CN-120714078-B - Control method and system of automatic sterilization plowing machine

CN120714078BCN 120714078 BCN120714078 BCN 120714078BCN-120714078-B

Abstract

The invention discloses a control method and a control system of an automatic sterilization plowing machine, and belongs to the field of intelligent agricultural equipment. The method comprises the steps of receiving plough path time sequence information of a plough to obtain bactericide spray head coordinate time sequence information, randomly configuring bactericide spray flow, pressure and angle time sequence information, performing spray face prediction to obtain coverage constraint face time sequence information taking the bactericide spray head coordinate as an origin, performing union analysis based on the spray head coordinate time sequence information and the coverage constraint face time sequence information to obtain a bactericide coverage prediction area, and performing automatic control of the plough according to the plough path, the spray flow, the pressure and the angle time sequence information when the intersection ratio of the coverage prediction area and a first area of a target coverage area is larger than or equal to a first area intersection ratio threshold value. Through accurate prediction and intelligent control, the intelligent degree of bactericide spray control is improved, accurate coverage control is realized, and therefore the technical effect of bactericide utilization rate is improved.

Inventors

CAO JINCHA
QIU GANG
ZHANG XIANGDONG

Assignees

上海曹野农业发展有限公司

Dates

Publication Date: 20260512
Application Date: 20250619

Claims (8)

