CN108605923A - Pesticide dispenser monitors and accurate volume control device and method - Google Patents
Pesticide dispenser monitors and accurate volume control device and method Download PDFInfo
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- CN108605923A CN108605923A CN201810461414.2A CN201810461414A CN108605923A CN 108605923 A CN108605923 A CN 108605923A CN 201810461414 A CN201810461414 A CN 201810461414A CN 108605923 A CN108605923 A CN 108605923A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D11/00—Control of flow ratio
- G05D11/02—Controlling ratio of two or more flows of fluid or fluent material
- G05D11/13—Controlling ratio of two or more flows of fluid or fluent material characterised by the use of electric means
- G05D11/135—Controlling ratio of two or more flows of fluid or fluent material characterised by the use of electric means by sensing at least one property of the mixture
- G05D11/138—Controlling ratio of two or more flows of fluid or fluent material characterised by the use of electric means by sensing at least one property of the mixture by sensing the concentration of the mixture, e.g. measuring pH value
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D7/00—Control of flow
- G05D7/06—Control of flow characterised by the use of electric means
- G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
- G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
- G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to pesticide dispenser monitorings and accurate volume control device and method, including medicine mixer, flowmeter, nozzle, controller and infrared remote sensing device, medicine mixer realizes that pesticide is now with the current, it is sprayed through main pipeline to nozzle, infrared remote sensing device detects the remote sensing images in farmland, and corresponding dispenser prescription map and dispenser strategy are generated after Data Analysis Services；Controller is according to dispenser prescription map and dispenser policy control pesticide spraying, spraying medicine concentration is adjusted by controlling water pump and killer injecting pump, according to the real time monitoring signals dispenser situation that camera, ultrasonic radar, flowmeter and velocity sensor transmit, adjusts spraying medicine concentration and flow realizes accuracy pesticide applying and flow control.The present invention can carry out the concentration and medicine calculation of drug according to agricultural land situation, and Real-time Feedback carries out accuracy pesticide applying, improves pesticide utilization rate, pesticide residue and waste caused by avoiding blindness dispenser.
Description
Technical field
The present invention relates to pesticide dispenser fields, and in particular to a kind of pesticide dispenser monitoring and accurate volume control device and side
Method.
Background technology
The management operation of plant includes breeding and plant, pruning, the prevention and control of plant diseases, pest control, soil fertilizer and water management etc., Ge Geguan
It manages in link, the prevention and control of plant diseases, pest control is most time-consuming and very important events in operation, and workload accounts for about plant management total working
30% or so of amount.It counts according to investigations, plant wanted spraying pesticide 8~16 times within 1 year growth period, and traditional mode is to apply
Medicine personnel set concentration according to the observation, and then large area is sprayed, and the pesticide after sprinkling there are about 50~70% drops to soil
In ambient enviroment, blindness dispenser causes pesticide serious waste, severe environmental pollution.
Secondly, fixed pesticide proportioning and large area sprinkling are unable to adaptation to local conditions, and the serious position of some pest and disease damages can be because
Spray concentration is insufficient and cannot prevent, and pestor disease-free area excessively can lead to pesticide residue because spraying, or cause crop big
Area is poisoned and the underproduction.The effective rate of utilization of pesticide is improved, pollution of the pesticide to environment is reduced, is modern agriculture engineering technology hair
One important goal of exhibition.
Invention content
In view of the drawbacks of the prior art, the object of the present invention is to provide a kind of pesticide dispenser monitorings fills with accurate flow control
It sets and method, the concentration and medicine calculation of drug can be carried out according to agricultural land situation, Real-time Feedback precisely be applied
Medicine avoids pesticide from wasting and remain, improves pesticide utilization rate, avoid blindness dispenser, make the pesticide utilization of resources to a certain extent
It maximizes.
