CN113207861A - Multi-pulse modulation variable air-assisted spray pesticide application control system and control method - Google Patents

Abstract

The invention discloses a multi-pulse modulation variable air-assisted spraying pesticide application control system and a control method, wherein the system comprises an upper computer module, a main controller module, a profiling spraying module and a pesticide liquid loop; the two profiling spraying modules are symmetrically arranged, and each profiling spraying module comprises a base, a tensioning and loosening mechanism, at least two supports and at least two pesticide applying mechanisms; the upper computer module is connected with the main controller module, the main controller module is respectively connected with the pesticide applying mechanism and the pesticide liquid loop, and the pesticide liquid loop is connected with the pesticide applying mechanism; the main controller module completes the multi-pulse air supply variable modulation function according to the air supply variable spraying pesticide application control command issued by the upper computer module, and realizes that each pesticide application mechanism outputs different or same wind power and flow. The invention can improve the intelligent pesticide application level of the fruit trees, and can precisely control the uniformity and deposition of the pesticide liquid, thereby reducing the labor intensity and improving the pesticide application efficiency.

Description

Multi-pulse modulation variable air-assisted spray pesticide application control system and control method

Technical Field

The invention relates to a multi-pulse modulation variable air-assisted spray pesticide application control system and a control method, and belongs to the technical field of automatic control and intelligent control.

Background

The air-assisted profiling variable spraying is an important way for improving the coverage rate of fog drops and reducing the waste of liquid medicine, and has important significance for realizing precise agriculture. At present, stretcher type, backpack type and manual type sprayers with poor atomization effect, low utilization rate and high operation strength still take a leading position in China. The high-capacity coarse fog spraying technology is adopted, the automation degree is low, the prevention and control effect is poor, and the large-scale orchard pest prevention and control is difficult to adapt. With the development and progress of various technologies, a variable spraying technology, a profiling spraying technology and the like are in the development process, but the medicine applying machinery which is put into use in China at present has low automation degree, poor effect, complicated profiling structure and poor adaptation effect, and the phenomenon of skin poisoning caused by contacting with liquid medicine is rarely caused due to remote control. Therefore, it is important to provide a multi-pulse modulation variable air-assisted spray application control system.

Disclosure of Invention

The invention aims to provide a multivariable air-conveying spraying pesticide application control system, which can realize variable and intelligent spraying pesticide application of multiple groups of pulses modulated simultaneously, can effectively solve the difficult problem in the aspect of realizing the orchard variable pesticide application control system in the prior art, can improve the intelligent pesticide application level of fruit trees, and can improve the uniformity and deposition of a precise pesticide solution, reduce the labor intensity and improve the pesticide application efficiency.

The invention also aims to provide a multivariable air-blown spray pesticide application control method which is realized based on the multivariable air-blown spray pesticide application control system.

The purpose of the invention can be achieved by adopting the following technical scheme:

a multi-pulse modulation variable air-assisted spray pesticide application control system is carried on a sprayer and comprises an upper computer module, a main controller module, a profiling spray module and a pesticide liquid loop;

the spraying device comprises two profiling spraying modules, wherein the two profiling spraying modules are symmetrically arranged, each profiling spraying module comprises a base, a tensioning and loosening mechanism, at least two supports and at least two pesticide applying mechanisms, the base is connected with each support through the tensioning and loosening mechanism, the supports correspond to the pesticide applying mechanisms one by one, each pesticide applying mechanism is arranged on the corresponding support, the at least two supports are sequentially hinged from top to bottom, and the support at the lowest part is hinged with the base;

the upper computer module is connected with the main controller module, the main controller module is respectively connected with the pesticide applying mechanism and the pesticide liquid loop, and the pesticide liquid loop is connected with the pesticide applying mechanism; the main controller module completes the multi-pulse air supply variable modulation function according to the air supply variable spraying pesticide application control command issued by the upper computer module, and realizes that each pesticide application mechanism outputs different or same wind power and flow.

Furthermore, each pesticide applying mechanism comprises a fan, fan blades and a pesticide spraying assembly, the fan is arranged on the corresponding support, the fan blades are arranged inside the fan and fixedly connected with a motor shaft of the fan, the pesticide spraying assembly is arranged in the front of the fan, and the fans of at least two pesticide applying mechanisms form a fan set.

