed.

[0042] Furthermore, as shown in Figure 1, when operating on a curved path, even if the drone's real-time speed remains constant, the different positions of the nozzles on the boom result in different real-time speeds for each nozzle, resulting in uneven pesticide dosage across the field from the inner to the outer edge of the curved path. This prevents effective control of the drone's spray uniformity, and excessive or insufficient dosages are detrimental to crop yields and increase costs. Furthermore, the drone's boom height requires manual adjustment, making it difficult to maintain consistent spraying height. Due to wind pressure, the spraying height can affect the fan-shaped pattern of the solution sprayed from the nozzles, impacting the pesticide dosage received by the field. Finally, when turning or reversing, the drone's electro-hydraulic lift mechanism must be manually controlled to raise the sprayer, which is labor-intensive and prone to accidental damage to the boom. Consequently, current drones have a low level of automation, making it difficult to maintain consistent spraying performance.

[0043] In view of this, the present application provides a spraying control system and a spraying agricultural machine, which are used to control the spraying amount of the spray head of the spraying agricultural machine, and can control the spraying amount of the spray head more accurately.

[0044] The spraying control system of an embodiment of the present application is applied to a spraying machine 100 as shown in Figures 2 and 3. The spraying machine 100 can be, for example, a plant protection machine. As shown in Figure 2, the spraying machine 100 includes a drive mechanism 10 and an operating mechanism 20. The drive mechanism 10 is connected to a connector 21 of the operating mechanism 20, which can be, for example, a tractor. The operating mechanism 20 includes a water tank 22 and a spraying device 23. The water tank 22 is used to store a solution. The spraying device 23 includes a spray boom 24 and a spray head 25, as shown in Figure 3. The end of the spray boom 24 facing the field is equipped with multiple spray heads 25. The spray boom 24 is suspended from and connected to the water tank 22, allowing the spray heads 25 to spray the solution in the water tank 22. When the spray heads 25 are spraying the solution, the spray boom 24 is extended outward relative to the water tank 22. When the spray heads 25 are not spraying the solution, the spray boom 24 can be retracted into the water tank 22. The solution may be a potion for removing weeds or a potion for treating crop diseases.

[0045] 4 , the spraying control system 200 includes a central control unit 30 , an automatic driving unit 40 , a path planning unit 50 , and a spraying control unit 60 .

[0046] The central control unit 30 is used to exchange information with other control units and generate control instructions in response to the exchanged information, so that the other control units can execute the control instructions. For example, the central control unit 30 exchanges information with the path planning unit 50, the automatic driving unit 40, and the spraying control unit 60, and generates path definition instructions, automatic driving instructions, and spraying control instructions in response to the exchanged information. The central control unit 30 can be, but is not limited to, a microcontroller unit (MCU) or a central processing unit (CPU), and this is not limited here.

[0047] After receiving the automatic driving instructions from the central control unit 30, the automatic driving unit 40 detects the automatic driving information of the agricultural sprayer and controls the drive mechanism to automatically drive according to the automatic driving information. After receiving the path planning instructions from the central control unit 30, the path planning unit 50 generates an operating area based on the automatic driving information. After receiving the spraying control instructions from the central control unit 30, the spraying control unit 60 controls the spray head to spray a preset amount of solution on the target object based on the operating area and the automatic driving information. The target object can be weeds or crops.

[0048] In this way, the spraying control unit 60 controls the nozzle to spray a preset spraying amount of solution on the target object according to the working area generated by the automatic driving unit 40 and the automatic driving information generated by the automatic driving unit 40, taking into account the factors affecting the spraying amount, namely the working area and the automatic driving information factors, so that the control system can control the spraying amount of the nozzle more accurately.

[0049] In some embodiments, the spray control system 200 further includes a control terminal 70, which includes a display unit 71. The display unit 71 can display a human-computer interaction interface, which is used to generate control instructions in response to operator input operations and send the control instructions to the path planning unit 50 and the spray control unit 60. In one embodiment, the human-computer interaction interface of the control terminal 70 generates path-specifying instructions in response to the operator's path planning input operations and sends the path planning instructions to the path planning unit 50. In another embodiment, the human-computer interaction interface of the control terminal 70 generates spray control instructions in response to the operator's spray parameter input operations and sends the spray control instructions to the spray control unit 60.

[0050] Specifically, in one example, as shown in Figure 5, the human-computer interaction interface includes an upper column. The upper column includes three sub-columns: field and task name, boundary and baseline. After the operator clicks on a sub-column, he can enter the page of the sub-column. The field and task name are used to set the tasks to be performed in the field. For example, the tasks include fixed-point spraying, straight path and curved path spraying, boundary stop spraying and overlapping spraying. The spraying parameters corresponding to the task can be entered on the field and task name page, and the control terminal 70 generates a spraying control instruction based on the spraying parameters. For example, the straight-line spraying amount is entered in the straight path, the curved spraying amount is entered in the curved path, the fixed-point spraying amount is entered in the fixed-point spraying of weeds, or the material mode is set for overlapping spraying, and a spraying control instruction is generated. That is, the spraying parameters include the straight-line spraying amount, the curved spraying amount, the fixed-point spraying amount and the material mode, etc.

[0051] The boundary sub-column is used to set the work boundary indication. Specifically, the control terminal 70 pre-stores a field boundary generated by the path planning unit 50. By inputting the corresponding parameters in the field head distance and selecting outside or inside the boundary in the field head position, the work boundary indication can be set. For example, by inputting 3m in the field head distance and selecting inside the boundary in the field head position, the work boundary indication shown on the right can be set. The baseline sub-column is used to set the baseline of the work path indication, and the baseline is shown in Figure 6. It can be understood that after setting the baseline, the control terminal 70 will generate the work path indication based on the baseline. The control terminal 70 will generate a path planning instruction based on the work boundary indication and the work path indication, and the path planning unit 50 will generate the work area of ​​the work boundary indication and the work path indication based on the path planning instruction. That is, the work area includes the work boundary and the work path.