In order to achieve the above object, the technical solution adopted in the present invention is：
Pesticide dispenser is monitored to be visited with accurate volume control device, including medicine mixer, flowmeter, nozzle, controller and infrared remote sensing
Device is surveyed, medicine mixer front end connection water pump and killer injecting pump, water pump and killer injecting pump are connect with controller respectively, medicine mixer rear end connection master
Pipeline is equipped with diaphragm pump between medicine mixer and main pipeline, main pipeline connects each nozzle by branch, and main pipeline is equipped with electronic
Ball valve and flowmeter, connect and are provided with solenoid valve in each branch of nozzle, and electrical ball valve, solenoid valve and flowmeter are respectively connected to
Controller；
The remote sensing images in infrared remote sensing device detection farmland are simultaneously transmitted to intelligent terminal or client, intelligent terminal or client
End generates corresponding dispenser prescription map and dispenser strategy after carrying out Data Analysis Services；
Communications module is connected on controller, controller is connected to intelligent terminal or client by communications module, from intelligent end
End or client obtain dispenser prescription map and dispenser strategy；
Control device further includes camera and ultrasonic radar system, is connect respectively with controller, and camera for obtaining in real time
Picture is sprayed, ultrasonic radar system can monitor the relative position of the flying height and nozzle and crop of unmanned plane in real time；
Control device further includes the GPS navigator being connect with controller, velocity sensor and steering engine control device；
Controller passes through control according to the dispenser prescription map and dispenser policy control pesticide spraying that are obtained from intelligent terminal or client
Water pump and killer injecting pump processed adjust spraying medicine concentration, the letter transmitted according to camera, ultrasonic radar, flowmeter and velocity sensor
Number in real time monitoring dispenser situation, by monitoring and adjust spraying medicine concentration and flow realization accuracy pesticide applying and flow control in real time.
Water pump connects water tank, and killer injecting pump connects medicine-chest；Pesticidal chemical is held in medicine-chest.
Medicine-chest is multiple, holds different pesticidal chemicals respectively, and corresponding killer injecting pump is also multiple, is connected respectively with controller
It connects.
The flow is calculated as turbine flowmeter.
The controller includes microcontroller.
The method that control device according to the present invention carries out pesticide dispenser monitoring and accurate flow control：Including following
Step：
S1, implement spray before, dispenser farmland is treated using UAV flight's infrared remote sensing device and is detected, obtain farmland
Infrared remote sensing image, data analysis is carried out to remote sensing images using intelligent terminal or client, obtains the disease pest and weed in farmland
Distribution map thus generates corresponding sprinkling prescription map, and according to the disease pest and weed situation of different zones, formulates corresponding sprinkling plan
Slightly, intelligent terminal or client are stored in；
S2, start controller, controller obtains the dispenser prescription in current farmland by communications module from intelligent terminal or client
Figure and dispenser strategy；
S3, setting unmanned plane Initial Flight Level, nothing is set according to sprinkling prescription map and required dispenser range by GPS navigator
Man-machine flight path starts steering engine control device driving unmanned plane and advances, by the rotating speed and different direction rotor that control rotor
Differential is rotated to control whole gait of march and direction；
S4, during the advance of unmanned plane, GPS navigator and ultrasonic radar system obtain current sprinkling position and height respectively
Information is spent, signal is transferred back into controller, controller is presently in the corresponding dispenser analysis of strategies in position according to unmanned plane and calculates
Required spraying medicine concentration thus generates the ratio of liquid and water, and the water of water pump and killer injecting pump output is controlled according to ratio
And medicine liquid volume, liquid and water are mixed into required concentration in medicine mixer, main pipeline are circulated to through diaphragm pump, carried out by nozzle
Sprinkling；
S5, controller receive the signal of flow sensor and velocity sensor simultaneously, obtain current spray rate and flow, and
Currently practical formulation rate is calculated, is compared with the formulation rate of dispenser strategy setting, according to comparing result dynamic adjustment main pipeline
The aperture of electrical ball valve adjusts flow, realizes and carries out accuracy pesticide applying to farmland and plant；
S6, camera shoot current dispenser picture and are shown in intelligent terminal or client by communications module transmission, control
Device will also spray data transmission to intelligent terminal or client, and monitoring is current in real time by intelligent terminal or client by staff
Data and unmanned plane working condition are sprayed, if staff currently sprays region disease pest and weed according to the discovery of camera shooting picture
It is more serious, and when spraying the fountain height that data are shown and being not enough to control current disease pest and weed, it can be sent by intelligent terminal
Instruction makes killer injecting pump increase injection volume to controller, promotes spraying medicine concentration to achieve the desired results；
S7, S3 to S6 is repeated to entirely waiting for that dispenser farmland is sprayed.
Advantageous effect：
1. pesticide dispenser monitoring and the accurate volume control device of the present invention can detect farmland image by infrared remote sensing device
Pest and disease damage distribution situation is obtained, corresponding dispenser prescription map and dispenser strategy are formulated according to pest and disease damage distribution, distinguish dispenser, it is disease-free
Affected area Shaoshi or not dispenser, ill affected area apply more, purposefully targetedly carry out dispenser, blindness dispenser is avoided to make
At pesticide waste and pollution by pesticides.
