CN113403994A - Unmanned watering lorry control system based on image recognition - Google Patents
Unmanned watering lorry control system based on image recognition Download PDFInfo
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- CN113403994A CN113403994A CN202110797046.0A CN202110797046A CN113403994A CN 113403994 A CN113403994 A CN 113403994A CN 202110797046 A CN202110797046 A CN 202110797046A CN 113403994 A CN113403994 A CN 113403994A
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- 238000000034 method Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 39
- 238000010276 construction Methods 0.000 claims description 18
- 210000000476 body water Anatomy 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000013500 data storage Methods 0.000 claims description 12
- 230000007613 environmental effect Effects 0.000 claims description 6
- 230000003020 moisturizing effect Effects 0.000 claims description 4
- 230000001502 supplementing effect Effects 0.000 claims description 4
- 230000006399 behavior Effects 0.000 claims description 3
- 230000014759 maintenance of location Effects 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 239000013589 supplement Substances 0.000 claims description 3
- 238000009736 wetting Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 1
- 238000004321 preservation Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000002699 waste material Substances 0.000 description 6
- 230000006872 improvement Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 1
- WUKWITHWXAAZEY-UHFFFAOYSA-L calcium difluoride Chemical compound [F-].[F-].[Ca+2] WUKWITHWXAAZEY-UHFFFAOYSA-L 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010436 fluorite Substances 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H3/00—Applying liquids to roads or like surfaces, e.g. for dust control; Stationary flushing devices
- E01H3/02—Mobile apparatus, e.g. watering-vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
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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
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Spray Control Apparatus (AREA)
Abstract
The unmanned watering cart control system based on image recognition comprises a remote host command flow control system, an unmanned system installed on a watering cart body and an intelligent watering control system based on image recognition. The remote host command flow control system is used for realizing the allocation of a plurality of watering lorries, the acquisition of real-time data of each watering lorry and the instruction issuing; the unmanned system is used for realizing normal operation of the sprinkler at specific time and in a set sprinkling area issued by the remote host; the intelligent watering control system based on image recognition realizes the intelligent watering function of the watering cart. The control system of the invention is improved on the existing sprinkler body, can drive the automobile to perform sprinkling operation in a set specific area, and can dynamically judge whether the area to be sprinkled needs sprinkling according to the image recognition technology in the driving process.
Description
Technical Field
The invention relates to a watering cart control system, in particular to an unmanned watering cart control system based on image recognition.
Background
The use of the watering cart is particularly extensive, and the watering cart plays a unique role in daily life and engineering construction. At present, in daily life and the watering lorry in the engineering construction field all need navigating mate to drive the watering lorry and go and incessant spraying of making a round trip on specific watering route, such implementation scheme not only has extravagantly in the manpower, and the same regional overlapping of watering can appear in the incessant spraying of watering lorry moreover to lead to the waste of water resource.
In view of the above disadvantages of the sprinkler, the former people have related improvement strategies. However, in the prior art improvement strategy, most of the sprinkler control systems are improved on the basis of releasing labor and labor, and the problems of resource waste, cross overlapping of action areas among multiple vehicles and the like are not discussed. As described in the chinese patent "unmanned method of watering and watering cart" (application No.: 201910304555.8), improvements to watering carts only liberate manpower from the complex cycle of labor, but have not been extensively studied in controlling the watering of watering carts. As is known, a sprinkler is a relatively water-consuming machine, and the aim of improvement cannot be achieved only by improving the automatic driving of the sprinkler in the driving path.
Disclosure of Invention
In order to solve the technical problems, the invention provides an image recognition-based unmanned watering cart control system, which is improved on the existing watering cart body, can drive an automobile to perform watering operation in a set specific area, and can dynamically judge whether a region to be watered needs watering according to the image recognition technology during driving. The sprinkler control system has the advantages of improving the project construction planning layout, reducing the output waste of manpower and the waste of resources and the like.
The technical scheme adopted by the invention is as follows:
unmanned watering lorry control system based on image recognition, this system includes:
the remote host command flow control system comprises an unmanned system arranged on the sprinkler body and an intelligent sprinkling control system based on image recognition;
the remote host command flow control system is used for realizing the allocation of a plurality of watering lorries, the acquisition of real-time data of each watering lorry and the instruction issuing;
the unmanned system is used for realizing normal operation of the sprinkler at specific time and in a set sprinkling area issued by the remote host;
the intelligent watering control system based on image recognition realizes the intelligent watering function of the watering cart.
