CN113349038B - Irrigation operation control method and device, storage medium and irrigation equipment - Google Patents
Irrigation operation control method and device, storage medium and irrigation equipment Download PDFInfo
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- CN113349038B CN113349038B CN202110737941.3A CN202110737941A CN113349038B CN 113349038 B CN113349038 B CN 113349038B CN 202110737941 A CN202110737941 A CN 202110737941A CN 113349038 B CN113349038 B CN 113349038B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/007—Metering or regulating systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/042—Adding fertiliser to watering systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
Abstract
The application provides an irrigation operation control method, an irrigation operation control device, a storage medium and irrigation equipment, wherein the method comprises the following steps: the irrigation equipment acquires a working path; the operation path is a path with the minimum distance of each sowing position information in the area to be irrigated smaller than a first preset distance, the first preset distance is a preset spraying distance in the irrigation equipment, and the sowing position information is position information corresponding to a single sowing range. The irrigation range can cover each sowing position information when the irrigation equipment runs along the operation path. The irrigation equipment travels along the work path; the irrigation device performs the irrigation operation in case the at least one sowing position information is located within a current irrigation area of the irrigation device. On one of them section route, do not sow under the condition that positional information A is located irrigation area territory, irrigation equipment does not irrigate the operation, avoids irrigating to the open space to avoid extravagant, realize accurate irrigation.
Description
Technical Field
The application relates to the field of agriculture, in particular to an irrigation operation control method, an irrigation operation control device, a storage medium and irrigation equipment.
Background
In agricultural cultivation, seeding and fertilizing and watering are divided into manual operation and machine operation. Wherein, manual work relies on operating personnel's experience, is difficult to guarantee that seed distance ration is evenly sowed. Secondly, the positions of the seeds are recorded by adopting methods such as labeling the positions of the seeds by a label and the like after the seeds are sowed, and then the positions are fertilized and watered. In the operation of the machine, the mechanical sowing can ensure that the seeds are uniformly sown at fixed intervals and quantitatively, but before the seeds break the ground and become seedlings, the machine cannot identify the positions where the seeds are sown. Leading to the seed can not be precisely fertilized and watered in the seedling stage before the seed breaks the ground.
At present, manual sowing or machine sowing is one-time sowing, and fertilization and watering are carried out for multiple times after sowing. However, after sowing, seeds and soil are integrated, and the specific positions of the seeds are difficult to distinguish by human eyes, so that the later-stage fertilization and watering can not be realized by adopting a large-area coverage mode regardless of manual operation or machine operation modes.
Disclosure of Invention
It is an object of the present application to provide a method, a device, a storage medium and an irrigation apparatus for controlling irrigation work, which at least partially improve the above problems.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
in a first aspect, an embodiment of the present application provides an irrigation operation control method, applied to irrigation equipment, the method including:
the irrigation equipment acquires a working path;
the operation path is a path in which the minimum distance between the operation path and each piece of sowing position information in the area to be irrigated is smaller than a first preset distance, the first preset distance is a preset spraying distance in the irrigation equipment, and the sowing position information is position information corresponding to a single sowing range;
the irrigation apparatus travels along the work path;
the irrigation device performs an irrigation operation if at least one sowing position information is located within a current irrigation area of the irrigation device.
In one possible implementation manner, the sowing position information includes a center estimated coordinate and a corresponding sowing radius, and the center estimated coordinate is a coordinate corresponding to the center of a single sowing range;
the step of the irrigation device obtaining a working path comprises:
the irrigation equipment is fitted to generate an operation path according to the center estimated coordinates in the area to be irrigated and the corresponding sowing radius;
and the minimum distance from the center pre-estimated coordinate to the operation path is greater than the corresponding sowing radius.
In one possible implementation, before the irrigation device acquires the working path, the method further includes:
the irrigation equipment acquires each center estimated coordinate and corresponding seeding radius according to each seeding coordinate of the seeding equipment, corresponding seeding height, preset seeding width and wind field strength.
In one possible implementation, the step of the irrigation device obtaining the operation path includes:
the irrigation equipment receives the operation path transmitted by the server.
In a possible implementation manner, a first spraying device and a second spraying device are respectively arranged on two sides of the irrigation equipment; at least one section of composite path exists in the operation paths;
the composite path is an operation path, and the minimum distance between the composite path and each piece of seeding position information on two sides is smaller than a first preset distance.
