CN111813155A - Target spraying system control method and device based on fuzzy PID and storage medium - Google Patents
Target spraying system control method and device based on fuzzy PID and storage medium Download PDFInfo
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- 238000005507 spraying Methods 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 59
- 241000196324 Embryophyta Species 0.000 claims abstract description 43
- 239000007921 spray Substances 0.000 claims abstract description 18
- 230000008859 change Effects 0.000 claims abstract description 16
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 12
- 238000002347 injection Methods 0.000 claims description 20
- 239000007924 injection Substances 0.000 claims description 20
- 238000012545 processing Methods 0.000 claims description 18
- 238000013528 artificial neural network Methods 0.000 claims description 6
- 230000003247 decreasing effect Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 239000003814 drug Substances 0.000 description 7
- 238000004590 computer program Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000002363 herbicidal effect Effects 0.000 description 4
- 239000004009 herbicide Substances 0.000 description 4
- 238000009333 weeding Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
- G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
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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
- A01M21/00—Apparatus for the destruction of unwanted vegetation, e.g. weeds
- A01M21/04—Apparatus for destruction by steam, chemicals, burning, or electricity
- A01M21/043—Apparatus for destruction by steam, chemicals, burning, or electricity by chemicals
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
- G05B13/0275—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion using fuzzy logic only
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/40—Scenes; Scene-specific elements in video content
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- Health & Medical Sciences (AREA)
- Environmental Sciences (AREA)
- Software Systems (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
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Abstract
The application discloses a target spraying system control method, a target spraying system control device and a storage medium based on fuzzy PID, wherein the target spraying system comprises a camera, an electromagnetic valve and a fuzzy PID controller, the fuzzy PID controller is electrically connected with the electromagnetic valve, and the control method comprises the following steps: acquiring a weed image acquired by a camera, acquiring weed density information through a preset image recognition algorithm, acquiring the current spraying flow of the electromagnetic valve, reading a target spraying flow from a database through the weed density information, acquiring a flow difference value and difference value change rate information according to the current spraying flow and the target spraying flow, sending the flow difference value and the difference value change rate information to a fuzzy PID controller, acquiring a PID control parameter output by the fuzzy PID controller, and adjusting the spraying flow of the electromagnetic valve according to the PID control parameter; adopt the technical scheme of this embodiment, realized according to weeds density adjustment solenoid valve's the flow that sprays to accurate spraying has been realized.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a target spraying system control method and device based on fuzzy PID and a storage medium.
Background
In the agricultural planting process, weeds are harmful to the growth of crops, the weeds are usually removed in a herbicide spraying mode, and the traditional manual spraying mode cannot meet the current requirements. In order to realize automation, the common method is to adopt an unmanned aerial vehicle or a weeding machine to carry out automatic spraying, but the existing scheme can only carry out large-area uniform spraying, weeds do not grow uniformly, the places with more weeds are easy to spray too little, or the places without the weeds are sprayed with too much herbicide, and the weeding effect is poor.
Disclosure of Invention
In order to overcome the defects of the prior art, the application aims to provide a target spraying system control method and device based on fuzzy PID and a storage medium, which can automatically adjust the spraying flow and improve the weeding effect.
The technical scheme adopted by the application for solving the problems is as follows: in a first aspect, the present application provides a fuzzy PID-based target spraying system control method, where the target spraying system includes a control processing unit, a camera, an electromagnetic valve for controlling spraying flow, and a fuzzy PID controller, the control processing unit is respectively electrically connected with the fuzzy PID controller, the electromagnetic valve, and the camera, and the control method includes:
acquiring a weed image acquired by the camera, and acquiring weed density information through a preset image recognition algorithm;
acquiring the current spraying flow of the electromagnetic valve, reading a target spraying flow from a database through the weed density information, and acquiring a flow difference value and difference value change rate information according to the current spraying flow and the target spraying flow;
and sending the flow difference value and the difference value change rate information to a fuzzy PID controller, acquiring a PID control parameter output by the fuzzy PID controller, and adjusting the spraying flow of the electromagnetic valve according to the PID control parameter.
Further, the PID control parameter includes at least one of the following
Increasing the opening degree signal;
the opening degree signal is decreased.
Further, the target spraying system further comprises an overflow valve, the overflow valve is electrically connected with the fuzzy PID controller, and if the PID control parameter comprises an opening degree increasing signal, the adjusting of the spraying flow of the electromagnetic valve according to the PID control parameter specifically comprises:
sending an opening increasing signal to the electromagnetic valve;
sending a decrease spill signal to the spill valve.