[0052] The human-machine interface also includes an input field (not shown) for inputting the distance between the boom frame 24 and the target object. After entering a preset distance in this field, the control terminal 70 generates boom frame raise / lower commands based on the preset distance. The human-machine interface also includes an automatic driving selection button. When this button is selected, the control terminal 70 generates automatic driving commands in response to the selected operation.

[0053] It can be understood that the central control unit 30 can be integrated into the control terminal 70 or divided into separate physical units. The following description will be made using the example of the central control unit 30 being integrated into the control terminal 70 .

[0054] In some embodiments, referring to Figures 7 and 17 , the autonomous driving unit 40 includes a positioning antenna 41, a communication antenna 42, a steering wheel 43, a posture sensor 44, a camera module 45, an angle sensor 46, and an autonomous driving controller 47. The positioning antenna 41, the communication antenna 42, the steering wheel 43, the posture sensor 44, the camera module 45, and the angle sensor 46 are respectively connected to the autonomous driving controller 47, which is then connected to the central control unit 30.

[0055] The positioning antenna 41 is used to detect the location information of the agricultural sprayer 100, which includes latitude and longitude. The positioning antenna 41 may include a first antenna 411 and a second antenna 412. The first antenna 411 is used to receive the first location information of the agricultural sprayer 100. The first antenna 411 may be a GNSS (Global Navigation Satellite System) antenna. The second antenna 412 is used to receive the second location information of the agricultural sprayer 100. The second antenna 412 may be a radio antenna. The first antenna 411 and the second antenna 412 respectively receive satellite signals transmitted by Beidou satellites to generate first and second location information, and transmit the first and second location information to the automatic driving controller 47. The automatic driving controller 47 performs a differential calculation on the first and second location information to ultimately detect the location information of the agricultural sprayer 100. It can be understood that the automatic driving unit of the embodiment of the present application can detect more accurate location information of the agricultural sprayer 100 through the configuration of the first antenna 411 and the second antenna 412, combined with the differential calculation. The automatic driving controller 47 can also obtain the real-time speed of the agricultural spraying machine 100 according to the position information of the agricultural spraying machine 100 and a preset algorithm. That is, the automatic driving information includes the position information and the real-time speed of the agricultural spraying machine 100.

[0056] The communication antenna 42 is used to establish a communication connection between the central control unit 30 and the cellular network. The communication antenna 42 can be a 4G antenna. After the central control unit 30 establishes a communication connection with the cellular network, it communicates with the control device in the remote control room via the cellular network. The central control unit 30 can transmit information obtained from other control units to the control device, allowing the operator to analyze the information and remotely control the agricultural sprayer 100 based on the information.

[0057] The steering wheel 43 is used to adjust the direction of travel of the drive mechanism 10, thereby adjusting the direction of travel of the agricultural sprayer 100. The attitude sensor 44 is used to detect the attitude information of the agricultural sprayer 100. The attitude sensor 44 can be located at a position where the attitude of the agricultural sprayer 100 changes. The attitude sensor 44 collects data such as angular velocity and acceleration at that position to calculate the attitude information of the agricultural sprayer 100. In other words, the automatic driving information includes the attitude information of the agricultural sprayer 100.

[0058] The angle sensor 46 is provided on the wheel of the agricultural sprayer 100 to detect the rotation angle of the wheel. In other words, the automatic driving information includes the rotation angle of the wheel of the agricultural sprayer 100.

[0059] The camera module 45 is used to obtain the front image and / or rear image of the spraying machine 100. In some embodiments, the camera module 45 includes a first camera 451 and a wireless transmission module 452. The first camera 451 is used to obtain the front image and / or rear image of the spraying machine 100, and the wireless transmission module 452 can be a wifi module, and the wireless transmission module 452 is used to send the front image and / or rear image to the control device in the remote control room. After receiving the front image and / or rear image, the automatic driving controller 47 can identify the front environment of the spraying machine 100 based on the front image, and identify the rear environment of the spraying machine 100 based on the rear image. The automatic driving information includes the front environment and / or rear environment of the spraying machine 100.

[0060] In some embodiments, the path planning unit 50 is configured to generate an operating area based on the location information of the agricultural sprayer 100. The operating area includes an operating boundary and an operating path. Specifically, referring to Figure 8 , after receiving the path planning instruction, the path planning unit 50 controls the positioning antenna 41 to receive the position information of the agricultural sprayer 100 at a first acquisition point while the agricultural sprayer 100 is traveling along the boundary of the farmland. Based on this information, the operating boundary is generated. When the agricultural sprayer 100 is traveling within the operating boundary, the positioning antenna 41 is controlled to receive the position information of a second acquisition point. Based on this information, the operating path is generated. The operating path includes a straight path and a curved path. The first acquisition points are a, b, c, and d. The path planning unit 50 generates a rectangular operating area based on these four points. The second acquisition points are e, f, g, h, i, j, k, and l. Based on these eight points, the path planning unit 50 generates straight paths L1, L2, and L3, as well as a curved path L4 between L1 and L2, and a curved path L5 between L2 and L3. The path planning unit 50 may be, but is not limited to, a microcontroller unit (MCU) or a central processing unit (CPU), which is not limited here.

