CN112776985B - Variable pesticide application control method for forestry aviation helicopter - Google Patents
Variable pesticide application control method for forestry aviation helicopter Download PDFInfo
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- 239000000575 pesticide Substances 0.000 title claims abstract description 101
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000013178 mathematical model Methods 0.000 claims abstract description 16
- 239000007788 liquid Substances 0.000 claims abstract description 14
- 230000001419 dependent effect Effects 0.000 claims abstract description 10
- 230000008859 change Effects 0.000 claims abstract description 5
- 239000003814 drug Substances 0.000 claims abstract 6
- 239000007921 spray Substances 0.000 claims description 26
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000005484 gravity Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 239000002245 particle Substances 0.000 claims description 3
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 claims 1
- 238000005507 spraying Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000012377 drug delivery Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000010914 pesticide waste Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Aviation & Aerospace Engineering (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
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Abstract
Description
技术领域Technical field
本发明涉及林业管理领域，尤其涉及一种林业航空直升机变量施药控制方法。The invention relates to the field of forestry management, and in particular to a forestry aviation helicopter variable pesticide application control method.
背景技术Background technique
为了达到林业病虫害有效的防治效果，需要对林业区域进行施药操作。在施药时，施药量过少起不到植物保护的目的，过多则会造成农药浪费与环境污染，所以单位面积的施药量应该控制在一定范围内，但由于直升机飞行速度较快、飞行高度较高等原因，施药的效果很难掌握。目前主要依赖操作员的感觉进行施药，因此存在一定的主观性和随机性，作业质量很难保证，影响我国林业航空施药技术的发展。In order to achieve effective prevention and control of forestry pests and diseases, pesticide application operations need to be carried out in forestry areas. When applying pesticides, too little pesticide application will not achieve the purpose of plant protection, and too much pesticide application will cause pesticide waste and environmental pollution. Therefore, the pesticide application amount per unit area should be controlled within a certain range. However, due to the high flight speed of helicopters, , high flight altitude and other reasons, it is difficult to grasp the effect of pesticide application. At present, pesticide application mainly relies on the operator's feeling, so there is a certain degree of subjectivity and randomness, and the quality of the operation is difficult to guarantee, which affects the development of my country's forestry aviation pesticide application technology.
发明内容Contents of the invention
本发明目的是针对上述问题，提供一种提高喷药均匀性的林业航空直升机变量施药控制方法。The purpose of the present invention is to solve the above problems and provide a forestry aviation helicopter variable spraying control method that improves spraying uniformity.
为了实现上述目的，本发明的技术方案是：In order to achieve the above objects, the technical solution of the present invention is:
一种林业航空直升机变量施药控制方法，包括以下步骤：A forestry aviation helicopter variable pesticide application control method includes the following steps:
S1、将航高、航速、公顷施药量设定为自变量，将阀门开度设定为因变量；S1. Set sailing height, sailing speed, and pesticide application rate per hectare as independent variables, and set valve opening as dependent variables;
S2、确定因变量与公顷施药量的关系；S2. Determine the relationship between the dependent variable and the amount of pesticide applied per hectare;
S3、确定航速与公顷施药量的关系；S3. Determine the relationship between sailing speed and pesticide application rate per hectare;
S4、确定航高与公顷施药量之间的关系；S4. Determine the relationship between flight height and pesticide application rate per hectare;
S5、通过步骤S2、S3、S4建立航空变量施药数学模型；S5. Establish an aviation variable pesticide application mathematical model through steps S2, S3, and S4;
S6、实时采集直升机的航高、航速以及药液的流量数据，并通过航空变量施药数学模型计算得到阀门开度；当航高、航速、流量数据发生变化时，及时对阀门开度进行调节，以保证公顷施药量不变。S6. Collect helicopter altitude, speed and liquid flow data in real time, and calculate the valve opening through the aviation variable pesticide application mathematical model; when the altitude, speed, and flow data change, adjust the valve opening in a timely manner , to ensure that the amount of pesticide applied per hectare remains unchanged.