The remote host command flow control system comprises a data storage and updating module, a real-time data processing and analyzing module and a sprinkler command issuing module;
in the data storage and update module, design and construction personnel firstly store a watering area according to roads in a construction engineering region range or construction site pavements, and then update a newly generated area and a abandoned area to the data storage and update module according to construction process planning;
the data storage and updating module can acquire the working state of each sprinkler in real time, judge the start and stop reason data of each sprinkler to be stored and transmit to the real-time data processing and analyzing module for analysis, and finally wait for the instruction issue of the sprinkler instruction issuing module according to the analysis result;
the real-time data processing and analyzing module is used for analyzing collaborative allocation data among all the watering lorries and analyzing real-time operation data of a single watering lorry under the condition that the system normally operates, and transmitting an analysis result to the watering lorry instruction issuing module, wherein the analysis result comprises the working state of each watering lorry, the working range of the watering lorry and the covering surface condition of an area to be watered.
The sprinkler instruction issuing module can start a certain number of sprinklers to perform sprinkling operation according to the preset time of the system, and then judges whether to execute an instruction according to the analysis result of the real-time data processing and analyzing module.
The unmanned system comprises a remote host data instruction transmission unit, a sprinkler body automatic control unit, a sprinkler body data processing unit and a sprinkler body water quantity keeping unit;
the remote host data instruction transmission unit is used for transmitting the sprinkler body data to the remote host command flow control system in real time and acquiring a new instruction issued by the remote host command flow control system;
the automatic control unit of the sprinkler body controls normal running, starting and stopping of the sprinkler body and adjusts opening and closing of a sprinkler nozzle according to a result returned by the intelligent sprinkler control system based on image recognition;
the automatic control unit of the sprinkler body receives the result transmitted by the water quantity maintaining unit of the sprinkler body and controls whether the sprinkler body needs to return to the water quantity supplementing place to supplement the water quantity;
the sprinkler body data processing unit is used for processing relevant data of the sprinkler body, comprises sprinkler body water quantity maintaining unit data processing, intelligent sprinkler system data processing based on image recognition and image recognition, and transmits a processing result to the sprinkler body automatic control unit in a command flow mode to execute different behaviors.
The watering lorry body water volume keeps the unit, detects the water volume data in the water tank to give watering lorry body data processing unit for, when the water volume was not enough, watering lorry body data processing unit returned the information that the watering lorry needs to supply the water volume, and when the water volume was sufficient, watering lorry body data processing unit returned the information that the watering lorry stopped supplying the water volume.
The intelligent watering control system based on image recognition comprises a watering area recognition unit and a watering function control unit;
the watering area identification unit is used for recording the environmental information in real time in the normal running process of the watering cart body and transmitting the environmental information back to the watering cart body data processing unit in real time to perform image identification processing and return a related result;
and the sprinkling function control unit is used for controlling the opening and closing state of the nozzles of the sprinkler body and adjusting the working state of each nozzle of the sprinkler body according to the processing result of the data processing unit of the sprinkler body.
The invention relates to an image recognition-based unmanned watering cart control system, which has the following technical effects:
1) the invention is provided with a remote host command flow control system, realizes automatic planning and scheduling of the range of the environment to be sprinkled, realizes the automatic water supply function of the sprinkler, avoids resource consumption caused by overlapping of working surfaces of a plurality of sprinklers and overcomes the defect that the water quantity of the sprinkler needs to be artificially judged to be sufficient in the prior art.
2) The invention is provided with the unmanned system to realize the automatic running of the watering cart in the planned path, liberates the output of manpower in repeated labor and liberates the manpower resource.
3) The intelligent watering control system based on image recognition is arranged, and the environment sensing function of the watering cart during normal operation is realized by adopting technologies such as video image machine recognition and the like, so that the watering cart can automatically judge whether watering operation needs to be carried out on a planned area, and further the waste of water resources caused by repeated watering on wet ground in the area is avoided.
4) The intelligent watering control system is provided with a remote host command flow control system and an intelligent watering control system based on image recognition, so that the watering cart can automatically sense a region to be watered in the normal operation process and judge whether the watering operation is required to be carried out on a planned region or not in the watering operation process, the watering cart can automatically plan a driving route and automatically drive, and meanwhile, the intelligent price adjusting function of automatically judging whether the watering operation in a target region is required or not, whether the watering operation is required to be carried out in a supply station for supplementing a water source or not and a plurality of watering carts in the environment range to be watered can be achieved, and therefore the repeated output of manpower, the waste of resources and the cross overlapping of working regions among the plurality of watering carts are avoided.
