CN111264504A - Intelligent spraying control method and system for cloud strategy pesticide spraying machine - Google Patents
Intelligent spraying control method and system for cloud strategy pesticide spraying machine Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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Abstract
The invention discloses an intelligent pesticide spraying control method and system of a cloud strategy pesticide sprayer, wherein the system comprises a PC (personal computer) end or a mobile phone end, a background server, a remote data transmission module, a Beidou satellite positioning module and a pesticide sprayer; according to the intelligent pesticide spraying system, different pesticide spraying strategies are preset according to different plots, the pesticide spraying machine automatically adjusts the valve opening proportion according to the preset target value, and intelligent pesticide spraying operation is carried out. The invention can assist the driving operator to realize more accurate pesticide application operation and reduce the labor intensity to a certain extent.
Description
Technical Field
The invention relates to the field of agricultural operation, space description technology and control, in particular to an intelligent pesticide spraying control method and system of a cloud strategy pesticide sprayer.
Background
In recent years, along with popularization of agricultural machinery, the operating utilization rate of the agricultural machinery generally reaches more than 65%, the mechanization degree of individual crops in individual regions reaches 100%, more experienced manipulators with high quality are needed for operation, young people generally dislike ground or remote workers, agriculture is seasonal operation, workers in cities are available in leisure time, the workers are difficult to return in busy hours, the workers are temporarily pieced together, experience is absent, pesticide spraying is not uniform, the dosage is not suitable, and the operation effect is poor. In addition, the problem of uneven spraying caused by blockage of a single-section spray head of the spraying machine cannot be solved by a total amount control mode.
The pesticide sprayer plays an important role in the agricultural plant protection process. In the agricultural production process, a pesticide sprayer is used for weeding, deinsectization, sterilization, spraying of chlormequat chloride, defoliant, leaf fertilizer and other medicaments, fertilizers and regulators. The current laxative machine mainly falls into two types: self-propelled laxative machine and pull-type laxative machine. Because the pesticide application needs strict control, the pesticide is accurately sprayed in a reasonable range, and the method has great significance for crop safety and the achievement of the basic goals of one control, two controls and three reductions in China. Therefore, how to control the pesticide spraying machine to spray as required and how to enable the operation effects of the new and old manipulators to be the same, the precise control is really achieved, and the problem of urgent need is solved in the plant protection link.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an intelligent pesticide spraying control method and system of a cloud strategy pesticide sprayer.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an intelligent pesticide spraying control method of a cloud strategy pesticide sprayer comprises the following steps:
s1, marking and describing an area needing to be operated and carrying out the pesticide spraying operation, and collecting the on-site image data of the area needing to be operated and representing the land parcel;
s2, transmitting the described on-site image data of the area to be operated and the representative plot to a background server through a wireless network;
s3, analyzing the collected on-site image data of the representative land parcel to obtain the crop condition or soil condition parameters of the area needing to be operated;
s4, at the PC end or the mobile phone end, the pesticide application strategy is made by combining the collected on-site image data and the actual analysis result; the pesticide application strategy comprises pesticide spraying amount per mu, reference operation speed, reference pesticide spraying pressure and breadth; uploading the formulated pesticide application strategy to a background server, and issuing the pesticide application strategy to a pesticide spraying machine by the background server to serve as a strategy pesticide application task of the pesticide spraying machine;
and S5, after receiving the strategy pesticide application task, the pesticide spraying machine navigates to the corresponding land parcel and carries out pesticide spraying operation according to the pesticide application strategy.
Further, in step S1, a mobile phone is used to perform a parcel selection or an unmanned aerial vehicle flies through a designated area, and a mark description is made on an area to be operated, so as to determine an area where a pesticide spraying operation is to be performed.
Further, in step S1, a mobile phone is used to shoot or an unmanned aerial vehicle is used to take aerial photographs or image data of the area to be operated representing the land.
Further, in step S3, the background server superimposes the described information of the area to be operated and the analyzed parameters of the condition of the field crop or the condition of the soil, and the composite position information on the map for display.
In the step S5, after the pesticide spraying machine navigates to the parcel, the background server compares the real-time position of the pesticide spraying machine with the position of the formulated pesticide application strategy, and performs pesticide spraying after the position comparison is correct.