[0061] In some embodiments, the autonomous driving unit is further configured to determine an operating mode area based on the operating area. The operating mode area includes a stop spraying area and a non-stop spraying area. Specifically, the stop spraying area refers to the area where the nozzle 25 stops spraying the solution, while the non-stop spraying area refers to the area where the nozzle 25 does spray the solution. The central control unit 30 transmits the operating boundary and operating path from the path planning unit 50 to the autonomous driving controller 47 of the autonomous driving unit. After the autonomous driving controller 47 receives the operating boundary and operating path, referring again to FIG6 , in some embodiments, the autonomous driving controller 47 determines, based on the operating boundary of the operating area, that the area outside the operating boundary is the stop spraying area, and the area within the operating boundary is the non-stop spraying area. For example, Z3 is the stop spraying area, and Z1, Z2, and the operating path are the non-stop spraying areas. In other embodiments, the autonomous driving controller 47 determines, based on the operating path within the operating boundary, that the area outside the operating path is the stop spraying area, and the operating path is the non-stop spraying area. For example, Z1 and Z2 are the stop spraying areas, and the operating path is the non-stop spraying area. In some other embodiments, the automatic driving controller 47 determines that areas outside the working path and areas outside the working boundary are stop spraying areas, for example, Z1, Z2 and Z3 are stop spraying areas, and the working path is a non-stop spraying area.

[0062] In one embodiment, the automatic driving controller 47 is used to determine the traveled working paths and the non-traveled working paths in the non-stop spraying area.

[0063] Specifically, when the agricultural sprayer 100 travels over a certain working path, the automatic driving controller 47 marks the traveled working path on the working path sent by the path planning unit 50 based on the position information sent by the positioning antenna 41. The marked path is the traveled working path, and the unmarked path is the untraveled path.

[0064] The automatic driving controller 47 is further configured to determine the spraying overlap area based on the traveled working path and the untraveled working path, and to determine the material usage mode based on the spraying overlap area.

[0065] Specifically, when the agricultural sprayer 100 passes through a portion of a marked work path again, the automatic driving controller 47 can determine that portion as a spray overlap area. In other words, a spray overlap area refers to a portion of a work path that the agricultural sprayer 100 has already traveled through. For example, referring to Figure 9 , when the work area is irregularly shaped, the agricultural sprayer 100 travels sequentially along work paths L1, L2, and L3, with work path L2 being a previously traveled path and work path L3 being an untraveled path. The overlapping portion of work paths L2 and L3, i.e., the shaded area, is the spray overlap area.

[0066] The material usage mode refers to a mode in which the fields that need to be sprayed again in the spray overlap area account for a certain value of the overlap rate of the entire spray overlap area. The material usage mode can be divided into a material saving mode, a recommended mode, a maximum coverage mode and a custom mode. According to the size of the overlap rate, the material usage mode can be divided into a material saving mode, a recommended mode and a maximum coverage mode. The overlap rate of the material saving mode is 0%, the overlap rate of the recommended mode is 75% and the overlap rate of the maximum coverage mode is 100%. The custom mode executes the corresponding material saving mode, recommended mode and maximum coverage mode according to the area of ​​the spray overlap area. The material usage mode can be pre-stored in the automatic driving controller 47.

[0067] In one embodiment, the automatic driving controller 47 is also used to drive the drive mechanism 10 based on the position information, posture information, working path and working boundary. The steering wheel 43 adjusts the direction of the drive mechanism 10 according to the posture information, rotation angle, working path and working boundary. It can be understood that the automatic driving controller 47 and the steering wheel 43 cooperate with each other to enable the drive mechanism 10 to adjust the working mechanism 20 in and out of the working boundary and travel along the working path to achieve automatic driving of the spraying machine 100. The automatic driving controller 47 calibrates the movement posture of the spraying machine 100 according to the posture information to ensure the movement accuracy of the spraying machine 100 during high-speed mobile operations or slope operations. At the same time, combined with the position information sent by the positioning antenna 41, the posture information sent by the posture sensor 44 and the rotation angle sent by the angle sensor 46, the movement accuracy of the spraying machine 100 on straight paths and curved paths is enhanced.

[0068] In some embodiments, referring to Figures 10 and 17 , the spray control unit 60 includes a spray controller 61 and an integrated valve 62 connected to the spray controller 61. As shown in Figures 10 and 17 , the integrated valve 62 includes a spray proportional valve 621, a pressure sensor 623, and a flow meter 622. The spray proportional valve 621 is used to receive the duty cycle of the spray controller 61 and adjust the liquid pressure of the solution from the integrated valve 62 to the nozzle 25 according to the duty cycle, so that the nozzle 25 sprays a preset spray volume of solution. The flow meter 622 is used to detect the flow rate of the solution in the integrated valve 62, and the pressure sensor 623 is used to detect the liquid pressure of the solution in the integrated valve 62. The spray controller 61 is connected to the central control unit 30, which issues spray control instructions to the spray controller 61. After receiving the spray control instructions, the spray controller 61 determines the duty cycle based on the preset spray volume, solution flow rate, and liquid pressure. It can be understood that the embodiment of the present application can enable the spray controller 61 to obtain real-time liquid pressure and real-time solution flow by setting a flow meter 622 and a pressure sensor 623, so as to ensure that the execution parameters (i.e., duty cycle) converted from liquid pressure and solution flow are consistent with the real-time status of the spraying agricultural machine 100, so that the liquid pressure adjusted by the spray proportional valve 621 can enable the sprinkler head 25 to perform reasonable spraying operations.

[0069] In one embodiment, the spray controller 61 is used to determine the first speed of any one of the nozzles 25 according to the real-time speed and the nozzle position of the nozzle 25 on the spray rod frame 24 when the operating path of the non-stop spraying area is determined to be a straight path according to the rotation angle, and obtain the linear spraying amount of the nozzle 25 according to the first speed and preset parameters.