Furthermore, spout the medicine subassembly and include and spout circle and a plurality of shower nozzle, a plurality of shower nozzles evenly distributed are on spouting the circumference position of circle, spout the front portion at the fan that the circle is fixed, and spout the input and the liquid medicine return circuit connection of circle.

Further, the liquid medicine return circuit includes medical kit, medicine pump, first pencil, second pencil, third pencil, multichannel shunt and a plurality of solenoid valve, the input of medicine pump is connected with the medical kit through first pencil, and the output and the multichannel shunt of medicine pump are connected, the way number of shunt, the quantity of solenoid valve, the quantity of fan and the quantity of spouting the medicine subassembly are the one-to-one, and every delivery outlet of shunt is connected with the input that corresponds the solenoid valve through the second pencil, and the output of every solenoid valve spouts the medicine subassembly through third pencil and correspondence and is connected, and a plurality of solenoid valves constitute the electromagnetism valves.

Furthermore, the main controller module comprises a main controller and electrical components, the electrical components comprise a voltage stabilizing and reducing module, a relay group and a high-frequency pulse generator, the relay group comprises a fan relay group and a solenoid valve relay group, the main controller is respectively connected with the voltage stabilizing and reducing module, the fan relay group and the solenoid valve relay group, the fan relay group is connected with the fan group through the high-frequency pulse generator, and the solenoid valve relay group is connected with the solenoid valve group;

the voltage stabilizing and reducing module can stabilize the voltage of the power supply input end under the working voltage value of the electric control system and can be sufficiently supplied to an external hardware circuit for use; the high-frequency pulse generator is used for outputting high-frequency pulses to control the rotating speed of the fan.

Further, the main controller is a programmable logic controller.

Further, the upper computer module comprises a wireless remote control receiver and an industrial control touch screen;

the wireless remote control receiver is connected with the main controller module and used for receiving a remote control signal of the remote controller and sending an air supply variable spray pesticide application control instruction to the main controller module;

the industrial control touch screen is connected with the main controller module through the serial port communication module and used for displaying the current working state, giving an alarm when an error occurs and storing data.

Furthermore, the tensioning and releasing mechanism comprises a motor, a first wire spool, a second wire spool and a steel wire rope, wherein the motor and the first wire spool are arranged on the base, the motor is used for driving the first wire spool to rotate, the first wire spool fixes the first end of the steel wire rope and winds the steel wire rope with a certain length, the second wire spool is arranged on each bracket, and through holes through which the steel wire rope can be positioned and pass are formed in the upper part of the base and the upper part and the lower part of each bracket; and a second end of the steel wire rope is fixed on the second wire spool of the uppermost bracket, and the steel wire rope with a certain length is wound on the second wire spool of each bracket.

Further, taut release mechanism still includes shaft coupling, first pivot and second pivot, the motor sets up the one side at the base, and the motor shaft of motor passes through the shaft coupling and is connected with first pivot, first wire reel is connected with first pivot, the both ends of second pivot set up the both sides at every support respectively, the second wire reel is connected with the second pivot.

The other purpose of the invention can be achieved by adopting the following technical scheme:

a multi-pulse modulation variable air-assisted spray pesticide application control method is realized based on the multi-pulse modulation variable air-assisted spray pesticide application control system, and the method comprises the following steps:

starting the sprayer to start walking, finishing the triggering of the input end of a main controller module through wireless remote control after reaching the position to be sprayed with pesticide, finishing multi-pulse modulation, realizing the opening/closing of an electromagnetic valve of a liquid medicine loop, and enabling a pesticide applying mechanism to realize variable pesticide spraying; in the spraying mode, if the wind speed is selected to be adjusted, the rotation speed of a fan is selected through wireless remote control, and a high-frequency pulse generator in a main controller module is controlled to output high-frequency pulses to control the rotation speed of the fan of the pesticide applying mechanism; if the targeted variable pesticide is selected to be sprayed, the independent control of the fan of each pesticide applying mechanism and each electromagnetic valve of the pesticide liquid loop is completed through wireless remote control in a variable and variable wind speed mode; according to the actual pesticide application control requirement, the variable, intelligent pesticide application, real-time monitoring and data storage of multiple groups of pulses modulated simultaneously are realized in an industrial control touch screen adjusting mode.