Further, in step S5, the step of the pesticide spraying machine performing the pesticide spraying operation includes: firstly, setting the spraying quantity and pressure threshold value per mu; secondly, when spouting the medicine operation, spout the real-time speed that medicine control terminal gathered the medicine machine of spouting, the area increment that each spray arm of medicine machine corresponds when the operation is calculated out according to the width that is currently spouting the medicine operation, the medicine liquid increment of every spray arm is calculated by the area increment to the mu medicine dose that rethread set up, along with spraying going on, through the aperture cooperation of the proportional valve on adjusting every spray arm spout the control of medicine pressure, keep the increase of liquid medicine per minute and the increase of area per minute the increase ratio equal the value of the medicine dose per mu that sets up.
Further, in step S5, when the spraying control terminal detects that the spraying amount of a certain spraying arm is insufficient, the opening degree of the proportional valve on the spraying arm is increased; if the opening degree of the proportional valve reaches the maximum, the required pesticide spraying amount per mu still cannot be reached, the blockage of the spraying arm can be judged, and the spraying control terminal sends a blockage prompt.
An intelligent pesticide spraying control system of a cloud strategy pesticide sprayer comprises a PC (personal computer) end or a mobile phone end, a background server, a remote data transmission module, a Beidou satellite positioning module and a pesticide sprayer;
PC end or cell-phone end: the system is used for making a pesticide application strategy before pesticide application, packaging the made pesticide application strategy according to a communication protocol, uploading the packaged pesticide application strategy to a background server, and displaying chart data information in the background server after pesticide application operation is finished;
a background server: the system is used for setting, storing and pushing a pesticide application strategy uploaded by a PC (personal computer) end or a mobile phone end before pesticide application, acquiring, recording and monitoring real-time data of a pesticide spraying machine in the pesticide application process, and storing operation data after pesticide application;
the remote data transmission module: the method comprises the steps that a bidirectional information transmission channel is provided for a background server and a pesticide spraying control terminal of a pesticide spraying machine, a pesticide application strategy on the background server is pushed to the pesticide spraying control terminal before pesticide application, and a real-time execution result of pesticide application of the pesticide spraying machine operated by the pesticide spraying control terminal is transmitted back to the background server during pesticide application; the execution result comprises the real-time position of the pesticide sprayer, the real-time pesticide spraying amount per mu, the operation speed, the pesticide spraying pressure and the spraying arm blockage alarm information;
the Beidou satellite positioning module is used for acquiring real-time position information and real-time speed of the pesticide spraying machine;
a pesticide spraying machine: the pesticide spraying control system is used for performing pesticide spraying operation according to a control result output by the pesticide spraying control terminal and comprises a vehicle-mounted pesticide pump, a water distributor, a pesticide spraying control terminal and a plurality of spraying arms, wherein the vehicle-mounted pesticide pump, the water distributor, the pesticide spraying control terminal and the spraying arms are arranged on a vehicle; each spray arm is connected with the water outlet end of the high-pressure pipe through an acquisition actuator respectively, a water separator is arranged on the high-pressure pipe, and the water inlet end of the high-pressure pipe is connected with the vehicle-mounted chemical pump; every gathers the executor and all including setting up on corresponding spray arm and all with spout flowmeter, pressure gauge and the proportional valve that medicine control terminal links to each other, the flowmeter is used for measuring this spray arm's real-time flow, and the pressure gauge is used for monitoring this spray arm's real-time medicine pressure of spouting to provide the early warning and the protection work of a whole set of system, the proportional valve is used for adjusting this spray arm's mu medicine volume of spouting.
Further, a human-computer interaction display screen is also arranged on the pesticide spraying machine; the man-machine interaction display screen is connected with the pesticide spraying control terminal and used for monitoring the working state of the system on site in real time, correcting the pesticide spraying amount per mu according to the real-time operation condition and giving instant alarm information when pesticide spraying is abnormal.