进一步的，所述步骤S2具体包括以下步骤：Further, the step S2 specifically includes the following steps:
S21、求出公顷施药量，其计算公式为：S21. Find the amount of pesticide applied per hectare. The calculation formula is:
式中，Q为流量；C为公顷施药量；S0为施药面积；In the formula, Q is the flow rate; C is the pesticide application amount per hectare; S 0 is the pesticide application area;
流量的计算公式为：The flow calculation formula is:
式中，S1为阀门出口截面积；v1为药液流速；t为施药时间；In the formula, S 1 is the valve outlet cross-sectional area; v 1 is the liquid flow rate; t is the application time;
S22、求出阀门出口截面积，其计算公式为：S22. Find the valve outlet cross-sectional area. The calculation formula is:
式中，S1为阀门出口截面；θ为阀门开度；R为球型电磁阀管道半径；In the formula, S 1 is the valve outlet cross-section; θ is the valve opening; R is the radius of the ball solenoid valve pipeline;
S23、结合式(1)、式(2)和式(3)，得到阀门开度与公顷施药量的关系式为：S23. Combining formula (1), formula (2) and formula (3), the relationship between valve opening and pesticide application rate per hectare is obtained:
进一步的，所述步骤S3具体包括以下步骤：Further, the step S3 specifically includes the following steps:
S31、通过质点运动公式推导出施药面积的计算公式为：S31. The formula for calculating the pesticide application area derived from the particle motion formula is:
式中，Y为喷幅；v2为航速；In the formula, Y is the spray width; v 2 is the speed;
S32、结合式(4)、式(5)得到航速与公顷施药量的关系式为：S32. Combining Equation (4) and Equation (5) to obtain the relationship between speed and pesticide application rate per hectare is:
进一步的，所述步骤S4具体包括以下步骤：Further, the step S4 specifically includes the following steps:
S41、航高与喷幅之间的关系式为：S41. The relationship between flight height and spray width is:
式中，H为航高；g为重力加速度；vx为药液离开喷头时的水平方向速度；l0为喷杆长度；In the formula, H is the flight height; g is the acceleration due to gravity; v x is the horizontal speed when the liquid leaves the nozzle; l 0 is the length of the spray boom;
S42、航空施药使用风动转笼式航空喷头，该航空喷头的转速与风速之间的关系式为：S42. Aerial pesticide application uses a wind-driven rotating cage aerial nozzle. The relationship between the rotational speed of the aerial nozzle and the wind speed is:
n＝44.08v3-673.3 (8)；n＝44.08v 3 -673.3 (8);
式中，n为喷头转速；v3为喷头的风速；In the formula, n is the rotation speed of the nozzle; v 3 is the wind speed of the nozzle;
S43、将自然风的影响忽略，因此，航速可以转换成喷头的风速，即v2＝v3；S43. Ignore the influence of natural wind. Therefore, the sailing speed can be converted into the wind speed of the nozzle, that is, v 2 = v 3 ;
S44、喷头转速和线速度的关系式为：S44. The relationship between nozzle rotation speed and linear speed is:
vx＝2πrn； (9)；v x =2πrn; (9);
式中，r为喷头半径；In the formula, r is the radius of the nozzle;
结合式(7)、式(8)和式(9)得到航高与喷幅的关系式为：Combining Equation (7), Equation (8) and Equation (9), the relationship between flight height and spray width is obtained:
结合式(6)和式(10)得到航高与公顷施药量的关系式为：Combining Equation (6) and Equation (10), the relationship between flight height and pesticide application rate per hectare is obtained:
进一步的，所述步骤S5中，航空变量施药数学模型的计算公式为：Further, in step S5, the calculation formula of the aviation variable pesticide application mathematical model is:
式中，a，b，c为补偿值，由施药过程中设备参数设定。In the formula, a, b, c are compensation values, which are set by the equipment parameters during the pesticide application process.
与现有技术相比，本发明具有的优点和积极效果是：Compared with the existing technology, the advantages and positive effects of the present invention are:
本发明公开了一种林业航空直升机变量施药控制方法，其可以在施药过程中，实时监测航空施药情况，并且根据直升机作业的航高、航速和林区所需的公顷施药量实时调整阀门开度，以确保在航空施药过程中单位面积的施药量不变，避免在航空施药过程中，因施药参数的变化，导致出现单位面积施药量不均衡的现象，从而达到按需施药的效果以及精准施药的目的；本发明操作简单、成本较低，具有较广的适应性，给农业施药工作带来了便利。The invention discloses a forestry aviation helicopter variable pesticide application control method, which can monitor the aviation pesticide application situation in real time during the pesticide application process, and real-timely monitor the pesticide application situation in real time according to the altitude and speed of the helicopter operation and the amount of pesticide application per hectare required in the forest area. Adjust the valve opening to ensure that the amount of pesticide applied per unit area remains unchanged during the aerial spraying process, and to avoid the phenomenon of uneven spraying amount per unit area due to changes in spraying parameters during the aerial spraying process. The effect of on-demand pesticide application and the purpose of precise pesticide application are achieved; the invention is simple to operate, has low cost, has wide adaptability, and brings convenience to agricultural pesticide application work.