2. the control device of the present invention uses direct injection pesticide control method, pesticide and diluent liquid individually to dispense,
It is individually controlled by required volume by water pump and killer injecting pump, pesticide matching while using, pesticide matched proportion density can be adjusted in real time, facilitate root
Spraying medicine concentration is increased or reduced according to actual pest and disease damage situation, compares traditional prior manner of formulation, is saved pesticide, is facilitated control
System, more precisely.
3. control device is connect with intelligent terminal or client communication, the spray of the picture and controller acquisition of camera shooting
Intelligent terminal or client can be real-time transmitted to by spilling data, staff can according to picture sum number factually when monitoring nozzle with
The parameters such as relative position, medicine mist three-dimensional spatial distribution situation, the crop plant liquid adhesion condition of crop, it is intuitive and convenient, moreover it is possible to
It is enough that controller is sent instructions to according to practical pest and disease damage situation, dispenser strategy is adjusted in real time.
4. the pesticide dispenser monitoring of the present invention and accurate volume control device, first according to pest and disease damage situation system before sprinkling
Fixed rough sprinkling prescription map and sprinkling strategy, the real-time mixing preparation of pesticide, passes through flowmeter and electrical ball valve during sprinkling
Real-time Feedback and adjustment main pipeline flow, camera and ultrasonic radar system feed back information to intelligent terminal by controller
Or client, staff monitor spraying operation in real time, controller is according to information such as the position of sensor feedback, flow, speed
Fusion calculation can dynamically adjust spray concentration and fountain height in real time, accomplish that on-demand dispenser, accurate flow control are realized optimal
Effect of spraying pesticide.
Description of the drawings
The control device schematic diagram of Fig. 1 present invention.
Specific implementation mode
The present invention will be further described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, a kind of pesticide dispenser monitoring and accurate volume control device, including medicine mixer, flowmeter, nozzle,
Controller and infrared remote sensing device, wherein medicine mixer front end connect water pipe and medicine-chest, medicine-chest with killer injecting pump by water pump respectively
In hold pesticidal chemical.Water pump and killer injecting pump are connect with controller, and the signal adjustment for receiving controller pumps out the volume of fluid.Medicine
Case can be arranged as required to multiple, and multiple medicine-chests are connect with multiple killer injecting pumps respectively.
Medicine mixer rear end connects diaphragm pump, and diaphragm pump connects main pipeline, and main pipeline is connected to each nozzle after carrying out branch.
Diaphragm pump pumps out the pesticide after mixing to dispenser main pipeline, is sprayed by nozzle.Stream is additionally provided on dispenser main pipeline
Gauge, for monitoring pipeline herb liquid uninterrupted, flowmeter is preferably turbine flowmeter.
Flowmeter is connect with controller, and flow signal is switched to electric signal by flowmeter, by electric signal transmission to controller, control
Device processed obtains current traffic conditions.It is additionally provided with electrical ball valve on dispenser main pipeline, solenoid valve is provided in branch, solenoid valve has
It is multiple, it is set to the branch junction of each nozzle and main pipeline.After obtained data are carried out fusion calculation by controller, control
The aperture of electrical ball valve adjusts main pipeline flow, can also determine whether nozzle is opened by controlling the opening and closing of each branch solenoid valve
It opens, if current region operating radius reduces, spray radius can be reduced by closed edge nozzle branch solenoid.
Infrared remote sensing device is mounted on unmanned plane, and is connect with intelligent terminal or client communication, for detecting agriculture
The remote sensing images in field.Before implementing to spray, farmland is detected using infrared remote sensing device, obtains the infrared distant of farmland
Feel image, and is transmitted to intelligent terminal or client.The letter reflected on infrared remote sensing image due to different vegetation and pest and disease damage
Breath is different, therefore carries out data analysis according to result of detection, can obtain the pest and disease damage distribution map in farmland, according to each region difference
Pest and disease damage situation, generate corresponding sprinkling prescription map, thus formulate corresponding sprinkling strategy, be stored in intelligent terminal or client
End.
Control device also wraps the camera being connect with controller and ultrasonic radar system, is respectively used to obtain sprinkling picture
With detect operation height and the information such as nozzle and plant distance.
Controller is connected with communications module, is connected to intelligent terminal or client by communications module, acquisition is applied accordingly
Thus effective prescription figure and dispenser strategy control and adjust pesticide matched proportion density and sprinkling flow.
Communications module can be radio communication mold group or wire communication module.
GPS navigator, velocity sensor and steering engine control device are also associated on controller, GPS navigator is for positioning
With guiding unmanned plane dispenser route, velocity sensor is for monitoring current delivery rate.Steering engine control device controls unmanned plane rotation
The rotating speed and different direction rotor differential of the wing control gait of march and the direction of unmanned plane entirety.