In one possible implementation, the current irrigation area is an area centered on current coordinates of the irrigation equipment and having a radius of the first preset distance, and the method further includes:
judging whether at least one piece of sowing position information exists in the current irrigation area of the irrigation equipment or not based on the current coordinate, the first preset distance and the sowing position information;
if so, the irrigation equipment performs irrigation operation;
and if not, the irrigation equipment stops irrigation operation.
In a possible implementation manner, the step of determining whether there is at least one sowing position information in a current irrigation area of the irrigation device based on the current coordinate, the first preset distance and the sowing position information includes:
determining a current interval between the current coordinate and the seeding position information according to the current coordinate and the seeding position information;
judging whether a current interval smaller than the first preset distance exists or not;
if so, determining that at least one piece of sowing position information exists in the current irrigation area of the irrigation equipment;
and if not, determining that any sowing position information does not exist in the current irrigation area of the irrigation equipment.
In one possible implementation, in the case where at least one sowing location information is located within a current irrigation area of the irrigation device, the method further comprises:
the irrigation equipment adjusts the attitude parameters and/or the power parameters of the spraying device according to the current coordinate and the target position information;
the target position information is sowing position information corresponding to the sowing position information with the current interval smaller than the first preset distance.
In a second aspect, the present application provides an irrigation operation control device, which is applied to irrigation equipment, and the device includes:
the information acquisition unit is used for controlling the irrigation equipment to acquire the operation path;
the operation path is a path, the minimum distance between the operation path and each piece of sowing position information in the area to be irrigated is smaller than a first preset distance, the first preset distance is a spraying distance preset in the irrigation equipment, and the sowing position information is position information corresponding to a single sowing range;
a processing unit for controlling the irrigation device to travel along the work path;
the processing unit is also used for controlling the irrigation equipment to carry out irrigation operation under the condition that at least one sowing position information is located in the current irrigation area of the irrigation equipment.
Compared with the prior art, the irrigation operation control method, the device, the storage medium and the irrigation equipment provided by the embodiment of the application comprise the following steps: the irrigation equipment acquires a working path; the operation path is a path with the minimum distance of each sowing position information in the area to be irrigated smaller than a first preset distance, the first preset distance is a preset spraying distance in the irrigation equipment, and the sowing position information is position information corresponding to a single sowing range. The irrigation range can cover each sowing position information when the irrigation equipment runs along the operation path. The irrigation equipment travels along the work path; the irrigation device performs the irrigation operation in case the at least one sowing position information is located within a current irrigation area of the irrigation device. On one of them section route, do not sow under the condition that positional information A is located irrigation area territory, irrigation equipment does not irrigate the operation, avoids irrigating to the open space to avoid extravagant, realize accurate irrigation.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic connection diagram of irrigation equipment provided by an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for controlling irrigation according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a job path according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a distance variation provided by an embodiment of the present application;
FIG. 5 is a schematic flow chart of a method for controlling irrigation according to an embodiment of the present disclosure;
FIG. 6 is a schematic view of another exemplary embodiment of a work path;
FIG. 7 is a schematic view of seeding provided by an embodiment of the present application;
fig. 8 is a schematic diagram illustrating the substeps of S102 according to an embodiment of the present disclosure;
FIG. 9 is a schematic diagram of a compound path provided by an embodiment of the present application;
FIG. 10 is a schematic flow chart illustrating a method for controlling irrigation according to an embodiment of the present disclosure;
fig. 11 is a schematic diagram illustrating the substeps of S104 according to an embodiment of the present application;
FIG. 12 is a schematic flow chart illustrating a method for controlling irrigation according to an embodiment of the present disclosure;
FIG. 13 is a schematic view of a spray according to an embodiment of the present application;
FIG. 14 is a schematic illustration of yet another spray provided by an embodiment of the present application;
FIG. 15 is another schematic spray illustration provided in accordance with an embodiment of the present application;
fig. 16 is a schematic diagram of the elements of an irrigation control device according to an embodiment of the present disclosure.
In the figure: 10-a processor; 11-a memory; 12-a bus; 13-a communication interface; 201-an information acquisition unit; 202-processing unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments and features of the embodiments described below can be combined with each other without conflict.