Drawings
FIG. 1 is a functional block diagram of a control system according to the present invention.
Fig. 2 is a schematic view of an improved sprinkler structure of the present invention.
Wherein: 1-remote host data instruction transmission unit, 2-sprinkler body data processing unit, 3-sprinkler area identification unit, 4-sprinkler body automatic control unit, 5-sprinkler body water quantity keeping unit, 6-sprinkler body water tank, 7-sprinkler body nozzle, and 8-sprinkler body water replenishing inlet.
Detailed Description
As shown in fig. 1, an image recognition based unmanned sprinkler control system, the system comprising: the remote host command flow control system comprises an unmanned system arranged on the sprinkler body and an intelligent sprinkling control system based on image recognition;
the remote host command flow control system is used for realizing the allocation of a plurality of watering lorries, the acquisition of real-time data of each watering lorry and the instruction issuing;
the unmanned system is used for realizing normal operation of the sprinkler at specific time and in a set sprinkling area issued by the remote host;
the intelligent watering control system based on image recognition realizes the intelligent watering function of the watering cart.
The remote host command flow control system comprises a data storage and updating module, a real-time data processing and analyzing module and a sprinkler command issuing module;
in the data storage and update module, design and construction personnel firstly store a watering area according to roads in a construction engineering region range or construction site pavements, and then update a newly generated area and a abandoned area to the data storage and update module according to construction process planning;
the data storage and updating module can acquire the working state of each sprinkler in real time, judge the start and stop reason data of each sprinkler to be stored and transmit to the real-time data processing and analyzing module for analysis, and finally wait for the instruction issue of the sprinkler instruction issuing module according to the analysis result;
the real-time data processing and analyzing module is used for analyzing collaborative allocation data among all the watering lorries and analyzing real-time operation data of a single watering lorry under the condition that the system normally operates, and transmitting an analysis result to the watering lorry instruction issuing module, wherein the analysis result comprises the working state of each watering lorry, the working range of the watering lorry and the covering surface condition of an area to be watered.
The sprinkler instruction issuing module can start a certain number of sprinklers to perform sprinkling operation according to the preset time of the system, and then judges whether to execute some instructions according to the analysis result of the real-time data processing and analyzing module. Such as: whether increase the watering lorry quantity and satisfy the regional comprehensive domain of treating the watering and cover, perhaps reduce the watering lorry quantity with the output that reduces the cost and improve the utilization ratio of watering lorry.
The unmanned system comprises a plurality of sensing units. Such as: the system comprises a remote host data instruction transmission unit 1, a sprinkler body automatic control unit 4, a sprinkler body data processing unit 2 and a sprinkler body water quantity keeping unit 5;
the remote host data instruction transmission unit 1 is used for transmitting the sprinkler body data to the remote host command flow control system in real time and acquiring a new instruction issued by the remote host command flow control system;
the remote host data command transmission unit 1 may employ a 4G LTE DTU data transmission unit. The unit is an industrial wireless DTU, and can realize wireless remote transmission of data and instruction data transmission of a plurality of watering lorries based on a GPRS wireless network.
The automatic control unit 4 of the sprinkler body controls the normal running, starting and stopping of the sprinkler body and adjusts the opening and closing of a sprinkler nozzle according to a result returned by the intelligent sprinkler control system based on image recognition;
the automatic control unit 4 of the sprinkler body receives the result transmitted by the water quantity keeping unit 5 of the sprinkler body and controls whether the sprinkler body needs to return to the water quantity supplementing place to supplement the water quantity;
the automatic control unit 4 of the sprinkler body can adopt a Siemens SIMATIC S7-1200 programmable controller, is arranged on the sprinkler body, and realizes the transmission of data and instructions of each module through later-stage autonomous programming.
The sprinkler body data processing unit 2 is used for processing related data of the own vehicle, comprises data processing of a sprinkler body water quantity holding unit 5, data processing of an intelligent sprinkler system based on image recognition and image recognition, and transmits a processing result to the sprinkler body automatic control unit 4 in a command stream mode to execute different behaviors. For example: when the sprinkler is judged to have the personnel in construction or the vehicles in work in the area to be sprinkled according to the result returned by the video image processing technology in the running process, an instruction is immediately transmitted to the automatic control unit 4 of the sprinkler body to drive the sprinkler to stop working and stop at a safe area to wait for the constructor and the working vehicle to finish working and then start again to sprinkle water.