附图说明Description of the drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.
图1为本发明的框架流程图。Figure 1 is a framework flow chart of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts, and any modifications, equivalent substitutions, improvements, etc. shall be included in the protection scope of the present invention. Inside.
如图1所示，本发明公开了一种林业航空直升机变量施药控制方法，对施药量的控制方法采用调节流量阀门开度的方式。As shown in Figure 1, the present invention discloses a variable pesticide application control method for a forestry aviation helicopter. The method for controlling the pesticide application amount adopts a method of adjusting the opening of the flow valve.
根据实际直升机施药作业经验可知，作业高度(航高)、作业速度(航速)、施药流量都会影响单位面积的施药量(公顷施药量)。因此阀门的开度需要根据作业高度、作业速度和公顷施药量的情况进行调节，以实现林业航空精准施药。According to actual helicopter pesticide application experience, it can be known that operating altitude (aircraft height), operating speed (ship speed), and pesticide application flow will all affect the amount of pesticide application per unit area (amount of pesticide application per hectare). Therefore, the opening of the valve needs to be adjusted according to the operating height, operating speed and pesticide application amount per hectare to achieve precise pesticide application in forestry aviation.
流量阀门开度的调节方式是根据林业航空变量施药数学模型进行调节。所述的林业航空变量施药数学模型是建立航高、航速、公顷施药量和施药流量之间的数学关系式。The adjustment method of the flow valve opening is based on the forestry aviation variable pesticide application mathematical model. The mathematical model of variable pesticide application in forestry aviation is to establish a mathematical relationship between flight altitude, speed, pesticide application amount per hectare and pesticide application flow rate.
林业航空变量施药数学模型的建立步骤为：The steps to establish the forestry aviation variable pesticide application mathematical model are:
1、确定自变量、因变量。自变量包括：航高(H)、航速(V)、公顷施药量(C)；因变量为阀门开度(θ)。1. Determine the independent variables and dependent variables. The independent variables include: navigation height (H), navigation speed (V), and pesticide application rate per hectare (C); the dependent variable is the valve opening (θ).
2、确定自变量与因变量之间的关系。2. Determine the relationship between the independent variable and the dependent variable.
(1)因变量与公顷施药量的关系；(1) The relationship between the dependent variable and the amount of pesticide applied per hectare;
公顷施药量即单位面积的施药量，为一定时间内的药液总量与施药面积的比值，如式(1)所示：The amount of pesticide applied per hectare is the amount of pesticide applied per unit area, which is the ratio of the total amount of pesticide solution to the sprayed area within a certain period of time, as shown in formula (1):
式中，Q为流量，L；C为公顷施药量，L/hm2；S0为施药面积，hm2。In the formula, Q is the flow rate, L; C is the pesticide application rate per hectare, L/hm 2 ; S 0 is the pesticide application area, hm 2 .
流量计算如下式(2)所示：The flow calculation is as shown in the following formula (2):
式中，S1为阀门出口截面，m2；v1为药液流速(由流量传感器得出)，m/min；t为施药时间，min。In the formula, S 1 is the valve outlet cross-section, m 2 ; v 1 is the liquid flow rate (obtained from the flow sensor), m/min; t is the pesticide application time, min.
