Pressure stabilizing method for dynamic change of pesticide application amount

Abstract

The invention provides a pesticide application amount dynamic change-oriented pressure stabilizing method, which comprises the following steps: when monitoring that a pesticide application amount change value exceeds a change threshold value, reading sensor data from a pressure sensor and a flow sensor to calculate the current pesticide application amount, and further determining the current reflux proportion of a pesticide application system; calculating a difference value between the current reflux quantity ratio and a preset target reflux quantity ratio; if the absolute value of the difference value is smaller than a preset difference threshold value, before the time difference when the pesticide applying system issues the pesticide applying instruction, according to a preset stable pressure value, a backflow proportional valve is operated to adjust the backflow amount of the pesticide applying system; if the absolute value of the difference value is not smaller than the difference threshold value, the rotating speed value of the three-phase asynchronous motor is adjusted while the backflow proportional valve is operated for adjustment, so that pressure control is conducted on the pesticide applying system. The problem that the system pressure cannot be rapidly and accurately controlled when the number of spray head groups or the pesticide application amount of a pesticide application control system is greatly changed is solved.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural planting, and in particular to a voltage stabilization method for dynamic changes in the amount of pesticide applied. Background Art

[0002] my country relies heavily on chemical pesticides to deal with pests and diseases. In 2020, the use of pesticides exceeded 270,000 tons. In order to reduce pesticide residues and improve the utilization rate of pesticides, a lot of research has been conducted on precision pesticide application equipment and systems. Precision pesticide application technology mainly starts from three directions: variable pesticide application control technology, target pesticide application control technology, and prescription map-based pesticide application technology, which has achieved a certain degree of pesticide saving effect. Traditional variable pesticide application is to manually set the per-acre pesticide application amount for variable operation. During the operation, the application amount is a fixed value, and the pressure fluctuation is more caused by changes in walking speed and pressure fluctuations in the drug supply system itself. During the process of target or prescription application, the number of nozzles or the demand for application amount changes continuously, which in turn causes pressure fluctuations, resulting in the failure to achieve the goal of precise application while applying the pesticide accurately. How to accurately control the spray volume for target and prescription application is still an urgent problem to be solved.

[0003] In the precision drug application control system, the response speed and stability requirements of each system are getting higher and higher. In order to meet these requirements, it is necessary to reduce the response time of the pressure stabilization system to the pressure control and reduce the fluctuation amplitude of the actual pressure value near the set pressure value. However, the closed-loop control of the pressure stabilization system in the prior art mostly uses a pressure sensor to monitor the pressure of the drug supply system, and uses the PID control algorithm to control the reflux flow to adjust the pressure of the main line. This method itself has obvious hysteresis. Especially in the current application scenarios of target drug application and prescription drug application, there are large changes in the number of nozzle groups or the amount of drug application, which will face the demand for large pressure changes. Due to the lag of the pressure stabilization system, there is a problem of large overshoot when the pressure change is large, and it is impossible to achieve rapid and accurate control of the system pressure. Summary of the invention

[0004] The present invention provides a pressure stabilization method for dynamic changes in the amount of pesticide applied, which is used to solve the problem that the pesticide application control system cannot achieve rapid and accurate control of the system pressure when the number of nozzle groups or the amount of pesticide applied changes greatly.

[0005] The present invention provides a voltage stabilization method for dynamic changes in the dosage of pesticides, the method comprising: When the drug application system applies drugs according to the drug application mode and monitors that the drug application amount change value exceeds the change threshold, sensor data is read from the pressure sensor and the flow sensor, and the current drug application amount is calculated according to the sensor data, wherein the drug application mode includes target drug application and prescription drug application; Determine the current reflux ratio of the pesticide application system according to the current pesticide application amount, and determine the difference between the current reflux ratio and a preset target reflux ratio; If the absolute value of the difference is less than the preset difference threshold, before the time difference for the pesticide application system to issue a pesticide application instruction, the reflux proportional valve is operated to adjust the reflux volume of the pesticide application system according to the preset stable pressure value, so as to control the pressure of the pesticide application system; If the absolute value of the difference is not less than the difference threshold, before the time difference for the pesticide application system to issue a pesticide application instruction, the reflux proportional valve is operated to adjust the reflux volume of the pesticide application system according to the preset stable pressure value, and the speed value of the three-phase asynchronous motor is adjusted to control the pressure of the pesticide application system.