After the seeding, seed and soil fuse into one piece, and the concrete position of seed is very difficult to distinguish again, therefore the fertilization in later stage is watered, no matter be manual work or machine operation mode, all adopt the regional mode of covering of large tracts of land, can't accomplish accurate fertilization and water. To overcome this problem, the embodiment of the present application provides an irrigation control method, which is applied to the irrigation equipment shown in fig. 1.
Referring to fig. 1, a schematic structural diagram of an irrigation apparatus is shown. The irrigation apparatus comprises a processor 10, a memory 11, a bus 12. The processor 10 and the memory 11 are connected by a bus 12, and the processor 10 is configured to execute an executable module, such as a computer program, stored in the memory 11.
The processor 10 may be an integrated circuit chip having signal processing capabilities. In practice, the steps of the irrigation control method may be performed by instructions in the form of hardware integrated logic circuits or software in the processor 10. The Processor 10 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
The Memory 11 may comprise a high-speed Random Access Memory (RAM) and may further comprise a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. Only one bi-directional arrow is shown in fig. 1, but this does not indicate only one bus 12 or one type of bus 12.
The memory 11 is used for storing programs, such as programs corresponding to the irrigation work control device. The irrigation work control means comprises at least one software function module which may be stored in the form of software or firmware in the memory 11 or solidified in the Operating System (OS) of the irrigation equipment. The processor 10, upon receiving the execution instruction, executes the program to implement the irrigation work control method.
Possibly, the irrigation device provided by the embodiment of the application further comprises a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus. The irrigation equipment may receive information or instructions transmitted by other terminals (e.g., clients or servers) through the communication interface 13.
It will be appreciated that the irrigation apparatus further comprises at least one sprinkler. In one possible implementation, the spraying device includes an atomizing device, a two-axis pan-tilt, and a spray controller. The two-axis tripod head consists of a pitching motor and a yawing motor, is used for adjusting the attitude information of the spraying device and can realize 360-degree omnibearing spraying. The spray controller is used for adjusting the power parameter information of the spraying device so as to change the irrigation range of the spraying device.
It is understood that the irrigation device further comprises a driving unit for driving the irrigation device in movement.
It should be understood that the configuration shown in fig. 1 is merely a schematic illustration of a portion of an irrigation device, which may include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
The irrigation control method provided in the embodiment of the present application can be applied to, but is not limited to, the irrigation equipment shown in fig. 1, and please refer to fig. 2:
s102, the irrigation equipment acquires a working path.
The operation path is a path with the minimum distance of each sowing position information in the area to be irrigated smaller than a first preset distance, the first preset distance is a preset spraying distance in the irrigation equipment, and the sowing position information is position information corresponding to a single sowing range.
The unmanned aerial vehicle is taken as sowing equipment to illustrate, when the unmanned aerial vehicle performs sowing operation in the field, sowing actions can be repeatedly performed, a corresponding sowing range can be generated every time the sowing actions are repeated, and the sowing position information corresponding to the sowing range every time is shown as A in fig. 3.
With continued reference to fig. 3, the dashed arrow indicates the operation path, and the solid circle around the sowing position information a indicates the set of points at the first preset distance from the sowing position information a. As can be seen from fig. 3, the operation path is intersected or tangent with the solid line circle corresponding to each sowing position information a, so that the minimum distance between the operation path and each sowing position information in the area to be irrigated is ensured to be smaller than the first preset distance. Further, it is possible to make the irrigation range cover each sowing position information a while the irrigation equipment travels along the working path.
And S103, driving the irrigation equipment along the operation path.
Referring to fig. 4, C in fig. 4 represents irrigation equipment moving in the direction of the dotted arrow therein, and the distance between the irrigation equipment and the sowing position information changes continuously during the movement of the irrigation equipment, such as from d1 to d5.
And S106, under the condition that the at least one piece of sowing position information is located in the current irrigation area of the irrigation equipment, the irrigation equipment performs irrigation operation.
In one possible implementation, the current irrigation area is an area centered on the current coordinates of the irrigation device and having a radius of a first preset distance (the maximum spraying distance or the preset spraying distance).
With reference to fig. 4, it is assumed that the seeding position information a is located outside the current irrigation area of the irrigation device when the distance between the irrigation device and the seeding position information a is d1 or d5, and the seeding position information a is located inside the current irrigation area of the irrigation device when the distance between the irrigation device and the seeding position information a is d2 to d 4.