Further, if the PID control parameter includes a reduced opening signal, the adjusting of the spray flow of the solenoid valve according to the PID control parameter specifically includes:
sending a reduced opening degree signal to the electromagnetic valve;
sending an increase relief signal to the relief valve.
Further, the weed density is obtained by a pre-trained neural network algorithm.
Further, the target spraying system further comprises an ultrasonic sensor, and the control method further comprises the following steps:
acquiring spraying distance information through the ultrasonic sensor;
and inputting the spraying distance information into the fuzzy PID controller so that the fuzzy PID controller adjusts the PID control parameters.
Further, the target spraying flow rate is obtained by searching a comparison table preset in a database.
Further, the weed image is a video frame in the video collected by the camera.
In a second aspect, the present application provides a target spraying system control device based on fuzzy PID, comprising at least one control processing unit and a memory for communication connection with the at least one control processing unit; the memory stores instructions executable by the at least one control processing unit to enable the at least one control processing unit to perform the fuzzy PID based target injection system control method as described above.
In a third aspect, the present application provides a computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform the fuzzy PID based target injection system control method as described above.
In a fourth aspect, the present application also provides a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions that, when executed by a computer, cause the computer to perform the fuzzy PID based target injection system control method as described above.
One or more technical schemes provided in the embodiment of the application have at least the following beneficial effects: the control method is applied to a target spraying system, the target spraying system comprises a camera, an electromagnetic valve and a fuzzy PID controller, the fuzzy PID controller is electrically connected with the electromagnetic valve, and the control method comprises the following steps: acquiring a weed image acquired by a camera, acquiring weed density information through a preset image recognition algorithm, acquiring the current spraying flow of the electromagnetic valve, reading a target spraying flow from a database through the weed density information, acquiring a flow difference value and difference value change rate information according to the current spraying flow and the target spraying flow, sending the flow difference value and the difference value change rate information to a fuzzy PID controller, acquiring a PID control parameter output by the fuzzy PID controller, and adjusting the spraying flow of the electromagnetic valve according to the PID control parameter; by adopting the technical scheme of the embodiment, the fuzzy PID control is realized through the flow difference value and the difference value change rate information, and the spraying flow of the electromagnetic valve is adjusted according to the weed density, so that the accurate spraying is realized.
Drawings
The present application is further described below with reference to the following figures and examples.
FIG. 1 is a block diagram of a target spray system provided in one embodiment of the present application;
FIG. 2 is a flow chart of a fuzzy PID based target injection system control method according to another embodiment of the present application;
FIG. 3 is a flow chart of increasing spray flow in a fuzzy PID based target spray system control method according to another embodiment of the present application;
FIG. 4 is a flow chart of reducing spray flow in a fuzzy PID based target spray system control method according to another embodiment of the present application;
FIG. 5 is a flowchart illustrating a detailed process for obtaining PID control information in a fuzzy PID-based target injection system control method according to another embodiment of the present disclosure;
FIG. 6 is a schematic diagram of an apparatus for performing a fuzzy PID based target injection system control method according to another embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that, if not conflicted, the various features of the embodiments of the present application may be combined with each other within the scope of protection of the present application. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts.
Referring to fig. 1, fig. 1 is a schematic block diagram of a target injection system 10, where the target injection system 10 includes, but is not limited to, a control processing unit 20, a camera 30, a solenoid valve 40, a fuzzy PID controller 50, and an overflow valve 60.
In an embodiment, the control processing unit 20 may be a common control chip, such as an FPGA, a single chip, or a computer mounted on the target spraying system, and may be selected according to actual requirements. The control processing unit 20 is electrically connected to the fuzzy PID controller 50, the solenoid valve 40, the camera 30, and the ultrasonic sensor 70, respectively, and can acquire the PID control parameter transmitted from the fuzzy PID controller 50 and control the opening of the solenoid valve 40 to increase or decrease according to the PID control parameter. It should be noted that the electromagnetic valve may be an electric pulse electronic control type electromagnetic valve, and this embodiment does not relate to the improvement of a specific electromagnetic valve structure, and only needs to adopt the related technology in the prior art, which is not described herein again. It should be noted that the camera 30 and the fuzzy PID controller 50 in this embodiment may also adopt a hardware structure in the prior art, and this embodiment does not relate to improvement of hardware, and only makes improvements on the control method, and details are not described here. The relief valve 60 may be connected to a medicine box for loading medicine, and when the opening degree of the electromagnetic valve 50 changes, the pressure applied to the relief valve 60 changes, and the amount of medicine flowing back to the medicine box is controlled. It should be noted that the ultrasonic sensor 70 of this embodiment may be any type in the prior art, and may be configured to perform ultrasonic ranging, which is not described herein again.