The sprinkler body data processing unit 2 adopts a Siemens S7-200CPU226 central processing unit, can realize various functions of starting, running, soft stop combination, data processing and the like, and can carry out autonomous design according to the design content of the invention so as to realize functions of sprinkler control data processing, image data processing and the like.
Watering lorry body water yield retention unit 5 mainly detects the water yield data in the water tank through arranging the inside water level monitor of watering lorry in to give watering lorry body data processing unit 2 for, when the water yield was not enough, watering lorry body data processing unit 2 returns the information that the watering lorry needs to supply the water yield, and when the water yield was sufficient, watering lorry body data processing unit 2 returned the information that the watering lorry stopped supplying the water yield.
The sprinkler body water quantity keeping unit 5 adopts a Y28RS485 water tank water level detector, is arranged in the sprinkler body water tank and detects the change of the water level in the water tank in real time.
The intelligent watering control system based on image recognition comprises a watering area recognition unit 3 and a watering function control unit;
the watering area identification unit 3 is used for recording the environmental information in real time in the normal running process of the watering cart body and transmitting the environmental information back to the watering cart body data processing unit 2 in real time for image identification processing, and returning a related result;
the sprinkling area identification unit 3 adopts a fluorite C3W1080P2.8mm high-definition camera, so that high-definition video recording in a sprinkling truck running area is realized.
The sprinkling function control unit adopts an HF-KN43BJ-S100 type programmable start-stop controller. The controller can realize the opening and closing state of each nozzle of the sprinkler body through autonomous programming according to the processing result of the data processing unit 2 of the sprinkler body.
The watering area identification unit 3 has the following specific identification method:
firstly, judging whether the construction or walking personnel and working vehicles appear in the area to be sprinkled through the processed result, if so, returning an instruction that the vehicles stop waiting to the sprinkler body data processing unit 2, otherwise, returning an instruction that the sprinkler continues to work;
secondly, after the processing result, the moisture retention condition of the ground surface is returned, and whether the sprinkling operation is carried out on the area is judged according to a threshold value set by the system. The specific meaning of the set threshold is the proportion of the ground moisturizing area to the total area, the numerical value is 0-1, when the actual moisturizing situation of the ground returned by the sprinkler body data processing unit 2 is greater than the threshold, the sprinkling operation is not needed, otherwise, the sprinkling operation is needed. This numerical value sets up too big, will guarantee completely that watering lorry traveles regional watering operation perfect completion, if set up lessly, watering operation completion degree that watering lorry traveled the region can reduce to some extent. Meanwhile, after the processing result, how to adjust the opening and closing of the nozzles of the sprinkler should be returned to satisfy the sprinkling wetting of the area, the area to be sprinkled is concentrated on the right part of the sprinkler body in normal running, so the result is returned to drive the sprinkling function control unit to close the nozzles on the left side of the sprinkler body, and only the nozzles on the right side of the sprinkler body are reserved to continue sprinkling operation.
And the sprinkling function control unit is used for controlling the opening and closing state of the sprinkler body nozzle 7 and adjusting the working state of each nozzle of the sprinkler body according to the processing result of the sprinkler body data processing unit 2.
Claims (6)
1. Unmanned watering lorry control system based on image recognition, its characterized in that this system includes:
the remote host command flow control system comprises an unmanned system arranged on the sprinkler body and an intelligent sprinkling control system based on image recognition;
the remote host command flow control system is used for realizing the allocation of a plurality of watering lorries, the acquisition of real-time data of each watering lorry and the instruction issuing;
the unmanned system is used for realizing normal operation of the sprinkler at specific time and in a set sprinkling area issued by the remote host;
the intelligent watering control system based on image recognition realizes the intelligent watering function of the watering cart.