[0070] Specifically, after receiving the rotation angle from the angle sensor 46 and the operating path from the path planning unit 50, the spraying controller 61 determines whether the agricultural sprayer 100 is on a curved or straight path based on the rotation angle. For example, if the rotation angle is zero, the current operating path of the agricultural sprayer 100 is determined to be a straight path. If the rotation angle is not zero, the current operating path of the agricultural sprayer 100 is determined to be a curved path.

[0071] The spray controller 61 stores the nozzle position of each nozzle 25 in the spray boom frame 24. After obtaining the real-time speed, the first speed of each nozzle 25 can be converted based on the real-time speed and the nozzle position of the nozzle 25. When the operation path is a straight path, the first speeds converted for all nozzles 25 are consistent. In one example, the spray controller 61 can determine the first spraying rate of the nozzle 25 based on formula (1) and the first speed, and calculate the linear spraying amount of the nozzle 25 based on formula (2) and the first spraying rate (i.e., the preset spraying amount includes the linear spraying amount).

[0072] Among them, V 液体流速 represents the first spraying rate of the nozzle 25, V 喷头25 represents the first speed of the nozzle 25, B represents the spray width, G 亩 Indicates the spraying amount per mu, S 横截面积 represents the cross-sectional area of ​​the nozzle 25, F X Indicates any liquid pressure, F1 indicates the target liquid pressure, S 亩 Indicates the area per mu, Q 流量 Indicates the linear spraying volume of each nozzle 25.

[0073] Understandably, due to F X , F1, B, G 亩 、S 横截面积 and S 亩 It is a preset parameter and can be preset in advance. Therefore, from formula (2), it can be seen that the linear spraying amount Q of the nozzle 25 is 流量 and the first velocity V of the nozzle 25 喷头25 At the same time, when the working path is a straight path, the first speed of each nozzle 25 of the spray rod frame 24 is the same. Therefore, from formula (1), it can be seen that the first speed V of the nozzle 25 is converted into喷头25 The real-time speed of the agricultural spraying machine 100 and the first spraying rate Q of the spraying head 25 液体流速 When the agricultural spraying machine 100 is traveling on a straight path, the linear spraying amount Q of all the nozzles 25 is 流量 The same, and the linear spraying amount Q 流量 The value increases as the real-time speed of the agricultural spraying machine 100 increases, and decreases as the real-time speed of the agricultural spraying machine 100 decreases.

[0074] The spray controller 61 is further configured to control all nozzles 25 of the spray boom 24 to spray the solution in a linear spray volume. Specifically, after calculating the linear spray volume, the spray controller 61 is further configured to determine a first duty cycle based on the linear spray volume, the solution flow rate, and the liquid pressure. In one example, the spray controller 61 calculates the first duty cycle according to formula (3).

[0075] Wherein, C% represents the first duty cycle required by each nozzle 25, F Q represents the liquid pressure measured by the pressure sensor 623, Q 当前 Indicates the solution flow rate measured by the flow meter 622.

[0076] After calculating the first duty cycle, the spray controller 61 further controls the spray proportional valve 621 to adjust the liquid pressure according to the first duty cycle, so that the spray heads 25 of all the spray boom racks 24 spray a linear spraying amount of the solution.

[0077] In one embodiment, the spraying controller 61 is used to obtain the corresponding second speed of the nozzle 25 of the spray boom frame 24 according to the real-time speed of the spraying agricultural machine 100 and the nozzle position of the nozzle 25 on the spray boom frame 24 when the working path of the non-stop spraying area is determined to be a curved path based on the rotation angle. Compared with the previous embodiment. The second speed of each nozzle 25 of the spray boom frame 24 is different. As shown in Figure 11, when the spraying agricultural machine 100 is traveling on a curved path, in the process of the spray boom frame 24 moving from the first position to the second position, the path moved by the nozzle 2501 is S1, and the path moved by the nozzle 2502 is S2, and S1 is longer than S2. It can be understood that in the same time, the path moved by the nozzle 2501 is longer than the nozzle 2502, which means that the second speed of the nozzle 2501 is faster than the nozzle 2502.

[0078] The spray controller 61 is further configured to determine a third spray rate corresponding to each nozzle 25 according to the second speed, and obtain a curved spray volume corresponding to each nozzle 25 according to the third spray rate. In one example, the spray controller 61 calculates the curved spray volume using formulas (1) to (2). The difference from the previous embodiment is that V 液体流速 represents the third spraying rate of the nozzle 25, Q 流量 Indicates the curved spraying volume of each nozzle 25, V喷头25 Indicates the second speed of the nozzle 25.

[0079] It can be understood that when the working path is a curved path, it can be known from formula (1) that the first speed V of the nozzle 25 is converted into 喷头25 The real-time speed of the agricultural spraying machine 100 and the second spraying rate V of the spraying head 25 液体流速 In direct proportion, and the curved spraying amount Q 流量 As the real-time speed of the agricultural spraying machine 100 increases, it increases, and as it decreases, it decreases. At the same time, due to the first speed V of each nozzle 25 of the spraying rod frame 24 喷头25 Therefore, from formula (2), we can know that the bending spraying amount Q of each nozzle 25 is 流量 Not the same either.