[0006] In some embodiments, the time difference for the pesticide application system to issue a pesticide application instruction is the time required to reduce the current pressure value of the pesticide application system to a target pressure value, and the target pressure value is not less than 90% of the current pressure value.

[0007] In some embodiments, if the absolute value of the difference is less than a preset difference threshold, the absolute value of the difference is positively correlated with the advance action time of the operating reflux proportional valve; If the absolute value of the difference is not less than the preset difference threshold, the absolute value of the difference is positively correlated with the advance action time of the operating reflux proportional valve and negatively correlated with the rotation speed of the three-phase asynchronous motor.

[0008] In some embodiments, after the pressure of the drug administration system is controlled, the method further comprises: Determine the difference between the amount of pesticide applied after pressure control is performed in the pesticide application system and the current amount of pesticide applied; The ratio of the absolute value of the difference value to the amount of application after the pressure control is used as the fluctuation value of the amount of application; When the dosage fluctuation value is less than a preset fluctuation threshold, the pressure control is stopped.

[0009] In some embodiments, after the monitored change in the amount of application exceeds a change threshold, the method further includes: Sending signal data to a multi-channel signal generator, wherein the signal data is used to instruct the multi-channel signal generator to send a switch signal to the solenoid valve of the spray nozzle, and the switch signal is used to control the spray nozzle to open or close; After the spray nozzle is opened or closed, the opening and closing amount data of the spray nozzle is collected, wherein the opening and closing amount data is used to indicate the operation of the reflux proportional valve and the adjustment of the speed value of the three-phase asynchronous motor.

[0010] In some embodiments, the signal data transmission process and the opening and closing amount data collection process are implemented through broadcast communication of the pesticide application system.

[0011] The present invention also provides a voltage stabilizing device for dynamic changes in the amount of pesticide applied, the device comprising: A calculation module, used for reading sensor data from a pressure sensor and a flow sensor when the drug application system applies drugs according to a drug application mode and monitoring that a drug application amount change value exceeds a change threshold, and calculating a current drug application amount according to the sensor data, wherein the drug application mode includes target drug application and prescription drug application; A determination module, used to determine a current reflux ratio of the pesticide application system according to the current pesticide application amount, and determine a difference between the current reflux ratio and a preset target reflux ratio; The pressure control module is used to operate the reflux proportional valve to adjust the reflux volume of the pesticide application system according to the preset stable pressure value before the pesticide application system issues a pesticide application instruction if the absolute value of the difference is less than a preset difference threshold value, so as to control the pressure of the pesticide application system; The pressure control module is also used to operate the reflux proportional valve to adjust the reflux volume of the pesticide application system and adjust the speed value of the three-phase asynchronous motor according to a preset stable pressure value before the time difference for the pesticide application system to issue a pesticide application instruction if the absolute value of the difference is not less than the difference threshold, so as to control the pressure of the pesticide application system.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the voltage stabilization method for dynamic changes in the dosage of the drug as described above is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the voltage stabilization method for dynamic changes in the dosage of the drug as described above is implemented.

[0014] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the voltage stabilization method for dynamic changes in the dosage of pesticides as described above is implemented.

[0015] The voltage stabilization method for dynamic changes in the dosage provided by the present invention monitors the dosage change value in real time under the dosage mode. When the dosage change value exceeds the change threshold, data is read from the sensor to determine the dosage and further determine the reflux volume ratio. The voltage stabilization operation is determined according to the difference between the reflux volume ratio and the target reflux volume ratio. When controlling the pressure, before the dosage system issues a dosage instruction, the reflux proportional valve is operated in advance to adjust the reflux volume for voltage stabilization, or the voltage is stabilized by dual control of the motor and the reflux proportional valve, which effectively saves the response time of the voltage stabilization and makes the pressure regulation faster and more stable. In addition, operating the reflux proportional valve in advance before the dosage system issues a dosage instruction can reduce the amplitude of the pressure change in the dosage system and achieve more accurate voltage stabilization control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a flow chart of the voltage stabilization method for dynamic changes in the dosage of pesticides provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the architecture of the pesticide application system provided by the present invention.