Compared with the prior art, the invention has the following beneficial effects:

the main controller module can complete the multi-pulse air-assisted variable modulation function according to the air-assisted variable spraying control instruction issued by the upper computer module, realize that each pesticide applying mechanism of the profiling spraying module outputs different or same flow, improve the intelligent pesticide applying level of fruit trees, precisely control the uniformity and deposition of pesticide liquid, reduce the labor intensity and improve the pesticide applying efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a simple schematic block diagram of a multi-pulse modulation variable air-assisted spray application control system according to an embodiment of the present invention.

Fig. 2 is a specific schematic block diagram of a multi-pulse modulation variable air-assisted spray application control system according to an embodiment of the invention.

Fig. 3 is a front structural view of a profiling spray module of an embodiment of the invention.

Fig. 4 is an enlarged view of a portion a in fig. 3.

Fig. 5 is an enlarged view at B in fig. 3.

Fig. 6 is a rear view structural view of a profiling spray module of an embodiment of the invention.

Fig. 7 is a left side view of a profile spray module according to an embodiment of the present invention.

Fig. 8 is a perspective view of one of the angles of a contoured spray module in accordance with an embodiment of the present invention.

Fig. 9 is a perspective view of another angle of a contoured spray module in accordance with an embodiment of the present invention.

Fig. 10 is a structural view of the relationship between the base and the hinge according to the embodiment of the present invention.

FIG. 11 is a block diagram showing the structure of a chemical liquid circuit according to the embodiment of the present invention.

Wherein, 1-an upper computer module, 2-a main controller module, 3-a profiling spraying module, 301-a base, 302-a first support, 303-a second support, 304-a third support, 305-a first pesticide applying mechanism, 3051-a fan, 3052-a fan blade, 3053-a spraying ring, 3054-a spray head, 306-a second pesticide applying mechanism, 307-a third pesticide applying mechanism, 308-a first motor, 309-a first wire winding disc, 310-a second wire winding disc, 311-a coupler, 312-a first rotating shaft, 313-a second rotating shaft, 314-a first spring retainer ring, 315-a second spring retainer ring, 316-a vertical bearing, a diamond bearing, 318-a first hinge, 319-a second hinge, 320-a torsion spring, 321-a pin, 322-a semicircular column, 4-liquid medicine loop, 401-medicine chest, 402-medicine pump, 403-first medicine tube, 404-second medicine tube, 405-third medicine tube, 406-shunt and 407-electromagnetic valve.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer and more complete, the technical solutions in the embodiments of the present invention will be described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.

Example (b):

as shown in fig. 1 to 2, the present embodiment provides a multi-pulse modulation variable air-assisted spray pesticide application control system, which is mounted on a spraying machine and includes an upper computer module 1, a main controller module 2, two profiling spray modules 3, and a pesticide liquid loop 4, wherein the two profiling spray modules 3 are symmetrically arranged on the left and right sides.

As shown in fig. 1 to 9, each of the profiling spraying modules 3 includes a base 301, a tensioning and releasing mechanism, three supports and three pesticide applying mechanisms, the three supports are respectively a first support 302, a second support 303 and a third support 304, the three pesticide applying mechanisms are respectively a first pesticide applying mechanism 305, a second pesticide applying mechanism 306 and a third pesticide applying mechanism 307, the first support 302, the second support 303, the third support 304 and the base 301 are hinged from top to bottom, the base 301 is respectively connected with the first support 302, the second support 303 and the third support 304 through the tensioning and releasing mechanism, the first pesticide applying mechanism 305 is arranged on the first support 302, the second pesticide applying mechanism 306 is arranged on the second support 303, and the third pesticide applying mechanism 307 is arranged on the third support 304.

The upper computer module 1 is connected with the main controller module 2, the main controller module 2 is respectively connected with the first pesticide applying mechanism 305, the second pesticide applying mechanism 306, the third pesticide applying mechanism 307 and the liquid medicine loop 4, and the liquid medicine loop 4 is respectively connected with the first pesticide applying mechanism 305, the second pesticide applying mechanism 306 and the third pesticide applying mechanism 307.

Further, the upper computer module 1 comprises a wireless remote control receiver and an industrial control touch screen (MCGS), the wireless remote control receiver is connected with the main controller module, the wireless remote control receiver can receive a remote control signal of a remote controller and issue a wind delivery variable spray pesticide application control instruction to the main controller module; the industrial control touch screen is connected with the main controller module through a serial port communication module (RS232-485), and can realize the display of the current working state, the error alarm and the data acquisition and storage.