The system also comprises an unmanned aerial vehicle, which is used for carrying out survey determination and photographing work on the land position before pesticide application operation, recording and transmitting the land position information to the background server.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
(1) according to the satellite positioning, different regions execute different pesticide application strategies, and spray according to actual conditions and variable requirements. (2) The pesticide spraying machine can perfectly complete pesticide spraying operation without manual analysis and control by a manipulator. (3) The spraying control terminal of the spraying machine is connected with the background cloud data in real time to achieve the purpose of the intelligent agricultural machine. (4) The pesticide spraying control terminal is used as a functional accessory of the pesticide spraying machine, and the original vehicle structure is not modified and affected. (5) The device is different from the existing total amount control mode, pressure monitoring and proportional valve control are carried out on each section of spray arm of the spraying machine, the device is suitable for spraying machines with any spray arm section number, whether the spraying amount of each section is consistent or not can be monitored in real time, and the spraying amount of each section of spray arm tends to be the same through a proportional valve adjusting mode. (6) Even if the spray head on the single section is partially blocked, the spray amount can be controlled to be uniform as much as possible through the single section, and the single section spray head is completely blocked or the blocking degree is not enough to spray the currently required spray amount under the specific pressure to give a prompt or an alarm.
Drawings
FIG. 1 is a logic flow diagram of the present invention;
fig. 2 is a schematic view of the composition of the drug amount control of the drug spraying machine of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the invention discloses an intelligent pesticide spraying control method of a cloud strategy pesticide sprayer, which comprises the following steps:
s1, marking and describing the required operation area to be executed with the spraying operation, and collecting the on-site image data of the area to be executed representing the land parcel.
In step S1, the area to be subjected to the pesticide spraying operation is determined by performing parcel selection using a mobile phone or by making a mark description of the area to be operated by using an unmanned aerial vehicle flying through a designated area.
In step S1, a mobile phone is used to shoot or an unmanned aerial vehicle is used to capture the scene photo or image data of the area to be operated representing the parcel.
S2, transmitting the described on-site image data of the area to be operated and the representative plot to a background server through a wireless network;
and S3, analyzing the collected on-site image data of the representative land parcel to obtain the crop condition or soil condition parameters of the area to be operated.
In step S3, the background server superimposes the described information of the area to be operated and the analyzed condition of the field crop or soil condition parameters and the composite position information on the map for display, so as to visually check the details of the field crop and soil to be operated on the map.
S4, at the PC end or the mobile phone end, the pesticide application strategy is made by combining the collected on-site image data and the actual analysis result; the pesticide application strategy comprises pesticide spraying amount per mu, reference operation speed, reference pesticide spraying pressure and breadth; and uploading the formulated pesticide application strategy to a background server, and issuing the pesticide application strategy to the pesticide spraying machine by the background server to serve as a strategy pesticide application task of the pesticide spraying machine.
And S5, after receiving the strategy pesticide application task, the pesticide spraying machine navigates to the corresponding land parcel and carries out pesticide spraying operation according to the pesticide application strategy.
In step S5, after the pesticide spraying machine navigates to the parcel, the background server compares the real-time position of the pesticide spraying machine with the position of the formulated pesticide application strategy, and performs pesticide spraying after the position comparison is correct.
In step S5, the step of the spraying machine performing the spraying operation includes: firstly, setting the spraying quantity and pressure threshold value per mu; secondly, when spouting the medicine operation, spout the real-time speed that medicine control terminal gathered the medicine machine of spouting, the area increment that each spray arm of medicine machine corresponds when the operation is calculated out according to the width that is currently spouting the medicine operation, the medicine liquid increment of every spray arm is calculated by the area increment to the mu medicine dose that rethread set up, along with spraying going on, through the aperture cooperation of the proportional valve on adjusting every spray arm spout the control of medicine pressure, keep the increase of liquid medicine per minute and the increase of area per minute the increase ratio equal the value of the medicine dose per mu that sets up.
In step S5, when the spraying control terminal detects that the spraying amount of a certain spraying arm is insufficient, the opening degree of the proportional valve on the spraying arm is increased; if the opening degree of the proportional valve reaches the maximum, the required pesticide spraying amount per mu still cannot be reached, the blockage of the spraying arm can be judged, and the spraying control terminal sends a blockage prompt.