[0019] Figure 3 It is a coordinate schematic diagram of the reflux volume changing with pressure provided by the present invention.

[0020] Figure 4 It is a coordinate diagram of adjusting the pressure change by adjusting the reflux flow provided by the present invention.

[0021] Figure 5 The present invention is an application principle diagram of the pressure control of the pesticide application system.

[0022] Figure 6 It is a schematic diagram of the flow of a voltage stabilizing device for dynamic changes in the dosage of pesticides provided by the present invention.

[0023] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] The following describes the voltage stabilization method for dynamic changes in the amount of medicine applied provided by the present invention in conjunction with the accompanying drawings. The ECU controller of the medicine application system can be used as the execution subject of the voltage stabilization method for dynamic changes in the amount of medicine applied provided by the present invention. The method is applied to the ECU controller of the medicine application system to perform voltage stabilization control on the medicine application system.

[0026] See also Figure 2 , Figure 2 The application process of the pesticide application system in the embodiment of the present invention is shown in FIG. Figure 2 It can be seen that the voltage stabilization control module of the pesticide application system is mainly composed of an ECU controller and a three-phase asynchronous motor. The ECU controller and the three-phase asynchronous motor are connected through a frequency converter. The frequency converter is provided with a voltage control interface. The analog signal (voltage analog quantity) output by the ECU controller can control the speed signal (frequency value) output by the frequency converter to realize the control of the power input of the three-phase asynchronous motor. The ECU controller belongs to the control center of the pesticide application system, receives the control signal given by the display screen through CAN communication, and realizes the independent control of the multi-way nozzle assembly. And the pressure signal monitored by the pressure sensor and the flow signal monitored by the flow sensor control the reflux proportional valve to realize the stable control of the pressure. The voltage stabilization method for dynamic changes in the amount of pesticide application provided by the present invention is applied to the ECU controller, that is, the executor of the method is the ECU controller of the pesticide application system. When the ECU controller detects that the amount of pesticide application in the pesticide application system changes dynamically, the pressure of the pesticide application system can be quickly and accurately controlled by the voltage stabilization method for dynamic changes in the amount of pesticide application.

[0027] Figure 1 : is a flow chart of a voltage stabilization method for dynamic changes in dosage provided by the present invention, such as Figure 1 As shown, the method includes the following steps 101 to 104.

[0028] Step 101: When the pesticide application system applies pesticides according to the pesticide application mode and monitors that the change value of the pesticide application amount exceeds the change threshold, sensor data is read from the pressure sensor and the flow sensor, and the current pesticide application amount is calculated based on the sensor data.

[0029] In the embodiment of the present invention, the spraying system can be placed in a spraying machine, which moves in the work area and sprays the work area according to a preset spraying mode. The spraying mode includes target spraying and prescription spraying. Target spraying is related to the number of spraying nozzles of the spraying system, and prescription spraying is related to the amount of spraying.

[0030] The principle process diagram of the pesticide application system can be found in Figure 5 As shown, when the application of pesticides begins, it is detected whether the SD card is successfully stored. Here, the SD card is generally set in the ECU controller, which stores the manually set application parameters, including the application mode. When it is detected that the SD card is not stored, a fault warning is issued. When it is detected that the SD card is stored, the stored application parameters are read and the corresponding application mode is determined. Next, it is determined whether the application mode is a target application mode. If it is a target application mode, it is determined whether the target of the working area is detected by the movement of the machine. If so, the machine moving speed and the prescribed application amount are read. If not, the machine walking continues. If the application mode is not a target application mode, it is determined whether to enter the working area. If so, the machine moving speed and the prescribed application amount are read. If not, the machine walking continues. The moving speed of the machine can be measured by encoding the speed measuring device on the machine.

[0031] After reading the moving speed of the machine and the prescribed dosage, the drug application system on the machine starts to apply the drug. At this time, it is determined whether there is an operating speed. If there is no operating speed, it means that the moving speed of the machine and the prescribed dosage have not been read, and then it will continue to return to read. If there is, the prescribed dosage or target application will be executed through the drug application system.