Picture that controller shoots camera, velocity sensor detection speed, position that GPS navigator obtains and
The information Real-time Feedback such as height of ultrasonic radar detection to intelligent terminal or client, staff can by intelligent terminal or
Relative position, medicine mist three-dimensional spatial distribution situation, crop plant liquid adhesion condition of nozzle and crop that client is shown etc.
Parameter sprays state to unmanned plane and nozzle working condition monitors in real time.
The method that pesticide dispenser monitoring and accurate flow control are carried out using the control device of the present invention is as follows.
Before implementing to spray, UAV flight's infrared remote sensing device is treated dispenser farmland and is detected, and farmland is obtained
Infrared remote sensing image is simultaneously transmitted to intelligent terminal or client, and intelligent terminal or client carry out data analysis to remote sensing images,
The disease pest and weed distribution map for obtaining farmland generates corresponding sprinkling prescription map, formulation pair according to the pest and disease damage situation of different zones
The sprinkling strategy answered, is stored in intelligent terminal or client, to instruct follow-up spraying operation.
Then, start controller, controller obtains applying for current farmland by communications module from intelligent terminal or client
Effective prescription figure and dispenser strategy.
Unmanned plane Initial Flight Level is set, unmanned plane during flying is set by GPS navigator according to required dispenser range
Route, steering engine control device drive unmanned plane to advance, and are controlled by controlling rotating speed and the different direction rotor wing rotation differential of rotor
The whole gait of march of system and direction.
During the advance of unmanned plane, GPS navigator and ultrasonic radar system obtain respectively current sprinkling position and
Signal is transferred back to controller by elevation information, and controller is presently in the corresponding dispenser analysis of strategies meter in position according to unmanned plane
Spraying medicine concentration needed for calculating, thus generates the ratio of liquid and water, is exported according to ratio control water pump and killer injecting pump
Water and medicine liquid volume, liquid and water are mixed into required concentration in medicine mixer, and main pipeline is circulated to through diaphragm pump, by nozzle into
Row spraying operation.
Controller receives the signal of flow sensor and velocity sensor simultaneously, obtains current spray rate and flow,
And currently practical formulation rate is calculated, it compares with the formulation rate of dispenser strategy setting, is responsible for according to comparing result dynamic adjustment
The aperture of road electrical ball valve adjusts flow, realizes and carries out accuracy pesticide applying to farmland and plant.
Staff currently sprays data and unmanned plane working condition by intelligent terminal or client monitoring in real time, including
The relative position of nozzle and crop, medicine mist three-dimensional spatial distribution situation, crop plant liquid adhesion condition, plant leaf insect pest feelings
The information such as condition and current spraying altitude, spray concentration, sprinkling flow, the picture of camera shooting are shown by communications module
On intelligent terminal, if staff has found that the current region disease pest and weed that sprays is more serious, and the sprinkling that data are shown is sprayed
When concentration is not enough to control current disease pest and weed, controller can be sent a command to by intelligent terminal, increase killer injecting pump injection
Volume promotes spraying medicine concentration to achieve the desired results.
The pesticide dispenser monitoring of the present invention and accurate volume control device are first formulated before sprinkling according to pest and disease damage situation big
The sprinkling prescription map and sprinkling strategy of cause, pesticide waste and pollution caused by avoiding blindness dispenser；Pesticide is real-time during sprinkling
Mixing preparation adjusts spraying medicine concentration according to different pest and disease damage situations；Controller can also in real time be adjusted according to the information of acquisition
Spray flow；Camera and ultrasonic radar system feed back information to intelligent terminal or client by controller, and work people
Member monitors spraying operation in real time, and controller dynamic adjustment dispenser strategy can be sent instructions to according to actual conditions, accomplishes to apply on demand
Medicine, accurate flow control can largely improve pesticide utilization rate and prevention and control of plant diseases, pest control effect.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as be without departing from technical solution of the present invention content, it is right according to the technical essence of the invention
Any simple modification, equivalent change and modification made by above example, in the range of still falling within technical solution of the present invention.