Further, base 301 adopts steel plate welding to make, and base 301 includes first upper plate, first hypoplastron, first left side board and first right side board, both ends weld with the upper end of first left side board and first right side board respectively about the first upper plate, both ends weld with the lower extreme of first left side board and first right side board respectively about the first hypoplastron, and first upper plate is as the upper portion of base 301, and first lower plate is as the lower part of base 301, and first left side board is as the left side of base 301, and first right side board is as the right side of base 301.

Further, the first support 302, the second support 303 and the third support 304 have the same structure, are all made of steel plates by welding, and each include a second upper plate, a second lower plate, a second left side plate, a second right side plate and a front plate, the left and right ends of the second upper plate are respectively welded with the upper ends of the second left side plate and the second right side plate, the left and right ends of the second lower plate are respectively welded with the lower ends of the second left side plate and the second right side plate, the second upper plate serves as the upper portions of the first support 302, the second support 303 and the third support 304, the second lower plate serves as the lower portions of the first support 302, the second support 303 and the third support 304, the second left side plate serves as the left sides of the first support 302, the second support 303 and the third support 304, and the second right side plate serves as the right sides of the first support 302, the second support 303 and the third support 304; the front plate 205 is disposed at a middle position between the second upper plate and the second lower plate, and the left and right ends are welded to the second left side plate and the second right side plate, respectively, the first application mechanism 305 is disposed on the front plate of the first bracket 302, the second application mechanism 306 is disposed on the front plate of the second bracket 303, and the third application mechanism 307 is disposed on the front plate of the third bracket 304.

The tensioning and releasing mechanism comprises a motor 308, a first wire spool 309, a second wire spool 310 and a steel wire rope (not shown in the figure), the motor 308 and the first wire spool 309 are arranged on the base 301, specifically, the motor 308 of the embodiment is fixed on the right side of the base 301, the first wire spool 309 is arranged inside the base 301, the motor 308 preferably adopts a stepping motor and is used for driving the first wire spool 309 to rotate, the first wire spool 309 fixes the first end of the steel wire rope and winds the steel wire rope with a certain length, the upper part of the base 301 is provided with a first through hole through which the steel wire rope can be positioned and pass, the lower part of the base 301 is provided with a second through hole, and the second through hole is a reserved through hole and is conveniently installed on the spraying machine; the second wire spool 310 is disposed on the first bracket 302, the second bracket 303 and the third bracket 304, and more particularly, the second wire spool 310 is disposed inside the first bracket 302, the second bracket 303 and the third bracket 304, the second wire spool 310 inside the first bracket 302 fixes the second end of the steel cable, the second wire spool 310 inside the first bracket 302, the second bracket 303 and the third bracket 304 winds the steel cable with a certain length, and in order to better position the steel cable inside the first bracket 302, the second bracket 303 and the third bracket 304, there are three second wire spools 310 inside the first bracket 302, the second bracket 303 and the third bracket 304, the three second wire spools 310 are disposed at the upper, middle and lower three positions inside the first bracket 302, and similarly, the three second wire spools 310 are disposed at the upper, middle and lower three positions inside the second bracket 303, and the three second wire spools 310 are disposed at the upper, middle and lower three positions inside the third bracket 304, because the first bracket 302 is the uppermost bracket, a second wire spool 310 can be selected in the first bracket 302 to fix the second end of the steel wire rope, third through holes which can enable the steel wire rope to be positioned and pass through are formed in the upper parts and the lower parts of the first bracket 302, the second bracket 303 and the third bracket 304, and a new bracket can be added above the first bracket 302 at any time to adapt to a fruit tree with a higher height; when the motor 308 drives the first spool 309 to rotate, the wire rope can be tightened or loosened, and the second spool 310 also rotates under the action of the wire rope.