由式(2)可知，流量的大小由电磁阀门开口大小、药液流速和施药时间共同决定，在药液流速和施药时间不变的前提下，阀门开口越大流量越大。由于电磁阀门的都是球型电磁阀，当阀门角度θ在0～90°之间时，阀门出口截面积计算公式为：It can be seen from equation (2) that the flow rate is determined by the size of the solenoid valve opening, the liquid flow rate and the application time. Under the premise that the liquid flow rate and application time remain unchanged, the larger the valve opening, the greater the flow rate. Since solenoid valves are all ball-type solenoid valves, when the valve angle θ is between 0 and 90°, the calculation formula for the valve outlet cross-sectional area is:
结合式(1)、式(2)和式(3)，可推导出电磁阀门的开口角度与公顷施药量的关系式，如下式(4-11)所示：Combining formula (1), formula (2) and formula (3), the relationship between the opening angle of the solenoid valve and the amount of pesticide application per hectare can be derived, as shown in the following formula (4-11):
由式(4)可知，在施药面积、药液流速、输药管横截面和施药时间不变的情况下，公顷施药量与阀门角度成超越函数关系。It can be seen from equation (4) that when the application area, liquid flow rate, cross-section of the delivery pipe and application time remain unchanged, the pesticide application amount per hectare has a transcendental function relationship with the valve angle.
(2)航速与公顷施药量的关系；(2) The relationship between sailing speed and pesticide application rate per hectare;
由式(1)可知，在施药面积与公顷施药量成反比例关系，但是施药面积受航速、喷幅和施药时间的影响，因此可通过质点运动相关公式推导出式(5)：It can be seen from formula (1) that the pesticide application area is inversely proportional to the amount of pesticide applied per hectare. However, the pesticide application area is affected by the speed, spray width and pesticide application time. Therefore, formula (5) can be derived through the particle motion related formula:
式中，Y为喷幅，m；v2为航速，km/h。In the formula, Y is the spray width, m; v 2 is the speed, km/h.
结合式(4)和式(5)得航速与公顷施药量的关系式(6)：Combining equations (4) and (5), we can get the relationship between speed and pesticide application rate per hectare (6):
由式(6)可知在喷幅、药液流速、输药管横截面和施药时间不变的情况下，公顷施药量与航速成反比例函数关系。From Equation (6), it can be seen that when the spray width, liquid flow rate, cross-section of the pesticide delivery pipe and pesticide application time remain unchanged, the pesticide application amount per hectare has an inversely proportional functional relationship with the speed.
(3)航高与公顷施药量之间的关系；(3) The relationship between flight height and pesticide application rate per hectare;
航高主要是影响喷幅大小，因此需先确定航高与喷幅之间的关系式。雾滴喷出后的运动过程中受到多种力的共同作用，但本发明忽略一些较小的作用力，只对重力进行分析。Flight height mainly affects the spray width, so the relationship between flight height and spray width needs to be determined first. The mist droplets are acted upon by a variety of forces during their movement after ejection, but the present invention ignores some smaller forces and only analyzes gravity.
通过相关公式可推导出航高与喷幅之间的关系如式(7)所示：The relationship between flight height and spray width can be deduced through relevant formulas, as shown in Equation (7):
式中，H为航高，m；g为重力加速度，m/s2；vx为药液离开喷头时水平方向速度(即线速度)，m/min；l0为喷杆长度，m。In the formula, H is the flying height, m; g is the gravity acceleration, m/s 2 ; v
林业航空施药多使用风动转笼式航空喷头，该喷头转速与风速之间的公式为：Forestry aerial pesticide application often uses wind-driven rotating cage aerial nozzles. The formula between the rotation speed of the nozzle and the wind speed is:
n＝44.08v3-673.3 (8)n＝44.08v 3 -673.3 (8)
式中，n为喷头转速，r/min；v3为风速，km/h。In the formula, n is the rotation speed of the nozzle, r/min; v 3 is the wind speed, km/h.
由于林业航空施药作业时一般选择在二级风速以下，与直升机的作业速度相比可忽略，因此航速可以转换成作业速度，即v2＝v3。Since the forestry aviation pesticide application operation is generally selected below the secondary wind speed, which is negligible compared with the operating speed of the helicopter, the air speed can be converted into the operating speed, that is, v 2 = v 3 .
喷头转速和线速度的如式(9)所示：The nozzle rotation speed and linear velocity are shown in Equation (9):
vx＝2πrn (9)v x =2πrn (9)
式中，r为喷头半径，m。In the formula, r is the radius of the nozzle, m.