The invention also discloses an intelligent pesticide spraying control system of the cloud strategy pesticide sprayer, which comprises a PC (personal computer) end or a mobile phone end, a background server, a remote data transmission module, a Beidou satellite positioning module and a pesticide spraying machine.
PC end or cell-phone end: the method is used for making a pesticide application strategy before pesticide application, packaging the made pesticide application strategy according to a communication protocol, uploading the packaged pesticide application strategy to a background server, and displaying the chart data information in the background server after pesticide application operation is completed.
A background server: the system is used for setting, storing and pushing a pesticide application strategy uploaded by a PC (personal computer) end or a mobile phone end before pesticide application, acquiring, recording and monitoring real-time data of a pesticide spraying machine in the pesticide application process, and storing operation data after pesticide application.
The pesticide application strategy is transmitted through a mobile phone end or a PC end APP, a background server extracts the pesticide application strategy from the information transmitted back from the mobile phone end or the PC end APP according to the position and the protocol of a data packet, the pesticide application strategy parameters are read from the database before pesticide application, and the pesticide application strategy parameters are packaged into the data packet which can be identified by a pesticide spraying control terminal according to the communication protocol of the background server and the pesticide spraying control terminal and pushed down; after the pesticide application operation is finished, the background server generates and stores the chart data according to the position information, the time information and the pesticide spraying control state and different coordinate axis relations.
The remote data transmission module: the method comprises the steps that a bidirectional information transmission channel is provided for a background server and a pesticide spraying control terminal of a pesticide spraying machine, a pesticide application strategy on the background server is pushed to the pesticide spraying control terminal before pesticide application, and a real-time execution result of pesticide application of the pesticide spraying machine operated by the pesticide spraying control terminal is transmitted back to the background server during pesticide application; the execution result comprises the real-time position of the pesticide spraying machine, the real-time pesticide spraying amount per mu, the real-time vehicle speed, the instantaneous flow, the pesticide spraying pressure and the spraying arm blockage alarm information.
And the Beidou satellite positioning module is used for acquiring real-time position information and real-time speed of the pesticide spraying machine. Real-time position information and real-time speed of the pesticide spraying machine are directly displayed on a human-computer interaction display screen, and the real-time speed of the pesticide spraying machine is used for being matched with one of data sources of pesticide spraying amount.
A pesticide spraying machine: the pesticide spraying control system is used for performing pesticide spraying operation according to a control result output by the pesticide spraying control terminal and comprises a vehicle-mounted pesticide pump, a water distributor, a pesticide spraying control terminal and a plurality of spraying arms, wherein the vehicle-mounted pesticide pump, the water distributor, the pesticide spraying control terminal and the spraying arms are arranged on a vehicle; each spray arm is connected with the water outlet end of the high-pressure pipe through an acquisition actuator respectively, a water separator is arranged on the high-pressure pipe, and the water inlet end of the high-pressure pipe is connected with the vehicle-mounted chemical pump; every gathers the executor and all including setting up on corresponding spray arm and all with spout flowmeter, pressure gauge and the proportional valve that medicine control terminal links to each other, the flowmeter is used for measuring this spray arm's real-time flow, and the pressure gauge is used for monitoring this spray arm's real-time medicine pressure of spouting to provide the early warning and the protection work of a whole set of system, the proportional valve is used for adjusting this spray arm's mu medicine volume of spouting.
A human-computer interaction display screen is also arranged on the pesticide spraying machine; the man-machine interaction display screen is connected with the pesticide spraying control terminal and used for monitoring the working state of the system on site in real time, correcting the pesticide spraying amount per mu according to the real-time operation condition and giving instant alarm information when the pesticide is sprayed abnormally.
The system also comprises an unmanned aerial vehicle, which is used for carrying out survey determination and photographing work on the land position before pesticide application operation, recording and transmitting the land position information to the background server.
The invention can realize uniform and stable pesticide spraying amount per mu of each spraying arm when the pesticide spraying machine operates randomly within a certain speed range. The pesticide spraying control terminal supports remote writing or manual input of planned spraying amount, the width of a corresponding spraying section is set in system setting, the man-machine interaction display screen is used for displaying the current real-time pesticide spraying amount per mu, setting the current required pesticide spraying amount per mu, and displaying the current pesticide spraying pressure, a real-time map and the like. The speed of a motor vehicle that obtains through big dipper satellite positioning module and the stability of spraying volume is realized spraying the volume to mu spraying volume adjustment proportional valve that sets up.