In order to realize that the motor 308 drives the first wire spool 309 to rotate and cause the second wire spool 310 to rotate, the tensioning and releasing mechanism of the embodiment further includes a coupler 311, a first rotating shaft 312 and a second rotating shaft 313, a motor shaft of the motor 308 is connected with the first rotating shaft 312 through the coupler 311, the first wire spool 309 is connected with the first rotating shaft 312, specifically, two ends of the first wire spool 309 are respectively connected with the first rotating shaft 312 through a first spring retainer 314 to achieve the limit of the first wire spool 309 on the first rotating shaft 312, the first rotating shaft 312 is provided with a flat key and a flat key groove for fixing the flat key, the flat key realizes the connection of the first rotating shaft 312 and the first wire spool 309, and when the motor 308 rotates, the first rotating shaft 312 is driven to rotate, so that the first wire spool 309 rotates; because the first bracket 302 has three second wire reels 310 inside, the number of corresponding second rotating shafts 313 is also three, and two ends of the three second rotating shafts 313 are respectively arranged at two sides of the first bracket 302, and similarly, because the second bracket 303 and the third bracket 304 also have three second wire reels 310 inside, the second rotating shafts 313 are also arranged on the second bracket 303 and the third bracket 304 identically; in the first bracket 302, the second bracket 303 and the third bracket 304, each second wire spool 310 is connected with a corresponding second rotating shaft 313, specifically, two ends of each second wire spool 310 are respectively connected with the corresponding second rotating shaft 313 through a second spring retainer 315, so as to limit the position of the second wire spool 310 on the second rotating shaft 313, and the second rotating shaft 313 is provided with a flat key and a flat key groove for fixing the flat key, which realizes the connection of the second rotating shaft 313 and the corresponding second wire spool 310.

Further, in order to enable the motor 308 to stably drive the first rotating shaft 312 to rotate, a cross beam is arranged between the upper portion and the lower portion of the base 301, the cross beam of the embodiment is arranged at an upper position of the middle portion of the base 301, two ends of the cross beam are respectively fixed to two sides of the base 301, two ends of the first rotating shaft 312 are respectively connected with two vertical bearings 316, the two vertical bearings 316 of the embodiment are fixed to the lower surface of the cross beam, specifically, the two vertical bearings 316 are fixed to the lower surface of the cross beam through screws and nuts, and a fourth through hole capable of enabling the steel wire rope to be positioned and penetrate is formed in the cross beam; it can be understood that the two vertical bearings 316 of the present embodiment can also be fixed on the upper surface of the cross beam, and the cross beam does not need to be provided with the fourth through hole.

Further, in order to stably rotate the second rotating shafts 313, both ends of each second rotating shaft 313 are respectively connected with two diamond bearings 317; because the first support 302 is provided with the three second rotating shafts 313, the number of the corresponding diamond-shaped bearings 317 is six, wherein the three diamond-shaped bearings 317 are fixed on the left side of the first support 302, the other three diamond-shaped bearings 317 are fixed on the right side of the first support 302, and the three diamond-shaped bearings 317 on the left side are respectively symmetrical to the three diamond-shaped bearings 317 on the right side.

Further, in order to realize that the first support 302, the second support 303, the third support 304 and the base 301 are sequentially hinged from top to bottom, two bilateral hinges are respectively arranged between the first support 302 and the second support 303, between the second support 303 and the third support 304, and between the third support 304 and the base 301, as shown in fig. 10, each hinge comprises a first hinge 318, a second hinge 319, a torsion spring 320 and a pin 321, the first hinge 318 and the second hinge 319 are vertically arranged, the first hinge 318 and the second hinge 319 are connected through the torsion spring 320 and the pin 321, and the torsion spring 320 is sleeved on the pin 321.

Specifically, in each hinge between the base 301 and the third bracket 304, the first hinge 318 is fixed to the lower portion of the third bracket 304, the second hinge 319 is fixed to the upper portion of the base 301, the first end of the torsion spring 320 is fixed to one side of the third bracket 304, and the second end of the torsion spring 320 is in contact with the upper portion of the base 301; in each hinge between the third bracket 304 and the second bracket 303, a first hinge 318 is fixed at the lower part of the second bracket 303, a second hinge 319 is fixed at the upper part of the third bracket 304, a first end of a torsion spring 320 is fixed at one side of the second bracket 303, and a second end of the torsion spring 320 is in contact with the upper part of the third bracket 304; in each hinge between the second bracket 303 and the first bracket 302, a first hinge 318 is fixed at the lower part of the first bracket 302, a second hinge 319 is fixed at the upper part of the second bracket 303, a first end of a torsion spring 320 is fixed at one side of the first bracket 302, and a second end of the torsion spring 320 is in contact with the upper part of the second bracket 303; preferably, semicircular cylinders 322 are respectively disposed at two sides of the second bracket 2, the third bracket 3 and the third bracket 304, and the semicircular cylinders 322 can fix the first end of the torsion spring 320 and can limit the torsion spring 320 to bend.