Claims (6)
1. pesticide dispenser monitors and accurate volume control device, including medicine mixer, flowmeter, nozzle, controller and infrared remote sensing
Detector, medicine mixer front end connection water pump and killer injecting pump, water pump and killer injecting pump are connect with controller respectively, the connection of medicine mixer rear end
Main pipeline is equipped with diaphragm pump between medicine mixer and main pipeline, main pipeline connects each nozzle by branch, and main pipeline is equipped with electricity
Dynamic ball valve and flowmeter, connect and are provided with solenoid valve in each branch of nozzle, electrical ball valve, solenoid valve and flowmeter are separately connected
To controller；It is characterized in that：
The remote sensing images in infrared remote sensing device detection farmland are simultaneously transmitted to intelligent terminal or client, intelligent terminal or client
End generates corresponding dispenser prescription map and dispenser strategy after carrying out Data Analysis Services；
Communications module is connected on controller, controller is connected to intelligent terminal or client by communications module, from intelligent end
End or client obtain dispenser prescription map and dispenser strategy；
Control device further includes camera and ultrasonic radar system, is connect respectively with controller, and camera for obtaining in real time
Picture is sprayed, ultrasonic radar system can monitor the relative position of the flying height and nozzle and crop of unmanned plane in real time；
Control device further includes the GPS navigator being connect with controller, velocity sensor and steering engine control device；
Controller passes through control according to the dispenser prescription map and dispenser policy control pesticide spraying that are obtained from intelligent terminal or client
Water pump and killer injecting pump processed adjust spraying medicine concentration, the letter transmitted according to camera, ultrasonic radar, flowmeter and velocity sensor
Number in real time monitoring dispenser situation, by monitoring and adjust spraying medicine concentration and flow realization accuracy pesticide applying and flow control in real time.
2. control device as described in claim 1, it is characterised in that：Water pump connects water tank, and killer injecting pump connects medicine-chest；In medicine-chest
Hold pesticidal chemical.
3. control device as claimed in claim 2, it is characterised in that：Medicine-chest is multiple, holds different pesticide medicines respectively
Agent, corresponding killer injecting pump are also multiple, are connect respectively with controller.
4. control device as described in claim 1, it is characterised in that：The flow is calculated as turbine flowmeter.
5. control device as described in claim 1, it is characterised in that：The controller includes microcontroller.
6. carrying out the side of pesticide dispenser monitoring and accurate flow control according to claim 1-5 any one of them control devices
Method：Include the following steps：
S1, implement spray before, dispenser farmland is treated using UAV flight's infrared remote sensing device and is detected, obtain farmland
Infrared remote sensing image, data analysis is carried out to remote sensing images using intelligent terminal or client, obtains the disease pest and weed in farmland
Distribution map thus generates corresponding sprinkling prescription map, and according to the disease pest and weed situation of different zones, formulates corresponding sprinkling plan
Slightly, intelligent terminal or client are stored in；
S2, start controller, controller obtains the dispenser prescription in current farmland by communications module from intelligent terminal or client
Figure and dispenser strategy；
S3, setting unmanned plane Initial Flight Level, nothing is set according to sprinkling prescription map and required dispenser range by GPS navigator
Man-machine flight path starts steering engine control device driving unmanned plane and advances, by the rotating speed and different direction rotor that control rotor
Differential is rotated to control whole gait of march and direction；
S4, during the advance of unmanned plane, GPS navigator and ultrasonic radar system obtain current sprinkling position and height respectively
Information is spent, signal is transferred back into controller, controller is presently in the corresponding dispenser analysis of strategies in position according to unmanned plane and calculates
Required spraying medicine concentration thus generates the ratio of liquid and water, and the water of water pump and killer injecting pump output is controlled according to ratio
And medicine liquid volume, liquid and water are mixed into required concentration in medicine mixer, main pipeline are circulated to through diaphragm pump, carried out by nozzle
Sprinkling；
S5, controller receive the signal of flow sensor and velocity sensor simultaneously, obtain current spray rate and flow, and
Currently practical formulation rate is calculated, is compared with the formulation rate of dispenser strategy setting, according to comparing result dynamic adjustment main pipeline
The aperture of electrical ball valve adjusts flow, realizes and carries out accuracy pesticide applying to farmland and plant；
S6, camera shoot current dispenser picture and are shown in intelligent terminal or client by communications module transmission, control
Device will also spray data transmission to intelligent terminal or client, and monitoring is current in real time by intelligent terminal or client by staff
Data and unmanned plane working condition are sprayed, if staff currently sprays region disease pest and weed according to the discovery of camera shooting picture
It is more serious, and when spraying the fountain height that data are shown and being not enough to control current disease pest and weed, it can be sent by intelligent terminal
Instruction makes killer injecting pump increase injection volume to controller, promotes spraying medicine concentration to achieve the desired results；
S7, S3 to S6 is repeated to entirely waiting for that dispenser farmland is sprayed.
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