[0080] The spray controller 61 is also used to control each nozzle 25 of the spray boom 24 to spray the corresponding curved spray amount of solution. Specifically, after calculating the curved spray amount, the automatic driving controller 47 is also used to obtain a second duty cycle based on the curved spray amount, the solution flow rate, and the liquid pressure. In one example, the spray controller 61 calculates the second duty cycle according to formula (3). The difference from the previous embodiment is that C% represents the second duty cycle required for each nozzle 25 (i.e., the duty cycle also includes the second duty cycle). After calculating the second duty cycle, the spray controller 61 also controls the spray proportional valve 621 to adjust the liquid pressure according to the second duty cycle so that the nozzle 25 of the spray boom 24 sprays the corresponding curved spray amount of solution. For example, the spray controller 61 also controls the spray proportional valve 621 to adjust the liquid pressure according to the second duty cycle so that nozzle 2501 sprays a larger amount of solution than nozzle 2502. It can be understood that on a curved path, the liquid pressure is adjusted by the spray proportional valve 621, that is, the spray proportional valve 621 increases the liquid pressure from the inside to the outside, so that the multiple nozzles 25 in the head assembly can increase the spraying amount of the solution from the inside to the outside.

[0081] In one application scenario, as shown in Figure 12, a spraying machine 100 is traveling on a curved path. The spraying controller 61 determines the second speed of each nozzle 25 based on the real-time speed of the spraying machine 100 and the position of the nozzle 25 on the spray boom 24. Based on the second speed, it determines the second spraying rate for each nozzle 25. Based on the second spraying rate, it determines the corresponding curved spray volume for each nozzle 25. The controller then controls each nozzle 25 in the spray boom 24 to spray the corresponding curved spray volume. In this manner, the spray volume of the solution increases from the inside to the outside of the spray boom 24.

[0082] It can be understood that, compared with the spraying agricultural machine 100 in Figure 1, the spraying controller of the spraying agricultural machine 100 in this embodiment can speed up the spraying amount of the faster nozzle 25 and reduce the spraying amount of the slower moving nozzle 25, so as to achieve uniform spraying of the spraying agricultural machine 100 on the curved path, that is, the spraying amount received from the inside to the outside of the curved path is consistent.

[0083] In one embodiment, the spray controller 61 is also used to control the nozzle 25 to stop spraying the solution when the corresponding nozzle 25 is confirmed to be in the stop spraying area according to the nozzle position, and to control the nozzle 25 to spray the solution when the corresponding nozzle 25 is confirmed to be in the non-stop spraying area according to the nozzle position.

[0084] After the automatic driving controller 47 of the automatic driving unit 40 determines the stop and non-stop spraying areas, the spraying controller 61 of the spraying control unit 60 receives the stop and non-stop spraying areas. Simultaneously, the spraying controller 61 receives the position information of the agricultural sprayer 100 transmitted by the positioning antenna 41 and calculates the position of the sprayer based on the position information of the agricultural sprayer 100 and the position of the sprayer 25 on the spray boom frame 24.

[0085] In one embodiment, the spray controller 61 is configured to control the spray head 25 to stop spraying when the real-time speed is lower than a preset speed and / or when the spray head is located in a stop spraying area according to the spray head position.

[0086] It can be understood that the spraying controller 61 will determine the automatic spraying mode that needs to be executed based on the operating boundary, operating path and / or real-time speed. The spraying mode includes a stop spraying mode and a start spraying mode. Specifically, as shown in Figure 13, the spraying controller 61 controls the sprinkler 25 to stop spraying when the sprinkler head position of the sprinkler 25 is located in the stop spraying area, and controls the sprinkler 25 to spray when the sprinkler head position of the sprinkler 25 is located in the non-stop spraying area. This cycle continues until all the fields on the operating path are sprayed. At the same time, when the sprinkler head position of the sprinkler 25 is located in the non-stop spraying area, the spraying controller 61 controls the spraying amount of the sprinkler 25 according to the real-time speed and operating path, so that when the spraying machine 100 is traveling on a straight path and a curved path, the spraying amount of its sprinkler 25 is directly proportional to the real-time speed of the spraying machine 100. At the same time, from the inside to the outside of the curved path, each nozzle 25 sprays the corresponding fixed-point spraying amount, so that the fields along the curved path are sprayed with a consistent amount of solution. In this way, the fields along the working path can be automatically sprayed with the preset spraying amount, so that the fields along the working path are sprayed with a consistent amount of solution.

[0087] In some embodiments, the spray controller 61 is further configured to control the spray heads 25 to stop spraying after a preset period of time according to a material usage pattern of the spray overlapping area when the corresponding spray heads 25 are confirmed to be located in the spray overlapping area according to the spray head positions.

[0088] Specifically, the preset time period can be calculated based on the overlap ratio, the area of ​​the overlapping spraying region, and the preset spraying amount. The specific calculation method is not limited. The preset spraying amount is selected based on the operation path, such as a straight spraying amount or a curved spraying amount. For details, see the above embodiment. As shown in Figures 14A to 14C, the triangular area represents the overlapping spraying area, and the shaded area in the figure represents the area sprayed by the agricultural sprayer 100.

[0089] In one example, as shown in FIG14A , the spray controller 61 calculates the preset time period as zero based on the material saving mode. When the spray controller 61 determines based on the nozzle position information of the nozzle 25 that the nozzle 25 has entered the spray overlap area, the spray controller 61 controls the nozzle 25 to immediately stop spraying, so that the overlap rate is 0%. In other words, the spray controller 61 controls the nozzle 25 not to spray the solution in the spray overlap area.

[0090] In another example, as shown in FIG14B , the spray controller 61 converts the preset time period into a first time period according to the material saving mode. When the spray controller 61 confirms that the spray head 25 has entered the spray overlap area based on the nozzle position information of the nozzle 25, it controls the nozzle 25 to stop spraying after the first time period so that the overlap rate is 75%.