The system opens the proportional valve according to the traveling speed of the pesticide spraying machine, combines the flow information of the flowmeter, and the pesticide spraying control terminal automatically adjusts the opening and closing proportion of the valve, so that the pesticide spraying amount per mu is automatically adjusted according to the speed change, and uniform spraying is achieved. When the pesticide spraying machine is monitored to stop, the proportional valve is closed; when the background server monitors that the pesticide spraying machine drives away from the task plot, a command for stopping operation is sent to the pesticide spraying machine, and the proportional valve is closed. The invention finally realizes the cloud strategy medicine spraying, and achieves the purposes of simplifying the medicine spraying technology, reducing the operation skill and the like.
Claims (10)
1. The intelligent pesticide spraying control method of the cloud strategy pesticide sprayer is characterized by comprising the following steps of: the method comprises the following steps:
s1, marking and describing an area needing to be operated and carrying out the pesticide spraying operation, and collecting the on-site image data of the area needing to be operated and representing the land parcel;
s2, transmitting the described on-site image data of the area to be operated and the representative plot to a background server through a wireless network;
s3, analyzing the collected on-site image data of the representative land parcel to obtain the crop condition or soil condition parameters of the area needing to be operated;
s4, at the PC end or the mobile phone end, the pesticide application strategy is made by combining the collected on-site image data and the actual analysis result; the pesticide application strategy comprises pesticide spraying amount per mu, reference operation speed, reference pesticide spraying pressure and breadth; uploading the formulated pesticide application strategy to a background server, and issuing the pesticide application strategy to a pesticide spraying machine by the background server to serve as a strategy pesticide application task of the pesticide spraying machine;
and S5, after receiving the strategy pesticide application task, the pesticide spraying machine navigates to the corresponding land parcel and carries out pesticide spraying operation according to the pesticide application strategy.
2. The intelligent pesticide spraying control method of the cloud strategy pesticide sprayer according to claim 1, characterized by comprising the following steps: in step S1, the area to be subjected to the pesticide spraying operation is determined by performing parcel selection using a mobile phone or by making a mark description of the area to be operated by an unmanned aerial vehicle flying through a designated area.
3. The intelligent pesticide spraying control method of the cloud strategy pesticide sprayer according to claim 1, characterized by comprising the following steps: in step S1, a mobile phone is used to shoot or an unmanned aerial vehicle is used to capture a scene photo or image data of the area to be operated representing the parcel.
4. The intelligent pesticide spraying control method of the cloud strategy pesticide sprayer according to claim 1, characterized by comprising the following steps: in step S3, the background server superimposes the described information of the area to be operated and the analyzed parameters of the condition of the field crop or the condition of the soil, and the composite position information on the map for display.
5. The intelligent pesticide spraying control method of the cloud strategy pesticide sprayer according to claim 1, characterized by comprising the following steps: in the step S5, after the pesticide spraying machine navigates to the parcel, the background server compares the real-time position of the pesticide spraying machine with the position of the formulated pesticide application strategy, and performs pesticide spraying after the position comparison is correct.
6. The intelligent pesticide spraying control method of the cloud strategy pesticide sprayer according to claim 1, characterized by comprising the following steps: in step S5, the step of the pesticide spraying machine performing the pesticide spraying operation includes: firstly, setting the spraying quantity and pressure threshold value per mu; secondly, when spouting the medicine operation, spout the real-time speed that medicine control terminal gathered the medicine machine of spouting, the area increment that each spray arm of medicine machine corresponds when the operation is calculated out according to the width that is currently spouting the medicine operation, the medicine liquid increment of every spray arm is calculated by the area increment to the mu medicine dose that rethread set up, along with spraying going on, through the aperture cooperation of the proportional valve on adjusting every spray arm spout the control of medicine pressure, keep the increase of liquid medicine per minute and the increase of area per minute the increase ratio equal the value of the medicine dose per mu that sets up.