It can be understood that under the condition that at least one seeding positional information is located irrigation equipment's current irrigation area, irrigation equipment irrigates the operation, on one of them section route, does not have seeding positional information A to be located irrigation area's the condition under, irrigation equipment does not irrigate the operation, avoids irrigating to the open space to avoid extravagant, realize accurate irrigation. It should be noted that the irrigation material in the embodiment of the present application may be water or water fertilizer, and is not limited herein.
In summary, the present application provides an irrigation operation control method, which includes: the irrigation equipment acquires a working path; the operation path is a path with the minimum distance of each sowing position information in the area to be irrigated smaller than a first preset distance, the first preset distance is a preset spraying distance in the irrigation equipment, and the sowing position information is position information corresponding to a single sowing range. The irrigation range can cover each sowing position information when the irrigation equipment runs along the operation path. The irrigation equipment travels along the work path; the irrigation device performs the irrigation operation in case the at least one sowing position information is located within a current irrigation area of the irrigation device. On one of them section route, do not sow under the condition that positional information A is located irrigation area territory, irrigation equipment does not irrigate the operation, avoids irrigating to the open space to avoid extravagant, realize accurate irrigation.
In one possible implementation manner, the sowing position information includes a center estimated coordinate and a corresponding sowing radius, and the center estimated coordinate is a coordinate corresponding to the center of the single-sowing range. As shown in fig. 4, O represents the estimated center coordinates, and R represents the corresponding seeding radius. On this basis, the embodiment of the present application further provides a possible implementation manner with respect to S102 in fig. 2, as shown in fig. 5, S102 includes:
s102-1, the irrigation equipment fits and generates an operation path according to the center estimated coordinates in the area to be irrigated and the corresponding sowing radius.
Wherein, the minimum distance from the center pre-estimated coordinate to the operation path is larger than the corresponding seeding radius.
Referring to fig. 6, a dotted arrow indicates a working path, a solid circle indicates a set of distances from the center estimated coordinate O as a first preset distance, a dotted circle indicates a set of distances from the center estimated coordinate O as a seeding radius, and the dotted circle can also be understood as a range of each seeding area. As shown in fig. 6, the operation path intersects or is tangent to each of the realization circles, and the operation path does not intersect with each of the dotted circles, that is, the operation path is a path whose minimum distance from each of the seeding position information in the region to be irrigated is smaller than a first preset distance, and the minimum distance from the center estimated coordinate to the operation path is greater than the corresponding seeding radius. When irrigation equipment goes along the operation route, can not roll the seed in seeding region, can also ensure simultaneously that the scope of spraying can cover each seeding region.
With continued reference to fig. 5, regarding how to obtain the estimated central coordinates and the corresponding seeding radius, the embodiment of the present application further provides a possible implementation manner, and the irrigation operation control method further includes:
s101, the irrigation equipment obtains estimated coordinates and corresponding seeding radius of each center according to each seeding coordinate of the seeding equipment, corresponding seeding height, preset seeding width and wind field strength.
Continuing to use unmanned aerial vehicle as the seeding equipment for illustration, please refer to the left part of fig. 7, the left part of fig. 7 is a schematic diagram of the seeding range of the unmanned aerial vehicle each time, the height H is 2m, the seeding radius is 5m, the center of circle of the seeding is the current seeding coordinate of the unmanned aerial vehicle, and the preset seeding width can be understood as twice the seeding radius. With continued reference to the right part of fig. 7, under the influence of the wind field intensity, the seeding width is obviously changed, and the center of the seeding range is also shifted. It should be noted that the seeding coordinate may be a real-time RTK coordinate of the unmanned aerial vehicle, and the wind field strength is the strength of the wind force generated by the double propellers of the unmanned aerial vehicle or the strength of the wind force after the wind force is integrated with the current environment.
Under the condition of having wind field intensity to influence, if estimating the coordinate as the center with the current seeding coordinate determination of unmanned aerial vehicle, will predetermine half of broadcast width and determine for the seeding radius, can be great with actual deviation, lead to the seeding scope of pinpointing to lead to irrigating to the open space, there is some seed scope not to obtain the irrigation.
Therefore, in the embodiment of the present application, S101 needs to be performed to accurately locate each of the estimated center coordinates and the corresponding seeding radius.