[0032] When the spraying system is spraying according to the spraying mode, the pressure of the spraying system will fluctuate due to the constant change in the number of spraying nozzles or the demand for spraying amount. It is necessary to control the spraying amount by stabilizing the pressure of the spraying system. The ECU controller will detect the change of spraying amount through the monitoring module of the spraying system, such as pressure sensor and flow sensor.

[0033] Therefore, when the pesticide application system applies pesticides according to the pesticide application mode and monitors that the change in the amount of pesticide applied exceeds the change threshold, the sensor data is read from the pressure sensor and the flow sensor, and the current amount of pesticide applied is calculated based on the sensor data. Here, if the pesticide application mode is target application, then the change in the amount of pesticide applied is caused by a change in the number of nozzles. If the pesticide application mode is prescription application, then the normal amount of pesticide applied changes. When it is monitored that the change in the amount of pesticide applied exceeds the change threshold, the pressure sensor and the flow sensor will send out a pulse signal and a voltage analog signal after detecting the corresponding pressure data, flow data and other sensor data. At this time, these signals are received and the current amount of pesticide applied by the pesticide application system is calculated based on the sensor data such as pressure data and flow data. .

[0034] The change threshold is generally preset manually based on prior knowledge, and is generally used to measure the degree of change in the amount of pesticide applied. If the change value of the amount of pesticide applied exceeds the change threshold, it means that the pressure fluctuation of the pesticide application system is large, and pressure stabilization control is required. If the change value of the amount of pesticide applied does not exceed the change threshold, it means that the pressure fluctuation of the pesticide application system is small, and no stable control is required.

[0035] Step 102: determine the current reflux ratio of the pesticide application system according to the current pesticide application amount, and determine the difference between the current reflux ratio and the preset target reflux ratio.

[0036] The current application amount is calculated by step 101 Then, according to the current application rate Determine the current reflux ratio of the pesticide application system. Because the amount of pesticide application cannot be accurately controlled and measured, it is necessary to convert the amount of pesticide application into a reflux ratio as a standard for voltage stabilization control. At this time, combined with the target reflux ratio that the pesticide application system needs to control, by comparing the difference between the two, determine what operation to take to achieve voltage stabilization control, that is, determine the difference between the current reflux ratio and the preset target reflux ratio.

[0037] Here, when the spraying system experiences pressure fluctuation, it may be due to an increase in the number of spraying nozzles or an increase in the amount of spraying, or a decrease in the number of spraying nozzles or an increase in the amount of spraying, so the pressure fluctuation may be a pressure increase or a pressure decrease, and the corresponding stable control is a pressure reduction or a pressure increase. Then the difference between the current reflux ratio and the preset target reflux ratio may be a negative value or a positive value. This difference represents the degree of pressure stabilization control required, and is used to determine what kind of pressure stabilization operation to use to achieve fast and accurate pressure stabilization control.

[0038] The target reflux ratio can also be calculated based on the change in the amount of pesticide applied. This is because in the pesticide application system, the amount of pesticide applied and the reflux ratio follow a certain correlation, and the corresponding reflux ratio can be determined based on the amount of pesticide applied.

[0039] Step 103: If the absolute value of the difference is less than the preset difference threshold, before the time difference for the pesticide application system to issue a pesticide application instruction, the reflux proportional valve is operated to adjust the reflux volume of the pesticide application system according to the preset stable pressure value to control the pressure of the pesticide application system.

[0040] After calculating the difference between the current reflux ratio and the preset target reflux ratio, the preset difference threshold is obtained here. The difference threshold is used to measure the size of the reflux ratio to be adjusted, and is generally 0.3. Considering that the voltage stabilization control may be boost or buck, the difference between the current reflux ratio and the preset target reflux ratio may be negative or positive, so the absolute value of the difference is compared with the preset difference threshold, that is, the absolute value of the difference is compared with 0.3.

[0041] If the absolute value of the difference is less than the preset difference threshold, it means that the reflux ratio that needs to be controlled is not large. It is only necessary to operate the reflux proportional valve in the spraying system to adjust the reflux volume to achieve pressure control of the spraying system.