Referring to fig. 2, a first embodiment of the present application provides a fuzzy PID-based target injection system control method, which is applied to the target injection system shown in fig. 1, and the control method includes the following steps:
s100, acquiring a weed image acquired by a camera, and acquiring weed density information through a preset image recognition algorithm;
step S200, acquiring the current spraying flow of the electromagnetic valve, reading the target spraying flow from a database through weed density information, and acquiring a flow difference value and difference value change rate information according to the current spraying flow and the target spraying flow;
and step S300, sending the flow difference value and the difference value change rate information to the fuzzy PID controller, acquiring a PID control parameter output by the fuzzy PID controller, and adjusting the spraying flow of the electromagnetic valve according to the PID control parameter.
In one embodiment, the image acquired by the camera simultaneously comprises weeds and crops, so that the weeds can be identified through a preset image identification algorithm, weed density information is acquired according to the identified weeds, the quantity of the weeds is reflected through the weed density information, and the spraying amount of the herbicide is convenient to control.
In an embodiment, the target spraying flow rate may be obtained in any form, such as table lookup, or calculated by a preset formula, and a specific manner may be selected according to actual requirements, which is not described herein again.
In an embodiment, the flow difference may be an absolute value of a value obtained by subtracting the target spraying flow from the current spraying flow, and the difference change rate information may be a trend of the difference change, where the value needs to be obtained through the flow difference obtained several times, for example, if the flow difference obtained for 3 consecutive times is smaller and smaller, the difference change rate information may be a trend of the flow difference reduction, and the selection mode of the specific value may be formulated according to actual requirements. It should be noted that, because the flow rate difference and the difference change rate information for obtaining the PID control parameter are different each time, the PID control parameter is used as a two-dimensional input item of the PID fuzzy controller, and the PID control parameter can be obtained by inputting the above parameters into the fuzzy PID controller and substituting the parameters into the PID formula in the prior art.
In another embodiment of the present application, the PID control parameters include at least one of
Increasing the opening degree signal;
the opening degree signal is decreased.
In one embodiment, since the solenoid valve is usually communicated between the spray head and the spray pump, the control of the solenoid valve through electric pulse point control can realize the change of the spray flow, and the embodiment preferably realizes the precise control by controlling the opening degree of the solenoid valve.
Referring to fig. 3, in another embodiment of the present application, if the PID control parameter includes an increase opening signal, step S300 further includes, but is not limited to, the following detailed steps:
step S311, sending an opening increasing signal to the electromagnetic valve;
step S312, a decrease relief signal is sent to the relief valve.
In an embodiment, if the PID control parameter includes an opening increasing signal, the opening increasing signal is sent to the electromagnetic valve, and simultaneously, an overflow reducing signal is sent to the overflow valve, so that the pressure received by the overflow valve is reduced, the amount of medicine overflowing to the medicine box is reduced, more medicine can be sprayed, and the spraying flow rate is increased better.
Referring to fig. 4, in another embodiment of the present application, if the PID control parameter includes a decrease opening signal, step S300 further includes, but is not limited to, the following detailed steps:
step S321, sending a reducing opening degree signal to the electromagnetic valve;
step S322 sends an increase relief signal to the relief valve.
It should be noted that the principle of reducing the spraying flow rate is similar to that of the embodiment shown in fig. 3, and the control direction is opposite, which is not described herein again.
In another embodiment of the present application, the weed density is obtained by a pre-trained neural network algorithm.
In one embodiment, the weed density can be obtained in any mode, preferably, the weed density can be obtained through a pre-trained neural network algorithm, and the neural network algorithm has the characteristics of high calculation speed and high accuracy and can be used for rapidly obtaining the weed density. Meanwhile, the camera can be used for acquiring video information, so that the target spraying system continuously acquires weed images in the moving process, the weed density can be acquired in real time by utilizing the timeliness of the neural network algorithm, the spraying flow can be adjusted in real time, and the automation degree is improved.