In a possible implementation mode, the unmanned aerial vehicle can transmit the seeding coordinate and the corresponding seeding height, preset broadcasting amplitude and wind field strength of each time to the server during operation, and the server transmits the seeding coordinate and the corresponding seeding height, preset broadcasting amplitude and wind field strength to the irrigation equipment.
With reference to fig. 8, S102 includes:
s102-2, the irrigation equipment receives the operation path transmitted by the server.
Alternatively, the server may perform S101 described above to obtain each of the center estimated coordinates and the corresponding seeding radius. And the server fits and generates an operation path according to each center pre-estimated coordinate and the corresponding seeding radius. And transmitting the operation path to irrigation equipment.
On the basis of fig. 2, the embodiment of the present application also provides a possible implementation manner as to how to improve the irrigation efficiency, please refer to the following.
A first spraying device and a second spraying device are respectively arranged on two sides of the irrigation equipment; at least one composite path exists in the operation path.
The composite path is an operation path, and the minimum distance between the composite path and each piece of seeding position information on two sides is smaller than a first preset distance.
Specifically, referring to fig. 9, a solid-line circle in fig. 9 represents a set of points at a first preset distance from the seeding position information, and a dotted-line arrow represents a composite path. As shown in fig. 9, the minimum distance between the composite path and each of the seeding position information on both sides is smaller than the first preset distance. When irrigation equipment traveles in compound route, can irrigate both sides simultaneously, promote the efficiency of irrigating.
For example, when single-side irrigation is carried out, the irrigation equipment needs to run back and forth for six times, and when a composite path is adopted, the irrigation equipment only needs to run for 3 times, so that the irrigation time is greatly shortened.
In a possible implementation manner, the current irrigation area is an area with a current coordinate of the irrigation equipment as a center and a first preset distance as a radius, please refer to fig. 10, after S103, the irrigation operation control method further includes:
and S104, judging whether at least one piece of sowing position information exists in the current irrigation area of the irrigation equipment or not based on the current coordinate, the first preset distance and the sowing position information. If yes, executing S106; if not, S107 is executed.
Specifically, when any sowing position information does not exist in the current irrigation area of the irrigation equipment, the irrigation equipment stops irrigation operation, and waste is avoided.
And S107, stopping the irrigation operation by the irrigation equipment.
Regarding how to judge whether at least one piece of sowing position information exists in the current irrigation area of the irrigation equipment, the embodiment of the application also provides a possible implementation mode, the operation path is divided into a plurality of small paths, and a label is added to each small path, wherein the label carries at least one piece of sowing position information existing in the current irrigation area of the irrigation equipment when the irrigation equipment runs on the small path, or carries no piece of sowing position information existing in the current irrigation area of the irrigation equipment.
The running load of the irrigation equipment can be reduced through the form of the label, so that the irrigation equipment can keep a high-efficiency running state.
On the basis of fig. 10, for the content in S104, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 11, where S104 includes:
and S104-1, determining the current interval between the current coordinate and the seeding position information according to the current coordinate and the seeding position information.
Referring to fig. 4, the current interval is shown as d1 to d5 in fig. 4.
And S104-2, judging whether the current interval smaller than the first preset distance exists or not. If yes, executing S104-3, otherwise executing S104-4.
S104-3, determining that at least one piece of sowing position information exists in the current irrigation area of the irrigation equipment.
S104-4, determining that any sowing position information does not exist in the current irrigation area of the irrigation equipment.
On the basis of fig. 10, regarding how to further improve the precision degree of irrigation, the embodiment of the present application further provides a possible implementation manner, as shown in fig. 12, the irrigation operation control method further includes:
and S105, the irrigation equipment adjusts the attitude parameters and/or the power parameters of the spraying device according to the current coordinate and the target position information.
The target position information is sowing position information corresponding to the sowing position information, wherein the current interval is smaller than a first preset distance. The attitude parameters include direction and angle, and the power parameters include spray distance.
Alternatively, with continued reference to FIG. 4, because the distance and direction of the irrigation device from the seed is constantly changing as it travels along the path, adjustments in attitude and power are required to provide better irrigation. When the spraying area of the irrigation equipment can exceed the preset distance, spraying irrigation is carried out, for example, irrigation operation can be carried out at d2, d3 and d4, and irrigation is not carried out at d1 and d5.