7. The intelligent pesticide spraying control method of the cloud strategy pesticide sprayer according to claim 6, characterized by comprising the following steps: in step S5, when the spraying control terminal detects that the spraying amount of a certain spraying arm is insufficient, the opening degree of the proportional valve on the spraying arm is increased; if the opening degree of the proportional valve reaches the maximum, the required pesticide spraying amount per mu still cannot be reached, the blockage of the spraying arm can be judged, and the spraying control terminal sends a blockage prompt.
8. The utility model provides a medicine control system is spouted to cloud strategy laxative machine intelligence which characterized in that: the system comprises a PC (personal computer) end or a mobile phone end, a background server, a remote data transmission module, a Beidou satellite positioning module and a pesticide spraying machine;
PC end or cell-phone end: the system is used for making a pesticide application strategy before pesticide application, packaging the made pesticide application strategy according to a communication protocol, uploading the packaged pesticide application strategy to a background server, and displaying chart data information in the background server after pesticide application operation is finished;
a background server: the system is used for setting, storing and pushing a pesticide application strategy uploaded by a PC (personal computer) end or a mobile phone end before pesticide application, acquiring, recording and monitoring real-time data of a pesticide spraying machine in the pesticide application process, and storing operation data after pesticide application;
the remote data transmission module: the method comprises the steps that a bidirectional information transmission channel is provided for a background server and a pesticide spraying control terminal of a pesticide spraying machine, a pesticide application strategy on the background server is pushed to the pesticide spraying control terminal before pesticide application, and a real-time execution result of pesticide application of the pesticide spraying machine operated by the pesticide spraying control terminal is transmitted back to the background server during pesticide application; the execution result comprises the real-time position of the pesticide spraying machine, the real-time pesticide spraying amount per mu, the real-time vehicle speed, the instantaneous flow, the pesticide spraying pressure and the spraying arm blockage alarm information;
the Beidou satellite positioning module is used for acquiring real-time position information and real-time speed of the pesticide spraying machine;
a pesticide spraying machine: the pesticide spraying control system is used for performing pesticide spraying operation according to a control result output by the pesticide spraying control terminal and comprises a vehicle-mounted pesticide pump, a water distributor, a pesticide spraying control terminal and a plurality of spraying arms, wherein the vehicle-mounted pesticide pump, the water distributor, the pesticide spraying control terminal and the spraying arms are arranged on a vehicle; each spray arm is connected with the water outlet end of the high-pressure pipe through an acquisition actuator respectively, a water separator is arranged on the high-pressure pipe, and the water inlet end of the high-pressure pipe is connected with the vehicle-mounted chemical pump; every gathers the executor and all including setting up on corresponding spray arm and all with spout flowmeter, pressure gauge and the proportional valve that medicine control terminal links to each other, the flowmeter is used for measuring this spray arm's real-time flow, and the pressure gauge is used for monitoring this spray arm's real-time medicine pressure of spouting to provide the early warning and the protection work of a whole set of system, the proportional valve is used for adjusting this spray arm's mu medicine volume of spouting.
9. The intelligent pesticide spraying control system of the cloud strategy pesticide sprayer according to claim 8, characterized in that: a human-computer interaction display screen is also arranged on the pesticide spraying machine; the man-machine interaction display screen is connected with the pesticide spraying control terminal and used for monitoring the working state of the system on site in real time, correcting the pesticide spraying amount per mu according to the real-time operation condition and giving instant alarm information when pesticide spraying is abnormal.
10. The intelligent pesticide spraying control system of the cloud strategy pesticide sprayer according to claim 8, characterized in that: the system also comprises an unmanned aerial vehicle, which is used for carrying out survey determination and photographing work on the land position before pesticide application operation, recording and transmitting the land position information to the background server.
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| CN112162572A (en) * | 2020-09-27 | 2021-01-01 | 深圳市优必选科技股份有限公司 | Epidemic prevention robot and disinfection control method and device thereof |
| CN113592279A (en) * | 2021-07-23 | 2021-11-02 | 北京百瑞盛田环保科技发展有限公司 | Pesticide spraying remote monitoring method, server and computer readable storage medium |
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