[0042] Here, the reflux amount is adjusted by operating the reflux proportional valve by controlling the number of open and closed states of the spray nozzle. Therefore, in the embodiment of the present invention, after monitoring that the change value of the spray amount exceeds the change threshold, signal data is also sent to the multi-channel signal generator, and the signal data is used to instruct the multi-channel signal generator to send a switch signal to the solenoid valve of the spray nozzle, and the switch signal is used to control the spray nozzle to open or close.

[0043] See here Figure 2 As shown in the figure, when the monitored change value of the application amount exceeds the change threshold, the ECU controller sends signal data to the signal generator, and the signal data in RS232 format is output by the ECU controller. The signal data is converted by the RS232 to RS485 module and then transmitted to the signal generator. The signal generator sends a switch signal to the solenoid valve of the spray nozzle. The number of switch signals is determined according to the number of spray nozzles. Figure 2 If there are 18 spray nozzles, then the switch signal is 18 switch signals. After the battery valve receives the switch signal, it amplifies the module signal voltage and power through the MOS tube, thereby controlling the solenoid valve to open or close the spray nozzle. In this way, the ECU controller can output a smaller voltage, and the voltage is amplified for control when the solenoid valve is controlled, which can avoid heating of the ECU controller.

[0044] After the spray nozzle is opened or closed, the opening and closing volume data of the spray nozzle is collected. This opening and closing volume data is used to instruct the operation of the reflux proportional valve, thereby controlling the corresponding reflux volume to achieve pressure control of the spray system.

[0045] However, in the embodiment of the present invention, when the reflux proportional valve is used to adjust the reflux amount, since the reflux proportional valve has an inevitable response time, and during this period before the response, the adjustment value of the reflux amount to the pressure is small. Figure 3As shown in the figure, through the reflux flow adjustment, the pressure value (bar) of the spraying system drops very little in the first 1.2 (s) or so. However, after 1.2 (s), the pressure value (bar) drops significantly. If the reflux proportional valve is operated according to the normal process to adjust the reflux flow for pressure stabilization, the pressure control time will be extended and rapid pressure control cannot be achieved.

[0046] Based on this, the embodiment of the present invention adopts a method of operating the reflux proportional valve in advance. When the absolute value of the difference is less than the preset difference threshold, before the time difference of the pesticide application system sending the pesticide application instruction, the reflux proportional valve is operated in advance according to the preset stable pressure value. , operate the reflux proportional valve to adjust the reflux volume of the application system to control the pressure of the application system.

[0047] According to the above, there is an inevitable response time for the reflux proportional valve. This response time is the time difference between the pesticide application system and the pesticide application instruction, that is, the time required for the pesticide application system to make a pesticide application decision and issue a pesticide application instruction to execute the pesticide application operation, as shown in Figure 3. In the embodiment of the present invention, the time difference between the pesticide application system and the pesticide application instruction is Within a certain period of time, the current pressure value of the spraying system can only drop to the target pressure value, and the target pressure value is not less than 90% of the current pressure value. Therefore, the time difference between the spraying system sending the spraying instruction is the time required to drop the current pressure value of the spraying system to the target pressure value. During this time difference, the current pressure value of the spraying system can only drop to 90% at most. Figure 3 It can also be seen that in the time difference Inside, the pressure (bar) only drops from 3 to about 2.8.

[0048] If this time difference is crossed, before the time difference of the pesticide application system sending the pesticide application instruction, the reflux proportional valve is operated in advance to adjust the reflux volume of the pesticide application system according to the preset stable pressure value, that is, the signal data is sent to the signal generator in advance to control the solenoid valve to open or close the pesticide application nozzle. In this way, the time required for pressure adjustment can be shortened, and the pressure fluctuation amplitude value under the opening and closing number of the pesticide application nozzle can be reduced without affecting the reflux volume response time, so as to achieve rapid pressure stabilization control.