[0091] In another example, as shown in FIG14C , the spray controller 61 converts the preset time period into a second time period according to the maximum coverage saving mode. When the spray controller 61 determines based on the nozzle position information of the nozzle 25 that the nozzle 25 has entered the spray overlap area, it controls the nozzle 25 to stop spraying after the second time period to achieve a 100% overlap rate.

[0092] In another example, the spray controller 61 pre-stores a custom mode. Based on the area of ​​the overlapped area, the spray controller 61 determines to execute the maximum coverage mode. Then, based on the maximum coverage mode, the preset time period is converted to a second time period. Based on the nozzle position of the nozzle 25, when the nozzle 25 enters the overlapped area, the spray controller 61 controls the nozzle 25 to stop spraying after the second time period, thereby achieving a 100% overlap rate.

[0093] In some embodiments, as shown in FIG. 17 , the spraying control unit 60 further includes a vision module 63 connected to the spraying controller 61. The vision module 63 includes a camera driver 631, a second camera 632, and a fill light 633, each connected to the camera driver 631. The fill light 633 is used to illuminate the non-stop spraying area. The second camera 632 is an AI camera and is used to identify fields, weeds, and crops in the non-stop spraying area. Specifically, the second camera 632 contains a database containing images of weeds, crops, and fields. After the second camera 632 captures images of weeds, crops, and fields, it creates an unlabeled prescription map using a grading method (growth and color grading) and the captured images. The unlabeled prescription map identifies weeds or crops in the captured images based on color depth (Ndvi index) and images stored in the database. The unlabeled prescription map, which identifies weeds and crops, is sent to the camera driver 631, which can be an AI driver. The camera driver 631 stores prescription information, including a spot spraying amount for weed control (i.e., the preset spraying amount includes the spot spraying amount). The camera driver 631 generates a marked prescription map based on the prescription information and the unmarked prescription map. In one example, the marked prescription map indicates that light-colored plants are crops and the spot spraying amount is 0, while dark-colored plants are weeds and the spot spraying amount is greater than 0. Each second camera 632 can be equipped with a fill light 633 to enhance the clarity of the images of weeds or crops captured by the second camera 632.

[0094] The spraying control instruction includes a fixed-point spraying instruction. After the spraying controller 61 receives the fixed-point spraying instruction issued by the central control unit 30, the spraying controller 61 determines the target nozzle and the non-target nozzle according to the marked prescription map. Among them, the target nozzle is the nozzle corresponding to the target object on the spray rod frame 24. The spraying controller 61 also generates a third duty cycle (that is, the duty cycle also includes the third duty cycle) based on the fixed-point spraying amount, liquid pressure and solution flow represented by the marked prescription map. In one example, the spraying controller calculates the third duty cycle according to formula (3). Compared with the calculation of the first duty cycle, the difference is that C% represents the third duty cycle required for each nozzle 25, Q 流量 Indicates the targeted spraying amount represented by the marked prescription map. In one application scenario, referring to FIG15 , the spray controller is further configured to control the target nozzles 25 corresponding to the weeds (i.e., the nozzles 25 corresponding to the spray solution marked in black in FIG15 ) to open based on the weed locations represented by the marked prescription map, and to control the spray proportional valve 621 to adjust the liquid pressure based on the third proportion so that the target nozzles 25 of the spray boom frame 24 spray the targeted spraying amount of solution. Simultaneously, the non-target nozzles (i.e., the nozzles 25 corresponding to the spray solution not marked in black in FIG15 ) are controlled to stop spraying.

[0095] It can be understood that the embodiment of the present application provides a visual module 63 in the spraying control unit 60 to achieve targeted spraying of weeds in the non-stop spraying area and targeted spraying of crops.

[0096] In some embodiments, as shown in Figures 16 and 17 , the spray control system 200 further includes an electro-hydraulic lifting unit 80. The electro-hydraulic lifting unit 80 is used to adjust the height of the spray boom frame 24 based on the distance between the nozzle 25 and the target object. In some embodiments, as shown in Figure 16 , the electro-hydraulic lifting unit 80 includes a hydraulic actuator 81, an ultrasonic distance sensor 82 and a hydraulic proportional valve 83, each connected to the hydraulic actuator 81, and a position hydraulic cylinder 84 connected to the hydraulic proportional valve 83. The position hydraulic cylinder 84 is connected to the spray boom frame 24. The ultrasonic distance sensor 82 is used to detect the distance between the nozzle 25 and the target object and transmits the distance to the hydraulic actuator 81. The hydraulic actuator 81 is connected to the central control unit 30, which can be a driver. The hydraulic actuator 81 receives the distance transmitted by the ultrasonic distance sensor 82 and transmits the distance to the central control unit 30. Based on the distance, the central control unit 30 issues a first lift command to the hydraulic driver 81. The hydraulic driver 81 controls the hydraulic proportional valve 83 based on the first lift command. Based on the lift command, the hydraulic proportional valve 83 distributes hydraulic oil to the hydraulic cylinder to adjust the extension and retraction of the hydraulic cylinder. The hydraulic cylinder retracts and retracts to adjust the height of the boom stand 24. It will be appreciated that the ultrasonic ranging sensor 82 can be provided to monitor the height of the boom stand 24 in real time.