Referring to fig. 5, in another embodiment of the present application, the target spraying system further includes an ultrasonic sensor, and step S200 further includes, but is not limited to, the following detailed steps:
step S210, acquiring spraying distance information through an ultrasonic sensor;
and step S220, inputting the spraying distance information into the fuzzy PID controller so that the fuzzy PID controller adjusts PID control parameters.
In an embodiment, under the condition that the spraying flow rate satisfies the density of weeds, the distance between the target spraying system and the weeds needs to be considered, for example, in practical application, the target spraying system is usually installed in a pan-tilt of a weeding machine or an unmanned aerial vehicle, so the target spraying system is in the process of moving continuously, in order to achieve a better spraying effect, the ultrasonic distance measurement is preferably performed through an ultrasonic sensor in the embodiment, and the method has the characteristics of high measuring speed and high accuracy.
It should be noted that, after the spraying distance information is input to the fuzzy PID controller, on the basis of the existing PID control parameters, the larger the spraying distance is, the larger the opening degree of the electromagnetic valve may be, or the power of the spray pump may be, or vice versa, and a specific control mode is selected according to actual requirements, so that compensation of the spraying distance can be realized.
In another embodiment of the present application, the target spray flow rate is obtained by looking up a look-up table preset in a database.
In one embodiment, the target spraying flow rate is stored as a preference of the embodiment through the comparison table, and the calculation amount can be reduced. It should be noted that, the comparison table may store a target spraying flow rate that is directly used, or may also store an increment value, for example, the increment value is added under the current spraying flow rate, and the obtained value is the target spraying flow rate, and the specific manner may be selected according to the actual demand.
In another embodiment of the present application, the weed image is a video frame in a video captured by a camera.
In an embodiment, the camera is gathered the video and can be for realizing real time control sprays the flow and provide the data basis, because the target system of spouting is in motion state usually, sprays the area great moreover, consequently gathers the video through the camera to obtain concrete video frame as the weeds image from the video, can realize adjusting in real time according to the weeds image that obtains at present and spray the flow, improve the degree of accuracy that the herbicide sprayed.
Referring to fig. 6, another embodiment of the present application also provides a target spray system control apparatus 6000 based on fuzzy PID, including: the memory 6100, the control processor 6200, and a computer program stored on the memory 6200 and operable on the control processor 6200, when the control processing unit executes the computer program, the method for controlling the target injection system based on the fuzzy PID in any of the above embodiments is implemented, for example, the method steps S100 to S300 in fig. 2, the method steps S311 to S312 in fig. 3, the method steps S321 to S322 in fig. 4, and the method steps S210 to S220 in fig. 5 described above are executed.
The control processor 6200 and the memory 6100 may be connected by a bus or other means, for example, in fig. 6.
The memory 6100 is provided as a non-transitory computer readable storage medium that can be used to store non-transitory software programs as well as non-transitory computer executable programs. Further, the memory 6100 can include high speed random access memory, and can also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 6100 optionally includes memory remotely located with respect to the control processor 6200, which may be connected to the fuzzy PID based target injection system control device 6000 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The above-described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may also be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
In addition, another embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, which are executed by one or more control processing units, for example, by one of the control processors 6200 in fig. 6, and may cause the one or more control processors 6200 to execute the fuzzy PID-based target injection system control method in the above method embodiment, for example, execute the above-described method steps S100 to S300 in fig. 2, method steps S311 to S312 in fig. 3, method steps S321 to S322 in fig. 4, and method steps S210 to S220 in fig. 5.
It should be noted that, since the apparatus for executing the fuzzy PID-based target injection system control method in the present embodiment is based on the same inventive concept as the fuzzy PID-based target injection system control method described above, the corresponding contents in the method embodiment are also applicable to the present apparatus embodiment, and are not described in detail herein.
Through the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be implemented by software plus a general hardware platform. Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by hardware related to instructions of a computer program, which may be stored in a computer-readable storage medium, and when executed, may include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read Only Memory (ROM), a Random Access Memory (RAM), or the like.
While the preferred embodiments of the present invention have been described, the present invention is not limited to the above embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and such equivalent modifications or substitutions are included in the scope of the present invention defined by the claims.