结合式(7)、式(8)和式(9)得航高与喷幅的关系，如式(10)所示：Combining Equation (7), Equation (8) and Equation (9), the relationship between flight height and spray width is obtained, as shown in Equation (10):
结合式(6)和式(10)得航高与公顷施药量的关系式，如式(11)所示：Combining Equation (6) and Equation (10), the relationship between flight height and pesticide application rate per hectare is obtained, as shown in Equation (11):
由式(11)可知，在喷幅、药液流速、输药管横截面、航速和药液的出口水平速度都不变的情况下，航高与公顷施药量成幂函数关系。It can be seen from equation (11) that when the spray width, liquid flow rate, cross-section of the drug delivery pipe, navigation speed and liquid outlet horizontal speed remain unchanged, the flight height has a power function relationship with the amount of pesticide applied per hectare.
由于在实际施药过程中，流量变化幅度不应较大。因此需要对数学模型添加补偿值，得式(12)即航空变量施药数学模型：Because in the actual pesticide application process, the flow rate change should not be large. Therefore, it is necessary to add a compensation value to the mathematical model, and the equation (12) is obtained, which is the aviation variable pesticide application mathematical model:
式中，a，b，c为补偿值，由实际施药过程中设备参数而定。In the formula, a, b, c are compensation values, which are determined by the equipment parameters during the actual pesticide application process.
由航空变量施药数学模型可知，当设定公顷施药量C、航高H、航速v2后，系统会自动计算电磁阀门开度θ。式(12)中变量皆为瞬时变量，得出的公顷施药量为瞬时公顷施药量。It can be seen from the aviation variable pesticide application mathematical model that when the pesticide application amount per hectare C, flight altitude H, and flight speed v 2 are set, the system will automatically calculate the solenoid valve opening θ. The variables in formula (12) are all instantaneous variables, and the resulting pesticide application amount per hectare is the instantaneous pesticide application amount per hectare.
3、具体操作步骤为：3. The specific operation steps are:
施药作业前：在起飞前先对传感器校准，保证多元信息采集的准确性。Before spraying: Calibrate the sensor before taking off to ensure the accuracy of multi-dimensional information collection.
本发明采用2个管径为2寸的阀门分别控制左右两个喷杆，喷杆总长度为10m，喷头半径为5cm，由此得补偿值为：a＝1183486.3，b＝6220925.7，c＝2。This invention uses two valves with a pipe diameter of 2 inches to control the left and right spray rods respectively. The total length of the spray rod is 10m and the radius of the spray head is 5cm. The compensation values are: a=1183486.3, b=6220925.7, c=2 .
施药作业：系统通过传感器实时采集航高、航速、流量、阀门开度等信息。根据林业航空变量施药数学模型确定阀门开度，当作业参数发生变化时，通过林业航空变量施药数学模型及时调节阀门开度以保证公顷施药量不变。Pesticide application operation: The system collects information such as altitude, speed, flow rate, valve opening, etc. through sensors in real time. The valve opening is determined according to the mathematical model of forestry aviation variable pesticide application. When the operating parameters change, the valve opening is adjusted in time through the mathematical model of forestry aviation variable pesticide application to ensure that the pesticide application amount per hectare remains unchanged.
本发明公开了一种林业航空直升机变量施药控制方法，其可以在施药过程中，实时监测航空施药情况，并且根据直升机作业的航高、航速和林区所需的公顷施药量实时调整阀门开度，以确保在航空施药过程中单位面积的施药量不变，避免在航空施药过程中，因施药参数的变化，导致出现单位面积施药量不均衡的现象，从而达到按需施药的效果以及精准施药的目的；本发明操作简单、成本较低，具有较广的适应性，给农业施药工作带来了便利。The invention discloses a forestry aviation helicopter variable pesticide application control method, which can monitor the aviation pesticide application situation in real time during the pesticide application process, and real-timely monitor the pesticide application situation in real time according to the altitude and speed of the helicopter operation and the amount of pesticide application per hectare required in the forest area. Adjust the valve opening to ensure that the amount of pesticide applied per unit area remains unchanged during the aerial spraying process, and to avoid the phenomenon of uneven spraying amount per unit area due to changes in spraying parameters during the aerial spraying process. The effect of on-demand pesticide application and the purpose of precise pesticide application are achieved; the invention is simple to operate, has low cost, has wide adaptability, and brings convenience to agricultural pesticide application work.
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