After the connection in the mode, a joint similar to a human finger is formed, the shape can be maintained through the torsion of the torsion spring 320 when the joint is installed without external force, and when the external force (the pulling force of the steel wire rope) is applied to overcome the current torsion of the torsion spring 320, the torsion spring 320 is twisted, so that the supports (the first support 302, the second support 303 and the third support 304) are driven to rotate around the hinge, namely the included angle among the supports is adjusted, and the copying requirements of different tree shapes are met.

Further, the first drug delivery mechanism 305, the second drug delivery mechanism 306 and the third drug delivery mechanism 307 have the same structure, taking the first drug delivery mechanism 305 as an example, and comprise a fan 3051, fan blades 3052 and a drug spraying assembly, the motor of the fan 3051 is preferably a direct current motor and is fixed on the front plate of the first bracket 302, the fan blades 3052 are arranged inside the fan 3051 and are fixedly connected with the motor shaft of the fan 3051, the drug spraying assembly is arranged at the front of the fan 3051, specifically, the drug spraying assembly comprises a spray ring 3053 and fourteen spray heads 3054, the fourteen spray heads 3054 are uniformly distributed at the circumferential position of the spray ring 3053, and the spray ring 3053 is fixed at the front of the fan 3051; when the motor of the fan 3051 rotates, the fan 3052 is driven to rotate, the spray head 3054 sprays under the action of the fan 3052, and the effect and the purpose of pesticide application are achieved by adjusting the rotating speed of the fan 3051; six fans 3051 of the profiling spraying module 3 form a fan set.

As shown in fig. 1 to 11, the liquid medicine circuit 4 includes a medicine box 401, a medicine pump 402, a first medicine pipe 403, a second medicine pipe 404, a third medicine pipe 405, a six-way diverter 406, and six electromagnetic valves 407, the medicine box 401 can carry liquid medicine, an input end of the medicine pump 402 is connected to the medicine box through the first medicine pipe 403, the medicine pump 402 can draw the liquid medicine from the medicine box 401 through the first medicine pipe 403 and perform pressurization treatment, the system can be ensured to operate under a certain pressure condition by adjusting an output pressure of the medicine pump 402, an output end of the medicine pump 402 is connected to the six-way diverter, high-pressure liquid medicine output by the medicine pump 402 is diverted through the six-way diverter 406, six ways of the diverter 406, six electromagnetic valves 407, six fans, and six medicine spraying components are all in a one-to-one correspondence relationship, so as to complete one-way independent control, each output port of the diverter 406 is connected to an input end of the corresponding electromagnetic valve 407 through the second medicine pipe 404, the output of every solenoid valve is connected with corresponding medicine subassembly through third pencil 405, specifically with correspond the circle of spouting the medicine subassembly and be connected, because each highly different of spouting the medicine subassembly, each solenoid valve is connected with the circle of spouting that corresponds the medicine subassembly respectively through the third pencil of different length, six solenoid valves 407 constitute the electromagnetism valves.

The main controller module 2 completes the multi-pulse air-assisted variable modulation function according to the air-assisted variable spraying and pesticide applying control instruction sent by the upper computer module 1, and realizes that each pesticide applying mechanism outputs different or same wind power and flow; specifically, the main controller module 2 comprises a main controller and electrical components, the electrical components mainly comprise a circuit breaker, a fuse, a voltage stabilizing and reducing module, a relay group, a high-frequency pulse generator and the like, the relay group comprises a fan relay group and a solenoid valve relay group, the fan relay group drives a multi-pulse modulation control circuit for controlling the rotating speed of a fan, the solenoid valve relay group controls the on-off frequency of a plurality of solenoid valves to control the flow of 4 flows of a single liquid medicine loop, the main controller is respectively connected with the voltage stabilizing and reducing module, the fan relay group and the solenoid valve relay group, the fan relay group is connected with the fan group through the high-frequency pulse generator, and the solenoid valve relay group is connected with the solenoid valve group; the voltage stabilizing and reducing module can stabilize the voltage of the power supply input end under the working voltage value of the electric control system and can supply the voltage to an external hardware circuit for use in full; the high-frequency pulse generator is used for outputting high-frequency pulses to control the rotating speed of the fan.