[0097] In some embodiments, boom lift control commands include both an up command and a down command. The central control unit 30 compares the distance with a preset distance. If the distance is greater than the preset distance, an up command is generated; if the distance is less than the preset distance, a down command is generated. The preset distance can be the optimal spraying distance between the boom 24 and the crop, and can be set based on actual conditions. The preset distance can be pre-stored in the central control unit 30 or retrieved by the display unit 71 in response to an operator input of the preset distance. Specifically, the human-machine interface of the control terminal 70 generates a boom lift command in response to the operator's boom lift input, and transmits the boom lift command to the hydraulic actuator 81 of the electro-hydraulic lift unit 80. In response to the up command, the hydraulic actuator 81 controls the hydraulic proportional valve 83 to increase the supply of hydraulic oil to the position cylinder 84, causing the piston end of the position cylinder 84 to extend, raising the boom 24. In response to the down command, the hydraulic actuator 81 controls the hydraulic proportional valve 83 to decrease the supply of hydraulic oil to the position cylinder 84, causing the piston end of the position cylinder 84 to retract, lowering the boom 24. As will be appreciated, when the distance remains constant, the hydraulic oil supply from the hydraulic proportional valve 83 to the position cylinder 84 remains constant, and the position cylinder 84 remains in an extended or contracted state, driving the spray boom 24 to maintain a certain height. This allows the spray nozzle 25 to maintain an optimal distance from the crops, regardless of whether the agricultural sprayer 100 is operating on rough or smooth terrain, ensuring that the crops receive a suitable spray volume and intensity.

[0098] The following uses an application scenario to illustrate the application of the spraying control system 200 on the agricultural spraying machine 100.

[0099] In response to the start-up operation, the control terminal 70 generates a startup message. In response to the startup message, the central control unit 30 generates a path planning instruction and sends it to the path planning unit 50. The path planning unit 50 generates a work boundary and work path based on the position information of the agricultural sprayer 100 transmitted by the positioning antenna 41. In response to the generated work path and work boundary, the central control unit 30 generates automatic driving instructions, spraying control instructions, and boom raising and lowering control instructions. Based on the work path and work boundary, the automatic driving unit 40 controls the drive mechanism 10 to enter the work boundary and travel along the work path. This causes the drive mechanism 10 to adjust the working mechanism 20 to travel along the work path along the work boundary.

[0100] Upon receiving the boom lift control command, the electro-hydraulic lift unit 80 adjusts the boom 24 to maintain a preset distance between the spray nozzles 25 and the crops. Simultaneously, after the operating mechanism 20 enters the operating boundary, the spray controller 61 of the spray control unit 60 controls the spray nozzles 25 to spray a preset amount of solution based on their position within the non-stop spraying zone. Specifically, when the operating path is a straight path, the spray controller 61 determines the nozzle position according to the real-time speed and the position of the nozzle 25 on the spray boom frame 24, determines the first speed of the nozzle 25 according to the nozzle position, obtains the linear spraying amount of the nozzle 25 according to the first speed and preset parameters, and obtains the first duty cycle according to the linear spraying amount, solution flow rate and liquid pressure. Then, the spray controller 61 controls the spray proportional valve 621 to adjust the liquid pressure of the solution from the integrated valve 62 to the nozzle 25 according to the first duty cycle, so that the nozzles 25 of all the spray boom frames 24 spray the same linear spraying amount of solution, and the linear spraying amount of the nozzle 25 increases as the real-time speed of the spraying agricultural machine 100 increases, and decreases as the real-time speed of the spraying agricultural machine 100 slows down. After the working mechanism 20 enters the curved path, the spray controller 61 determines the second speed of the nozzle 25 based on the real-time speed and the position of the nozzle 25 on the spray boom 24. Based on the second speed and preset parameters, it determines the curved spray volume of the nozzle 25. Furthermore, it determines the second duty cycle based on the curved spray volume, the solution flow rate, and the liquid pressure. Next, the spray controller 61 controls the spray proportional valve 621 to adjust the liquid pressure of the solution from the integrated valve 62 to the nozzle 25 based on the second duty cycle. This controls each nozzle 25 in the spray boom 24 to spray the corresponding curved spray volume of solution, so that the multiple nozzles 25 in the spray boom 24 increase their solution spray volume from the inside to the outside of the curved path. Furthermore, the curved spray volume of the nozzle 25 increases as the real-time speed of the agricultural sprayer 100 increases, and decreases as the real-time speed of the agricultural sprayer 100 decreases.

[0101] When the operating mechanism 20 passes through an operating path where solution has already been sprayed, the spray controller 61, based on the nozzle position of the nozzle 25, determines that the nozzle 25 has entered the overlapping spraying area. It then controls the nozzle 25 to stop spraying the linear spray amount or curved spray amount after a first period of time according to the recommended mode, so that the overlap ratio of the overlapping spraying area is 75%. After receiving the fixed-point spraying instruction issued by the control terminal 70, the spray controller 61 generates a third duty cycle based on the fixed-point spray amount, liquid pressure, and solution flow rate represented by the marked prescription map. The spray controller is also configured to control the opening of the nozzle 25 opposite the weed based on the position of the weed represented by the marked prescription map. The liquid pressure from the integrated valve 62 to the nozzle 25 is controlled based on the third duty cycle, so that the designated nozzle 25 of the spray boom 24 sprays the fixed-point spray amount of solution, thereby spraying the weeds in the non-stop spraying area. When the operating mechanism 20 moves outside the operating boundary, the spray controller 61 controls the nozzle 25 to stop spraying the solution based on the nozzle position of the nozzle 25 being in the stop spraying area.

[0102] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the aforementioned method implementation methods or examples, and will not be repeated here. In the several implementation methods or examples provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device implementation methods described above are merely illustrative. For example, the division of units is only a logical functional division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not implemented. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, they can be located in one place or distributed across multiple network units.

[0103] Those skilled in the art will understand that the present application is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions are possible for those skilled in the art without departing from the scope of protection of the present application. Therefore, although the present application has been described in detail through the above embodiments, the present application is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the scope of protection of the present application, all of which fall within the scope of protection of the present application.