[0049] For details, please refer to Figure 4 , the time difference in issuing the pesticide application instruction under the pesticide application system Before, the pressure value is unchanged. At this time, the reflux proportional valve can be operated in advance to control the pressure. The pressure control has already started when the pressure drops slightly. After that, the pesticide application system has made a pesticide application decision and issued a pesticide application instruction to execute the pesticide application operation. Although the pressure increases rapidly, the pressure drop is very large at this time. After that, fast and stable control is achieved. In addition, under normal circumstances, that is, when the reflux proportional valve is not operated in advance, the pressure drop amplitude and speed are slower than when the reflux proportional valve is operated in advance. It can also be seen that operating the reflux proportional valve in advance can achieve faster and more effective pressure control.

[0050] After the pressure control of the spraying system is implemented, it is necessary to determine the amount of spraying after the pressure control in the spraying system , and the current application rate The difference between the two is calculated, and then the absolute value of the difference is compared with the amount of pesticide applied after pressure control. The ratio of is used as the dosage fluctuation value. When the dosage fluctuation value is less than the preset fluctuation threshold, it means that the pressure has stabilized and pressure control is stopped. When the dosage fluctuation value is still not less than the preset fluctuation threshold, it means that the pressure is still unstable, and the reflux proportional valve is continued to be operated for pressure control.

[0051] This fluctuation threshold is also preset based on prior knowledge, and is generally set to 0.05. The application rate fluctuation value is used to characterize the degree of pressure problems in the application system. The smaller the application rate fluctuation value, the more stable the pressure control.

[0052] Here you can continue to see Figure 5 As shown, during the execution of prescription medication or target medication, it is then determined whether the absolute value of the difference between the current reflux ratio and the target reflux ratio is less than 0.3. If so, the preset stable pressure value is used. , so that the reflux proportional valve moves in advance, adjusts the pressure fluctuation amplitude value, and then determines whether the dosage fluctuation value is greater than the amplitude threshold value, that is, determines Is it less than 0.05? If it is less than 0.05, it means the pressure is stable and the application continues. If it is not less than 0.05, it means the pressure is not stable and the reflux proportional valve continues to act in advance.

[0053] In some embodiments, although rapid pressure stabilization control is achieved by operating the reflux proportional valve in advance, as mentioned above, when adjusting the reflux proportional valve, it is necessary to send signal data to the multi-channel signal generator and collect the opening and closing amount data of the spray nozzle, which involves the transmission of signals and data and is easily affected by external abnormal factors. Therefore, in the spraying system, the embodiment of the present invention realizes the transmission of signals and data by broadcast communication, that is, the signal data transmission process and the opening and closing amount data collection process are realized by the broadcast communication of the spraying system. Considering that there are multiple signal generators and the signal data transmission is sent uniformly, the use of broadcast communication can enable all signal transmitters to receive signal data at the same time and select the data content they need and use, which can reduce the transmission time of signals and data and improve the response speed of the spraying system to pressure control.

[0054] In the embodiment of the present invention, when operating the reflux proportional valve in the pesticide application system for pressure control, the reflux proportional valve is operated in advance to adjust the reflux amount of the pesticide application system, that is, signal data is sent to the signal generator in advance to control the solenoid valve to open or close the pesticide application nozzle, which can shorten the time required for pressure adjustment, reduce the pressure fluctuation amplitude value under the opening and closing number of the pesticide application nozzle without affecting the reflux amount response time, and realize fast pressure stabilization control. And the signal data is sent through broadcast communication, which can further reduce the response time of pressure control.

[0055] Step 104, if the absolute value of the difference is not less than the difference threshold, before the time difference for the pesticide application system to issue the pesticide application instruction, operate the reflux proportional valve to adjust the reflux volume of the pesticide application system according to the preset stable pressure value, and adjust the speed value of the three-phase asynchronous motor to control the pressure of the pesticide application system.

[0056] In some embodiments, if the absolute value of the difference is not less than the preset difference threshold, it means that the reflux ratio that needs to be controlled is very large, and it is impossible to achieve fast and accurate pressure control by operating the reflux proportional valve in the pesticide application system to adjust the reflux amount. Therefore, in the embodiment of the present invention, when the absolute value of the difference is not less than the difference threshold, the speed value of the three-phase asynchronous motor is adjusted according to the stable pressure value, and the reflux proportional valve is operated to adjust the reflux amount of the pesticide application system within the time difference of the pesticide application system issuing the pesticide application instruction, so as to control the pressure of the pesticide application system. Here, on the basis of operating the reflux proportional valve in advance to adjust the reflux amount, the speed value of the three-phase asynchronous motor is further adjusted to assist the implementation system in performing stable pressure control.