1. A control method of an automatic sterilizing plowing machine, characterized in that the method comprises the following steps: Receiving plough path time sequence information of a plough, wherein the plough path time sequence information of the plough is provided with bactericide nozzle coordinate time sequence information; Randomly configuring bactericide spraying flow time sequence information, bactericide spraying pressure time sequence information and bactericide spraying angle time sequence information, and executing simultaneous time sequence spraying surface prediction to obtain coverage constraint surface time sequence information, wherein the coverage constraint surface is a horizontal plane constructed by a space coordinate set taking the coordinates of a bactericide nozzle as an origin; Based on the coordinate time sequence information of the bactericide spray head, combining the time sequence information of the coverage constraint surface, and executing the union analysis of the coverage constraint surface to obtain a bactericide coverage prediction area; And when the intersection ratio of the first area of the bactericide coverage prediction area and the target coverage area is larger than or equal to a first area intersection ratio threshold value, executing control of the automatic sterilization plowing machine according to the plowing path time sequence information of the plowing machine, the bactericide spraying flow time sequence information, the bactericide spraying pressure time sequence information and the bactericide spraying angle time sequence information.
2. The method of claim 1, wherein receiving the plow path timing information, wherein the plow path timing information has sterilant spray head coordinate timing information, the plow path timing information characterizing plow blade coordinate timing information, comprises: The method comprises the steps of obtaining a space position of a plowing shovel of a preset sterilization plowing machine model and a space position of a sterilizing agent spray head; The space position of the plowing shovel is taken as an origin, and the space position of the bactericide spray head is combined to construct the relative distribution position of the bactericide spray head; the model of the preset sterilizing plough machine is stored in association with the relative distribution position of the sterilizing agent spray heads, and a sterilizing agent spray head coordinate identification table is constructed; Inputting the model number of the sterilizing plowing machine into the coordinate identification table of the sterilizing agent spray heads, outputting the relative distribution position identification of the sterilizing agent spray heads, and converting the plowing path time sequence information of the plowing machine to obtain the coordinate time sequence information of the sterilizing agent spray heads.
3. The method of claim 1, wherein randomly configuring sterilant spray flow timing information, sterilant spray pressure timing information, sterilant spray angle timing information, performing simultaneous spray face prediction to obtain coverage constraint face timing information, comprises: configuring a plurality of groups of data according to a preset model of the sterilizing plowing machine, wherein any one group of the plurality of groups of data comprises sterilizing agent spraying flow recording data, sterilizing agent spraying pressure recording data, sterilizing agent spraying angle recording data and a covering constraint surface label with a sterilizing agent spray head coordinate as an origin; Taking a coverage constraint surface label with a mark taking a bactericide spray head coordinate as an origin as supervision, taking the bactericide spray flow record data, the bactericide spray pressure record data and the bactericide spray angle record data as input, calling a plurality of groups of data, and constructing a plurality of coverage constraint surface predictors through machine learning; Performing union fitting on the outputs of the plurality of coverage constraint surface predictors to obtain a coverage constraint surface prediction model, and storing the coverage constraint surface prediction model in association with a preset sterilization plow model number to construct a coverage constraint surface prediction model library; and performing simultaneous spraying surface prediction on the bactericide spraying flow time sequence information, the bactericide spraying pressure time sequence information and the bactericide spraying angle time sequence information based on the model of the sterilizing plow by using the coverage constraint surface prediction model library to obtain coverage constraint surface time sequence information.
4. A method according to claim 3, wherein performing a union fit on the outputs of the plurality of coverage constraint surface predictors to obtain a coverage constraint surface prediction model comprises: Constructing a union fitting rule: Obtaining a plurality of predicted coverage constraint surfaces from the plurality of coverage constraint surface predictors; Carrying out coordinate trigger frequency statistics on the plurality of prediction coverage constraint surfaces to obtain a plurality of coordinate trigger frequencies; Extracting coordinates with the coordinate trigger frequency greater than or equal to a coordinate trigger frequency threshold value in the plurality of predicted coverage constraint surfaces based on the plurality of coordinate trigger frequencies, and adding the coordinates into a union; constructing a fitting coverage constraint surface based on the union coordinates; and performing union fitting on the outputs of the plurality of coverage constraint surface predictors based on the union fitting rule to obtain a coverage constraint surface prediction model.
5. The method of claim 1, wherein performing a coverage constraint surface union analysis based on sterilant spray head coordinate timing information in combination with the coverage constraint surface timing information to obtain sterilant coverage prediction areas comprises: Based on the coordinate time sequence information of the bactericide nozzle, the same-time sequence coverage constraint surface analysis is executed by combining the coverage constraint surface time sequence information, and a spraying coverage area set is obtained; performing area cross-over ratio analysis on the spraying coverage area set to obtain a second area cross-over ratio; Updating the bactericide spray flow time sequence information, the bactericide spray pressure time sequence information and the bactericide spray angle time sequence information to execute circulation when the second area intersection ratio is larger than or equal to a second area intersection ratio threshold value; Otherwise, performing coverage constraint surface union analysis on the spraying coverage area set to obtain the bactericide coverage prediction area.
6. The method of claim 1, further comprising updating the sterilant spray flow timing information, the sterilant spray pressure timing information, the sterilant spray angle timing information to perform a cycle when a first area cross-over ratio of the sterilant coverage prediction area and the target coverage area is less than the first area cross-over ratio threshold.
7. The method of claim 5 or 6, wherein updating the sterilant spray flow timing information, the sterilant spray pressure timing information, and the sterilant spray angle timing information performs a cycle comprising: when the bactericide spraying flow time sequence information, the bactericide spraying pressure time sequence information and the bactericide spraying angle time sequence information are updated randomly for preset times, a plurality of historical bactericide spraying control particles are obtained; Constructing a fitness function: when the updating is that the second area intersection ratio is larger than or equal to the second area intersection ratio threshold value, the fitness function is inversely proportional to the ratio of the second area intersection ratio to the second area intersection ratio threshold value; When the trigger is updated that the first area intersection ratio of the disinfectant coverage prediction area and the target coverage area is smaller than the first area intersection ratio threshold value, the fitness function is proportional to the ratio of the first area intersection ratio to the first area intersection ratio threshold value; configuring a plurality of historical particle fitness of the plurality of historical sterilization spray control particles based on the fitness function; selecting a first preset number of particles with smaller fitness as natural enemy particles and a second preset number of particles with larger fitness as food particles based on the plurality of historical particle fitness; And taking the food particles as a close target, taking the natural enemy particles as a far target, executing the Lewy flight according to the long search step length constraint interval and the short search step length constraint interval to obtain an extended particle set, and executing the circulation.
8. A control system for an automatic sterilizing plow, the system comprising: the path receiving module is used for receiving the plough path time sequence information of the plough, wherein the plough path time sequence information of the plough is provided with the coordinate time sequence information of the bactericide nozzle; the parameter configuration module is used for randomly configuring bactericide spraying flow time sequence information, bactericide spraying pressure time sequence information and bactericide spraying angle time sequence information, and executing simultaneous time sequence spraying surface prediction to obtain coverage constraint surface time sequence information, wherein the coverage constraint surface is a horizontal plane constructed by a space coordinate set taking the coordinates of a bactericide nozzle as an origin; the sterilization prediction module is used for executing coverage constraint surface union analysis based on the coordinate time sequence information of the sterilizing agent spray head and combining the coverage constraint surface time sequence information to obtain a sterilizing agent coverage prediction area; And the control execution module is used for executing the control of the automatic sterilization plowing machine according to the plowing path time sequence information of the plowing machine, the bactericide spraying flow time sequence information, the bactericide spraying pressure time sequence information and the bactericide spraying angle time sequence information when the first area intersection ratio of the bactericide coverage prediction area and the target coverage area is larger than or equal to a first area intersection ratio threshold value.