2. The image recognition based unmanned sprinkler control system of claim 1, wherein: the remote host command flow control system comprises a data storage and updating module, a real-time data processing and analyzing module and a sprinkler command issuing module;
in the data storage and update module, design and construction personnel firstly store a watering area according to roads in a construction engineering region range or construction site pavements, and then update a newly generated area and a abandoned area to the data storage and update module according to construction process planning;
the data storage and updating module can acquire the working state of each sprinkler in real time, judge the start and stop reason data of each sprinkler to be stored and transmit to the real-time data processing and analyzing module for analysis, and finally wait for the instruction issue of the sprinkler instruction issuing module according to the analysis result;
the real-time data processing and analyzing module is used for analyzing collaborative allocation data among all the watering lorries and real-time operation data of a single watering lorry under the condition that the system normally operates, and transmitting an analysis result to the watering lorry instruction issuing module, wherein the analysis result comprises the working state of each watering lorry, the working range of the watering lorry and the covering surface condition of an area to be watered;
the sprinkler instruction issuing module starts a certain number of sprinklers to perform sprinkling operation according to the preset time of the system, and judges whether to execute an instruction according to the analysis result of the real-time data processing and analyzing module.
3. The image recognition based unmanned sprinkler control system of claim 1, wherein: the unmanned system comprises a remote host data instruction transmission unit (1), a sprinkler body automatic control unit (4), a sprinkler body data processing unit (2) and a sprinkler body water quantity keeping unit (5);
the remote host data instruction transmission unit (1) is used for transmitting sprinkler body data to the remote host command flow control system in real time and acquiring a new instruction issued by the remote host command flow control system;
the automatic control unit (4) of the sprinkler body controls the normal running, starting and stopping of the sprinkler body and adjusts the opening and closing of a sprinkler nozzle according to a result returned by the intelligent sprinkler control system based on image recognition;
the automatic control unit (4) of the sprinkler body receives the result transmitted by the water quantity keeping unit (5) of the sprinkler body and controls whether the sprinkler body needs to return to the water quantity supplementing place to supplement the water quantity;
the sprinkler body data processing unit (2) is used for processing related data of the own vehicle, comprises a sprinkler body water quantity holding unit (5) for data processing, an intelligent sprinkler system data processing based on image recognition and image recognition, and transmits a processing result to the sprinkler body automatic control unit (4) in a command stream mode to execute different behaviors;
watering lorry body water yield retention unit (5), the water yield data in the detection water tank to give watering lorry body data processing unit (2) for, when the water yield is not enough, watering lorry body data processing unit (2) return the information that the watering lorry needs the replenishment water yield, and when the water yield is sufficient, watering lorry body data processing unit (2) return the information that the watering lorry stopped replenishing the water yield.
4. The image recognition based unmanned sprinkler control system of claim 1, wherein: the intelligent watering control system based on image recognition comprises a watering area recognition unit (3) and a watering function control unit;
the watering area identification unit (3) is used for recording the environmental information in real time in the normal operation process of the watering cart body and transmitting the environmental information back to the watering cart body data processing unit (2) in real time to perform image identification processing and return a related result;
the sprinkling function control unit is used for controlling the opening and closing states of the sprinkler body nozzles (7) and adjusting the working states of the nozzles of the sprinkler body according to the processing results of the sprinkler body data processing unit (2).
5. The image recognition based unmanned sprinkler control system of claim 4, wherein: the watering area identification unit (3) adopts the following identification method:
firstly, judging whether the construction or walking personnel and working vehicles appear in the area to be sprinkled through the processed result, if so, returning an instruction that the vehicles stop waiting to the sprinkler body data processing unit (2), otherwise, returning an instruction that the sprinkler continues to work;
and secondly, returning the processed result to the moisture preservation condition of the ground, and judging whether to carry out the water spraying operation on the area or not according to a threshold value set by a system.
6. The image recognition based unmanned sprinkler control system of claim 5, wherein: the specific meaning of the set threshold is the proportion of the ground moisturizing area to the total area, the numerical value is 0-1, when the actual moisturizing situation of the ground returned by the sprinkler body data processing unit (2) is greater than the threshold, the sprinkling operation is not needed, otherwise, the sprinkling operation is needed; if the value is set to be too large, the watering operation in the driving area of the watering cart can be completely finished, and if the value is set to be smaller, the watering operation completion degree in the driving area of the watering cart can be reduced; meanwhile, through the processing result, how to adjust the opening and closing of the nozzles of the sprinkler to meet the requirement of the wetting of the sprinkling in the area is returned, the sprinkling area is concentrated on the right part of the sprinkler body in normal running, and therefore the result is returned to drive the sprinkling function control unit to close the nozzles on the left side of the sprinkler body, and only the nozzles on the right side of the sprinkler body are reserved to continue sprinkling operation.
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| CN114277717A (en) * | 2021-12-24 | 2022-04-05 | 漳州环境集团有限公司 | Sprinkling control method, system and device for sprinkler and storage medium |
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