In this embodiment, the main Controller is a Programmable Logic Controller (PLC), and by programming an upper computer communication program, the system can trigger the input end of the main Controller according to a wind delivery variable spray pesticide application control instruction issued by the wireless remote control receiver to complete the input function of a remote control signal; by compiling an upper computer communication program, the state of each component of the real-time system, such as the on-off condition of each relay, the working state of each electromagnetic valve, the running condition of the system and the like, can be displayed on the industrial control touch screen, and meanwhile, system data can be stored and monitored; by writing a multi-pulse modulation air supply variable spraying and pesticide applying program, the system can achieve the corresponding state after the input end of the main controller is triggered, complete the multi-pulse air supply variable modulation function, and achieve that fans installed on different sections output different or the same wind power and pesticide spraying assemblies output different or the same flow.

The embodiment also provides a multi-pulse modulation variable air-assisted spray pesticide application control method, which is realized based on the multi-pulse modulation variable air-assisted spray pesticide application control system and comprises the following steps:

and S1, starting the spraying machine to start walking, finishing the triggering of the input end of the main controller module through wireless remote control after reaching the position to be sprayed with pesticide, finishing multi-pulse modulation, realizing the opening/closing of the electromagnetic valve of the liquid medicine loop, and enabling the pesticide applying mechanism to realize variable pesticide spraying.

And S2, in the spraying mode, if the wind speed is selected to be adjusted, the rotation speed of the fan is selected through wireless remote control, and the high-frequency pulse generator in the main controller module is controlled to output high-frequency pulses to control the rotation speed of the fan of the pesticide applying mechanism.

And S3, if the target variable pesticide is selected to be sprayed, independently controlling the fan of each pesticide applying mechanism and each electromagnetic valve of the pesticide liquid loop through wireless remote control in a variable and variable wind speed mode.

S4, according to the actual application control requirement, the variable, intelligent application, real-time monitoring and data storage of multi-group pulse simultaneous modulation can be realized in an industrial control touch screen adjusting mode.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or given otherwise, the terms "disposed," "mounted," and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In conclusion, the main controller module can complete the multi-pulse air-conveying variable modulation function according to the air-conveying variable spraying control instruction issued by the upper computer module, output of different or same flow rates of each pesticide applying mechanism of the profiling spraying module is realized, the intelligent pesticide applying level of fruit trees can be improved, the uniformity and deposition of pesticide liquid are refined, the labor intensity is reduced, and the pesticide applying efficiency is improved.

The above description is only for the preferred embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the scope of the present invention.

Claims (10)

1. A multi-pulse modulation variable air-assisted spray pesticide application control system is characterized in that the system is carried on a spraying machine and comprises an upper computer module, a main controller module, a profiling spray module and a pesticide liquid loop;

the spraying device comprises two profiling spraying modules, wherein the two profiling spraying modules are symmetrically arranged, each profiling spraying module comprises a base, a tensioning and loosening mechanism, at least two supports and at least two pesticide applying mechanisms, the base is connected with each support through the tensioning and loosening mechanism, the supports correspond to the pesticide applying mechanisms one by one, each pesticide applying mechanism is arranged on the corresponding support, the at least two supports are sequentially hinged from top to bottom, and the support at the lowest part is hinged with the base;

the upper computer module is connected with the main controller module, the main controller module is respectively connected with the pesticide applying mechanism and the pesticide liquid loop, and the pesticide liquid loop is connected with the pesticide applying mechanism; the main controller module completes the multi-pulse air supply variable modulation function according to the air supply variable spraying pesticide application control command issued by the upper computer module, and realizes that each pesticide application mechanism outputs different or same wind power and flow.

2. The multiple pulse modulation variable air-fed spray application control system of claim 1, wherein each application mechanism comprises a fan, a fan blade and a spray assembly, the fan is disposed on the corresponding support, the fan blade is disposed inside the fan and is fixedly connected with a motor shaft of the fan, the spray assembly is disposed in front of the fan, and the fans of at least two application mechanisms form a fan set.

3. The multiple pulse modulation variable air-assisted spray application control system of claim 2, wherein the spray assembly comprises a spray ring and a plurality of spray heads, the spray heads are uniformly distributed on the circumferential position of the spray ring, the spray ring is fixed on the front part of the fan, and the input end of the spray ring is connected with the liquid medicine loop.