Description

Control method and system of automatic sterilization plowing machine Technical Field The invention relates to the field of intelligent agricultural equipment, in particular to a control method and a control system of an automatic sterilization plowing machine. Background With the continuous improvement of the modern agricultural mechanization degree, the plowing machine is used as important agricultural mechanical equipment and plays an increasingly important role in farmland operation. In order to prevent and treat soil diseases and improve crop yield, synchronous soil sterilization treatment in the process of plowing is an important technical means of modern precise agriculture. The existing sterilization technology of the plowing machine mainly adopts a fixed-parameter sterilization agent spraying mode, namely uniform spraying is carried out according to preset spraying flow, pressure and angle. The traditional bactericide spraying control has low intelligent degree, cannot be dynamically adjusted according to the actual ploughing path and land block characteristics, and causes mismatching of spraying parameters and actual requirements, so that accurate control cannot be performed according to the actual coverage requirements, the actual coverage area of the bactericide cannot be effectively predicted and analyzed, and the repeated spraying or missing spraying is easy to cause. The technical defects directly lead to low utilization rate of the bactericide, not only increase the agricultural production cost, but also possibly cause unnecessary burden on the environment, and simultaneously affect the consistency and reliability of the soil sterilization effect. Disclosure of Invention The invention aims to provide a control method and a control system of an automatic sterilizing plowing machine, which are used for solving the problems that in the prior art, the intelligent degree of sterilizing agent spraying control is low, and the utilization rate of sterilizing agent is low because the sterilizing agent cannot be controlled according to actual coverage requirements. The technical scheme for solving the technical problems is as follows: The invention provides a control method of an automatic sterilization plow, which comprises the steps of receiving plow plowing path time sequence information of the plow, wherein the plow plowing path is provided with bactericide spray head coordinate time sequence information, randomly configuring bactericide spray flow time sequence information, bactericide spray pressure time sequence information and bactericide spray angle time sequence information, executing simultaneous spray surface prediction to obtain coverage constraint surface time sequence information, wherein the coverage constraint surface is a horizontal plane constructed by a space coordinate set taking bactericide spray head coordinates as an origin, executing coverage constraint surface union analysis based on the bactericide spray head coordinate time sequence information, obtaining a bactericide coverage prediction area, and executing control of the automatic plow according to the plow plowing path time sequence information, the bactericide spray flow time sequence information, the bactericide spray pressure time sequence information and the bactericide spray angle time sequence information when the intersection ratio of a bactericide coverage prediction area and a first area of a target coverage area is larger than or equal to a first area intersection ratio threshold value. The invention provides a control system of an automatic sterilization plow, which comprises a path receiving module, a parameter configuration module and a control execution module, wherein the path receiving module is used for receiving plow path time sequence information of the plow, the plow path is provided with bactericide spray head coordinate time sequence information, the parameter configuration module is used for randomly configuring bactericide spray flow time sequence information, bactericide spray pressure time sequence information and bactericide spray angle time sequence information, and executing simultaneous spray surface prediction to obtain coverage constraint surface time sequence information, the coverage constraint surface is a horizontal plane constructed by a space coordinate set taking the bactericide spray head coordinate as an origin, the sterilization prediction module is used for executing coverage constraint surface union analysis based on the bactericide spray head coordinate time sequence information and combining the coverage constraint surface time sequence information to obtain a bactericide coverage prediction area, and the control execution module is used for executing sterilization control according to the plow path time sequence information, the bactericide spray flow time sequence information, the bactericide spray pressure time sequence information and the bactericide spray angle time seque