[0057] Specifically, when the absolute value of the difference is not less than the preset difference threshold, first, before the time difference of the pesticide application system sending the pesticide application instruction, the reflux proportional valve is operated to adjust the reflux amount of the pesticide application system according to the preset stable pressure value. The specific process can refer to the above step 103, which is not repeated here. However, when operating the reflux proportional valve, the speed value of the three-phase asynchronous motor also needs to be adjusted.

[0058] Specifically, when operating the reflux proportional valve, the ECU controller will collect the opening and closing data of the spray nozzle through broadcast communication and perform statistical analysis. Figure 2 As shown in the figure, after the ECU controller statistically analyzes the opening and closing data, it sends an analog signal to the three-phase asynchronous motor. After the analog signal is processed by the frequency converter, it outputs a speed signal to the three-phase asynchronous motor. The three-phase asynchronous motor will adjust its own speed according to the speed signal. After the three-phase asynchronous motor reduces the speed, it provides power input to the diaphragm pump to adjust the power of the diaphragm pump, thereby reducing the flow rate of the pipeline, and combining with the reflux proportional valve to control the reflux volume, thereby achieving rapid and stable control of the pressure in the pipeline of the pesticide application system.

[0059] Here you can continue to see Figure 5 , determine whether the absolute value of the difference between the current reflux ratio and the target reflux ratio is less than 0.3. If not, it means that the absolute value of the difference is not less than the difference threshold. According to the preset stable pressure value , so that the reflux proportional valve moves in advance and adjusts the speed of the three-phase asynchronous motor to adjust the pressure fluctuation amplitude. The next step is to determine whether the application amount fluctuation value is greater than the amplitude threshold, that is, to determine whether the pressure fluctuation value is greater than the amplitude threshold. Is it less than 0.05? If not, the pressure is still not stable, and the reflux proportional valve continues to move in advance while adjusting the speed of the three-phase asynchronous motor. If it is less than, it means that the pressure has stabilized, so continue to apply the pesticide. Finally, determine whether to end the pesticide application operation. If not, continue to monitor the change in the amount of pesticide applied by the pesticide application system, and determine whether the absolute value of the difference between the current reflux ratio and the target reflux ratio is less than 0.3. If so, stop applying the pesticide.

[0060] In the embodiment of the present invention, when operating the reflux proportional valve in the pesticide application system for pressure control, the reflux proportional valve is operated in advance to adjust the reflux amount of the pesticide application system, and the speed value of the three-phase asynchronous motor is also adjusted. The voltage is stabilized by dual control of the operating motor and the reflux proportional valve, which effectively saves the response time of the voltage stabilization and makes the pressure regulation faster and more stable.

[0061] In some embodiments, although the voltage stabilization control of the pesticide application system can be achieved by adjusting the speed of the three-phase asynchronous motor and operating the reflux proportional valve. However, the range of adjustment and operation is generally in an optimal value range, that is, there is an optimal value range for the speed range of the three-phase asynchronous motor and the advance operation time range of the operation reflux proportional valve. The speed range of the three-phase asynchronous motor is expressed as (ΔRPM1, ΔRPM2, ΔRPM3), and the advance operation time range of the operation reflux proportional valve is (ΔT1, ΔT2, ΔT3, ΔT4, ΔT5). And the absolute value of the difference between the current reflux volume ratio and the preset target reflux volume ratio is related to the speed of the three-phase asynchronous motor and the advance operation time of the operation reflux proportional valve, which is explained in detail below.

[0062] First, according to the value range of the absolute value of the difference, the advance operation time of the reflux proportional valve and the speed value of the three-phase asynchronous motor can be reasonably set accordingly. Then, this setting is used as the pressure control standard to enable the spraying system to quickly and accurately reach a stable pressure value.