Claims

1. A spraying control system, applied to a spraying agricultural machine, the spraying agricultural machine comprising a water tank and a spraying rod frame connected to the water tank, the spraying rod frame being provided with a plurality of spray heads, characterized in that: The spray control system comprises: An automatic driving unit, used for detecting automatic driving information of the agricultural spraying machine; A path planning unit, configured to generate an operation area according to the autonomous driving information; A spraying control unit is used to control at least part of the nozzles on the spray rod frame to spray a preset spraying amount of solution on a target object according to the working area and the automatic driving information.

2. The spray control system according to claim 1, characterized in that: The automatic driving information includes the location information of the agricultural spraying machine, and the automatic driving unit includes an automatic driving controller and a positioning antenna. The automatic driving controller is used to: According to the working boundary of the working area, determine the area outside the working boundary as the spraying stop area, and the area inside the working boundary as the spraying non-stop area; or According to the operation path within the operation boundary, determining the area outside the operation path as the stop spraying area, and the operation path as the non-stop spraying area; The positioning antenna is used to detect the position information of the agricultural spraying machine; The spray control unit further comprises a spray controller, which is used for: Obtaining the nozzle position of each nozzle according to the position information and the position of the nozzle on the nozzle rod frame; When it is confirmed according to the nozzle position that the corresponding nozzle is located in the stop spraying area, controlling the nozzle to stop spraying; When it is confirmed according to the nozzle position that the corresponding nozzle is located in the non-stop spraying area, the nozzle is controlled to spray the solution of the preset spraying amount.

3. The spray control system according to claim 2, characterized in that: The automatic driving controller is also used for: Determine the traveled operation path and the non-traveled operation path in the non-stop spraying area; Determine a spraying overlap area according to the traveled operation path and the untraveled operation path; The spray controller is also used to: When it is confirmed according to the nozzle position that the corresponding nozzle is located in the spraying overlap area, the nozzle is controlled to stop spraying after a preset period of time.

4. The spray control system according to claim 2, characterized in that: The preset spraying amount includes a straight line spraying amount, the automatic driving information also includes a rotation angle and a real-time speed of the agricultural spraying machine, and the automatic driving unit also includes an angle sensor, and the angle sensor is used to detect the rotation angle of the agricultural spraying machine; The automatic driving controller is also used to obtain the real-time speed of the agricultural spraying machine according to the position information and a preset algorithm; The spray controller is also used to: When it is determined according to the rotation angle that the operation path of the non-stop spraying area is a straight path, a first speed of any one of the spray heads is obtained according to the real-time speed and the spray head position; The linear spraying amount of the nozzle is obtained according to the first speed and preset parameters, and the nozzle is controlled to spray the solution of the linear spraying amount.

5. The spray control system according to claim 4, characterized in that: The preset spraying amount also includes a curved spraying amount; The spray controller is also used to: When it is determined according to the rotation angle that the operation path of the non-stop spraying area is a curved path, a second speed corresponding to each of the spray heads is determined according to the real-time speed and the spray head position; The curved spraying amount of the nozzle is obtained according to the second speed and the preset parameters, and the nozzle is controlled to spray the solution of the curved spraying amount.

6. The spray control system according to claim 2, characterized in that: The preset spraying amount also includes a fixed-point spraying amount, and the spraying control unit also includes a visual module, which is used to identify the target object in the non-stop spraying area and generate a marking prescription map of the target object; The spray controller is also used to: Determine a target nozzle and a non-target nozzle according to the marked prescription map, wherein the target nozzle is the nozzle on the spray rod frame corresponding to the target object; The fixed-point spraying amount is obtained according to the marked prescription map, the target nozzle is controlled to spray the solution of the fixed-point spraying amount on the target object, and the non-target nozzle is controlled to stop spraying.

7. The spray control system according to any one of claims 2 to 6, characterized in that: The spray control unit further comprises a spray proportional valve, a flow meter and a pressure sensor, wherein the flow meter is used to detect the flow rate of the solution in the spray agricultural machine; the pressure sensor is used to detect the liquid pressure of the solution in the spray agricultural machine; The spray controller is also used to: Obtaining a duty cycle according to the preset spraying amount, the solution flow rate and the liquid pressure; The spraying proportional valve is controlled to adjust the liquid pressure according to the duty cycle so that the spray head sprays the solution of the preset spraying amount.

8. The spray control system according to claim 1, characterized in that: The spray control system further comprises a hydraulic lifting unit, which comprises an ultrasonic ranging sensor, a hydraulic driver, a hydraulic proportional valve and a hydraulic cylinder; The ultrasonic distance sensor is used to detect the real-time distance between the nozzle and the target object; The hydraulic driver is used to control the hydraulic proportional valve to adjust the supply amount of hydraulic oil of the hydraulic cylinder according to the real-time distance; The hydraulic cylinder adjusts the height of the spray rod frame according to the supply amount so as to maintain a preset distance between the spray head and the target object.

9. The spray control system according to claim 1, characterized in that: The spray control system also includes a display terminal and a central control unit. The automatic driving unit, the path planning unit and the spraying control unit are used to execute the control instructions generated by the display terminal or the central control unit; Wherein, the display terminal is used to respond to the operator's input and generate the control instruction; The central control unit is used to generate the control instruction in response to information interaction with the automatic driving unit, the path planning unit and the spraying control unit.

10. A spraying agricultural machine, characterized in that: The agricultural spraying machine comprises a water tank, a spray rod frame, a plurality of spray heads arranged on the spray rod frame, and a spraying control system according to any one of claims 1 to 9.

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