In one possible implementation, the sowing position information includes a center estimated coordinate and a corresponding sowing radius, and the center estimated coordinate is a coordinate corresponding to the center of the single sowing range. Namely, the destination position information also comprises corresponding center estimated coordinates and corresponding seeding radius. The irrigation device is provided with corresponding spraying amplitudes, for example 1 meter, 2 meters, 3 meters, 4 meters, 5 meters, etc.
For the content in S105, the embodiment of the present application further provides a possible implementation manner, in which the irrigation device adjusts the attitude parameter and/or the power parameter of the spraying device according to the current coordinate, the target position information, and the current spraying amplitude.
Specifically, please refer to fig. 13 to fig. 15. FIG. 13 is a schematic view of the spraying with spraying amplitude consistent with the seeding radius, assuming both are 5 meters; FIG. 14 is a schematic view of a spray having a spray amplitude of half the seeding radius, assuming a spray amplitude of 2.5 meters and a seeding radius of 5 meters; fig. 15 is a schematic view of spraying with a spraying width much smaller than the seeding radius, assuming a seeding radius of 5 meters and a spraying width of 1 meter. In the figure, the sowing radius is also called as sowing width, and the spraying amplitude is also called as spraying width.
Referring to fig. 13 to 15, it can be seen that the irrigation device can be flexibly controlled according to the current spraying amplitude, so as to form a comprehensive coverage of the sowing range.
In a possible implementation, the spraying amplitude of the irrigation equipment can be flexibly adjusted and controlled. Referring to fig. 16, fig. 16 is a view illustrating an irrigation control device according to an embodiment of the present disclosure, in which the irrigation control device is optionally applied to the irrigation equipment.
The irrigation operation control device comprises: an information acquisition unit 201 and a processing unit 202.
And an information acquisition unit 201 for controlling the irrigation equipment to acquire the operation path.
The operation path is a path with the minimum distance of each sowing position information in the area to be irrigated smaller than a first preset distance, the first preset distance is a preset spraying distance in the irrigation equipment, and the sowing position information is position information corresponding to a single sowing range.
Alternatively, the information acquisition unit 201 may execute S102 described above.
And a processing unit 202 for controlling the irrigation equipment to travel along the working path.
The processing unit 202 is further adapted to control the irrigation device to perform the irrigation operation if the at least one sowing location information is located within the current irrigation area of the irrigation device.
Alternatively, the processing unit 202 may execute S103 and S106 described above.
It should be noted that the irrigation control device provided in this embodiment can execute the method flows shown in the above method flow embodiments to achieve the corresponding technical effects. For the sake of brevity, the corresponding contents in the above embodiments may be referred to where not mentioned in this embodiment.
The embodiment of the application also provides a storage medium, wherein the storage medium stores computer instructions and a program, and the computer instructions and the program execute the irrigation operation control method of the embodiment when being read and executed. The storage medium may include memory, flash memory, registers, or a combination thereof, etc.
The following provides an irrigation device, which may be an unmanned vehicle, and is shown in fig. 1, and can implement the irrigation operation control method; specifically, the irrigation device comprises: processor 10, memory 11, bus 12. The processor 10 may be a CPU. The memory 11 is used for storing one or more programs, which when executed by the processor 10, perform the irrigation work control method of the above-described embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. An irrigation control method, applied to irrigation equipment, comprising:
the irrigation equipment acquires estimated coordinates of each center and a corresponding sowing radius according to each sowing coordinate of the sowing equipment, a corresponding sowing height, a preset sowing width and wind field strength;
the irrigation equipment acquires a working path;
the operation path is a path in which the minimum distance between the operation path and each piece of sowing position information in an area to be irrigated is smaller than a first preset distance, the first preset distance is a preset spraying distance in the irrigation equipment, the sowing position information is position information corresponding to a single sowing range, and the sowing position information comprises center estimated coordinates and a corresponding sowing radius;
the irrigation apparatus travels along the work path;
the irrigation device performs an irrigation operation if at least one sowing position information is located within a current irrigation area of the irrigation device.
2. An irrigation operation control method according to claim 1, wherein the estimated center coordinates are coordinates corresponding to a center of a single-seeding range;
the step of the irrigation device obtaining a working path comprises:
the irrigation equipment is fitted to generate an operation path according to the center estimated coordinates in the area to be irrigated and the corresponding sowing radius;
and the minimum distance from the center pre-estimated coordinate to the operation path is greater than the corresponding sowing radius.