4. The multi-pulse modulation variable air-assisted spray pesticide application control system according to claim 2, wherein the pesticide liquid loop comprises a pesticide box, a pesticide pump, a first pesticide pipe, a second pesticide pipe, a third pesticide pipe, a multi-path shunt and a plurality of electromagnetic valves, an input end of the pesticide pump is connected with the pesticide box through the first pesticide pipe, an output end of the pesticide pump is connected with the multi-path shunt, the paths of the shunt, the number of the electromagnetic valves, the number of the fans and the number of pesticide spraying assemblies are in one-to-one correspondence, each output port of the shunt is connected with the input end of the corresponding electromagnetic valve through the second pesticide pipe, an output end of each electromagnetic valve is connected with the corresponding pesticide spraying assembly through the third pesticide pipe, and the plurality of electromagnetic valves form an electromagnetic valve group.

5. The multi-pulse modulation variable air-assisted spray pesticide application control system according to claim 4, wherein the main controller module comprises a main controller and electrical components, the electrical components comprise a voltage stabilizing and reducing module, a relay group and a high-frequency pulse generator, the relay group comprises a fan relay group and a solenoid valve relay group, the main controller is respectively connected with the voltage stabilizing and reducing module, the fan relay group and the solenoid valve relay group, the fan relay group is connected with the fan group through the high-frequency pulse generator, and the solenoid valve relay group is connected with the solenoid valve group;

the voltage stabilizing and reducing module can stabilize the voltage of the power supply input end under the working voltage value of the electric control system and can be sufficiently supplied to an external hardware circuit for use; the high-frequency pulse generator is used for outputting high-frequency pulses to control the rotating speed of the fan.

6. The multiple pulse modulation variable air-borne spray application control system of claim 5, wherein the master controller is a programmable logic controller.

7. The multi-pulse modulation variable air-assisted spray application control system of any one of claims 1-6, wherein the upper computer module comprises a wireless remote control receiver and an industrial control touch screen;

the wireless remote control receiver is connected with the main controller module and used for receiving a remote control signal of the remote controller and sending an air supply variable spray pesticide application control instruction to the main controller module;

the industrial control touch screen is connected with the main controller module through the serial port communication module and used for displaying the current working state, giving an alarm when an error occurs and storing data.

8. The multi-pulse modulation variable air-assisted spray pesticide application control system according to any one of claims 1 to 6, wherein the tensioning and releasing mechanism comprises a motor, a first wire spool, a second wire spool and a steel wire rope, the motor and the first wire spool are arranged on the base, the motor is used for driving the first wire spool to rotate, the first wire spool is used for fixing a first end of the steel wire rope and winding a certain length of the steel wire rope, the second wire spool is arranged on each bracket, and through holes for the steel wire rope to be positioned and pass through are formed in the upper part of the base and the upper part and the lower part of each bracket; and a second end of the steel wire rope is fixed on the second wire spool of the uppermost bracket, and the steel wire rope with a certain length is wound on the second wire spool of each bracket.

9. The multiple pulse modulation variable air-assisted spray application control system of claim 8, wherein the tightening and releasing mechanism further comprises a coupling, a first rotating shaft and a second rotating shaft, the motor is disposed on one side of the base, a motor shaft of the motor is connected with the first rotating shaft through the coupling, the first wire spool is connected with the first rotating shaft, two ends of the second rotating shaft are disposed on two sides of each bracket respectively, and the second wire spool is connected with the second rotating shaft.

10. A multi-pulse modulation variable air-assisted spray application control method which is realized based on the multi-pulse modulation variable air-assisted spray application control system of any one of claims 1 to 9, and is characterized by comprising the following steps:

starting the sprayer to start walking, finishing the triggering of the input end of a main controller module through wireless remote control after reaching the position to be sprayed with pesticide, finishing multi-pulse modulation, realizing the opening/closing of an electromagnetic valve of a liquid medicine loop, and enabling a pesticide applying mechanism to realize variable pesticide spraying; in the spraying mode, if the wind speed is selected to be adjusted, the rotation speed of a fan is selected through wireless remote control, and a high-frequency pulse generator in a main controller module is controlled to output high-frequency pulses to control the rotation speed of the fan of the pesticide applying mechanism; if the targeted variable pesticide is selected to be sprayed, the independent control of the fan of each pesticide applying mechanism and each electromagnetic valve of the pesticide liquid loop is completed through wireless remote control in a variable and variable wind speed mode; according to the actual pesticide application control requirement, the variable, intelligent pesticide application, real-time monitoring and data storage of multiple groups of pulses modulated simultaneously are realized in an industrial control touch screen adjusting mode.

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