Claims (10)
1. A target spraying system control method based on fuzzy PID is characterized in that the control method is used for a target spraying system, the target spraying system comprises a control processing unit, a camera, an electromagnetic valve used for controlling spraying flow and a fuzzy PID controller, the control processing unit is respectively and electrically connected with the fuzzy PID controller, the electromagnetic valve and the camera, and the control method comprises the following steps:
the control processing unit acquires weed images acquired by the camera and weed density information through a preset image recognition algorithm;
acquiring the current spraying flow of the electromagnetic valve, reading a target spraying flow from a database through the weed density information, and acquiring a flow difference value and difference value change rate information according to the current spraying flow and the target spraying flow;
and sending the flow difference value and the difference value change rate information to a fuzzy PID controller, acquiring a PID control parameter output by the fuzzy PID controller, and adjusting the spraying flow of the electromagnetic valve according to the PID control parameter.
2. The method of claim 1, wherein the PID control parameters comprise at least one of
Increasing the opening degree signal;
the opening degree signal is decreased.
3. The fuzzy PID-based target injection system control method according to claim 2, wherein the target injection system further comprises an overflow valve electrically connected to the fuzzy PID controller, and if the PID control parameter comprises an increase opening signal, the adjusting the injection flow of the solenoid valve according to the PID control parameter specifically comprises:
sending an opening increasing signal to the electromagnetic valve;
sending a decrease spill signal to the spill valve.
4. The method according to claim 3, wherein if the PID control parameter comprises a decrease opening signal, the adjusting the spray flow of the solenoid valve according to the PID control parameter specifically comprises:
sending a reduced opening degree signal to the electromagnetic valve;
sending an increase relief signal to the relief valve.
5. The target spraying system control method based on the fuzzy PID as claimed in claim 1, wherein: the weed density is obtained by a pre-trained neural network algorithm.
6. The fuzzy PID-based target spraying system control method according to claim 1, wherein the target spraying system further comprises an ultrasonic sensor, the control method further comprises:
acquiring spraying distance information through the ultrasonic sensor;
and inputting the spraying distance information into the fuzzy PID controller so that the fuzzy PID controller adjusts the PID control parameters.
7. The target spraying system control method based on the fuzzy PID as claimed in claim 1, wherein: the target spraying flow is obtained by searching a comparison table preset in a database.
8. The target spraying system control method based on the fuzzy PID as claimed in claim 1, wherein: the weed image is a video frame in a video collected by the camera.
9. The target spraying system control device based on the fuzzy PID is characterized by comprising at least one control processing unit and a memory, wherein the memory is used for being in communication connection with the at least one control processing unit; the memory stores instructions executable by the at least one control processing unit to enable the at least one control processing unit to perform the fuzzy PID based target injection system control method of any of claims 1 to 8.
10. A computer-readable storage medium characterized by: the computer-readable storage medium stores computer-executable instructions for causing a computer to perform the fuzzy PID-based target injection system control method of any of claims 1 to 8.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114749499A (en) * | 2022-06-13 | 2022-07-15 | 深圳市信润富联数字科技有限公司 | Descaling nozzle control method and device, electronic equipment and readable storage medium |
| US20230090714A1 (en) * | 2021-09-23 | 2023-03-23 | Cnh Industrial America Llc | System and method for performing spraying operations with an agricultural applicator |
| CN116114683A (en) * | 2022-12-23 | 2023-05-16 | 天津理工大学 | Flame weeding machine capable of detecting weed density and crops |
| CN116138236A (en) * | 2023-02-17 | 2023-05-23 | 七海行(深圳)科技有限公司 | Spraying equipment and method |
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| US20230090714A1 (en) * | 2021-09-23 | 2023-03-23 | Cnh Industrial America Llc | System and method for performing spraying operations with an agricultural applicator |
| US12035707B2 (en) * | 2021-09-23 | 2024-07-16 | Cnh Industrial America Llc | System and method for performing spraying operations with an agricultural applicator |
| CN114749499A (en) * | 2022-06-13 | 2022-07-15 | 深圳市信润富联数字科技有限公司 | Descaling nozzle control method and device, electronic equipment and readable storage medium |
| CN116114683A (en) * | 2022-12-23 | 2023-05-16 | 天津理工大学 | Flame weeding machine capable of detecting weed density and crops |
| CN116114683B (en) * | 2022-12-23 | 2024-05-28 | 天津理工大学 | Flame weeding machine capable of detecting weed density and crops |
| CN116138236A (en) * | 2023-02-17 | 2023-05-23 | 七海行(深圳)科技有限公司 | Spraying equipment and method |
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Application publication date: 20201023 |