3. The method of controlling irrigation according to claim 1 wherein the step of obtaining a working path by the irrigation device comprises:
the irrigation equipment receives the operation path transmitted by the server.
4. The irrigation control method of claim 1 wherein said irrigation apparatus is provided with a first sprinkler and a second sprinkler on either side of the irrigation apparatus; at least one section of composite path exists in the operation paths;
the composite path is an operation path, and the minimum distance between the composite path and each piece of seeding position information on two sides is smaller than a first preset distance.
5. The method of controlling an irrigation operation according to claim 1 wherein the current irrigation area is an area centered on current coordinates of the irrigation equipment and having a radius of the first predetermined distance, the method further comprising:
judging whether at least one piece of sowing position information exists in the current irrigation area of the irrigation equipment or not based on the current coordinate, the first preset distance and the sowing position information;
if so, the irrigation equipment performs irrigation operation;
and if not, the irrigation equipment stops irrigation operation.
6. The irrigation operation control method according to claim 5, wherein the step of determining whether at least one sowing position information exists in a current irrigation area of the irrigation device based on the current coordinates, the first preset distance, and the sowing position information comprises:
determining a current interval between the current coordinate and the seeding position information according to the current coordinate and the seeding position information;
judging whether a current interval smaller than the first preset distance exists or not;
if so, determining that at least one piece of sowing position information exists in the current irrigation area of the irrigation equipment;
and if not, determining that any sowing position information does not exist in the current irrigation area of the irrigation equipment.
7. The irrigation operation control method of claim 5, wherein in the case where at least one sowing location information is located within a current irrigation area of the irrigation apparatus, the method further comprises:
the irrigation equipment adjusts the attitude parameters and/or the power parameters of the spraying device according to the current coordinate and the target position information;
the target position information is sowing position information corresponding to the sowing position information with the current interval smaller than the first preset distance.
8. An irrigation control device for use with irrigation equipment, the device comprising:
the information acquisition unit is used for controlling the irrigation equipment to acquire the operation path;
the operation path is a path, the minimum distance between the operation path and each piece of sowing position information in an area to be irrigated is smaller than a first preset distance, the first preset distance is a spraying distance preset in the irrigation equipment, the sowing position information is position information corresponding to a single sowing range, and the sowing position information comprises a center pre-estimated coordinate and a corresponding sowing radius;
a processing unit for controlling the irrigation device to travel along the work path;
the processing unit is also used for controlling the irrigation equipment to carry out irrigation operation under the condition that at least one sowing position information is positioned in the current irrigation area of the irrigation equipment;
the irrigation operation control device is also used for controlling the irrigation equipment to acquire each center pre-estimated coordinate and the corresponding seeding radius according to the seeding coordinate of the seeding equipment each time and the corresponding seeding height, the preset seeding width and the wind field strength.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-7.
10. An irrigation apparatus, comprising: a processor and memory for storing one or more programs; the one or more programs, when executed by the processor, implement the method of any of claims 1-7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110737941.3A CN113349038B (en) | 2021-06-30 | 2021-06-30 | Irrigation operation control method and device, storage medium and irrigation equipment |
| PCT/CN2021/121176 WO2023272986A1 (en) | 2021-06-30 | 2021-09-28 | Irrigation operation control method and apparatus, and storage medium and irrigation device |
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| CN202110737941.3A CN113349038B (en) | 2021-06-30 | 2021-06-30 | Irrigation operation control method and device, storage medium and irrigation equipment |
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| CN113349038B true CN113349038B (en) | 2023-03-24 |
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| CN114223414B (en) * | 2021-12-31 | 2023-05-02 | 广州极飞科技股份有限公司 | Cotton topping control method, cotton topping equipment and related device |
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| CN108021720A (en) * | 2016-10-31 | 2018-05-11 | 哈尔滨派腾农业科技有限公司 | A kind of design method of the walking mechanism based on agriculture in greenhouse automated job |
| CN109661979B (en) * | 2017-10-13 | 2021-04-06 | 中国农业机械化科学研究院 | Informatization planting method based on accurate control of crop position |
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| CN109089831A (en) * | 2018-08-08 | 2018-12-28 | 张朝晖 | Gardens intelligent irrigation method, apparatus, storage medium and processor |
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| WO2023272986A1 (en) | 2023-01-05 |
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