[0063] The specific settings are shown in the following table: Table 1:

[0064] If the absolute value (&) of the difference between the current reflux flow ratio and the preset target reflux flow ratio is less than the preset difference threshold (such as 0.3), the reflux proportional valve is operated in advance to achieve pressure stabilization control, and the absolute value of the difference and the advance action time of the reflux proportional valve are positively correlated. In other words, the larger the absolute value of the difference, the earlier the advance operation time of the reflux proportional valve (satisfying ΔT1<ΔT2), and vice versa, the smaller the absolute value of the difference, the later the advance operation time.

[0065] Correspondingly, if the absolute value of the difference between the current reflux flow ratio and the preset target reflux flow ratio is not less than the preset difference threshold, the voltage stabilization control is achieved by operating the reflux proportional valve in advance and adjusting the speed of the three-phase asynchronous motor, and the absolute value of the difference satisfies a positive correlation with the advance action time of the reflux proportional valve, and a negative correlation with the speed value of the three-phase asynchronous motor. In other words, the larger the absolute value of the difference, the earlier the advance operation time of the reflux proportional valve (satisfying ΔT3<ΔT4<ΔT5), and the slower the speed value of the three-phase asynchronous motor (satisfying ΔRPM1>ΔRPM2>ΔRPM3). On the contrary, the smaller the absolute value of the difference, the later the advance operation time of the reflux proportional valve, and the faster the speed value of the three-phase asynchronous motor.

[0066] The embodiment of the present invention, by planning the value interval of the absolute value of the difference between the current reflux flow ratio and the preset target reflux flow ratio, can reasonably set the speed adjustment amplitude of the three-phase asynchronous motor and the advance action time of the reflux proportioning valve in each value interval, thereby realizing more precise voltage stabilization control of the pesticide application system.

[0067] The voltage stabilizing device for dynamic changes in the dosage of medicine provided by the present invention is described below. The voltage stabilizing device for dynamic changes in the dosage of medicine described below and the voltage stabilizing method for dynamic changes in the dosage of medicine described above can be referred to each other.

[0068] like Figure 6 As shown, the voltage stabilizing device for dynamic changes in the dosage of the pesticide includes a calculation module 601 , a confirmation module 602 , and a pressure control module 603 . Specifically, the calculation module 601 is used to read sensor data from the pressure sensor and the flow sensor, and calculate the current dosage according to the sensor data when the drug application system applies drugs according to the drug application mode and monitors that the change value of the drug application amount exceeds the change threshold, wherein the drug application mode includes target drug application and prescription drug application; the determination module 602 is used to determine the current reflux volume ratio of the drug application system according to the current drug application amount, and determine the difference between the current reflux volume ratio and the preset target reflux volume ratio; the pressure control module 603 is used to operate the reflux proportional valve to adjust the reflux volume of the drug application system according to the preset stable pressure value before the drug application system issues the drug application instruction if the absolute value of the difference is less than the preset difference threshold, so as to control the pressure of the drug application system; the pressure control module 603 is also used to operate the reflux proportional valve to adjust the reflux volume of the drug application system according to the preset stable pressure value before the drug application system issues the drug application instruction if the absolute value of the difference is not less than the difference threshold, and adjust the speed value of the three-phase asynchronous motor to control the pressure of the drug application system.

[0069] It should be noted that the beneficial effects of the voltage stabilizing device for dynamic changes in the dosage here and the voltage stabilizing method for dynamic changes in the dosage mentioned above can correspond to each other, so the beneficial effects of the voltage stabilizing device for dynamic changes in the dosage will not be repeated here.

[0070] Figure 7 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 7As shown, the electronic device may include: a processor (processor) 710 , a communication interface (Communications Interface) 720 , a memory (memory) 730 and a communication bus 740 , wherein the processor 710 , the communication interface 720 , and the memory 730 communicate with each other through the communication bus 740 . The processor 710 can call the logic instructions in the memory 730 to execute a voltage stabilization method for dynamic changes in the dosage of medicine, the method comprising: when the medicine application system applies medicine according to the medicine application mode and monitors that the change value of the medicine application amount exceeds the change threshold, reading sensor data from the pressure sensor and the flow sensor, and calculating the current medicine application amount according to the sensor data, wherein the medicine application mode includes target medicine application and prescription medicine application; determining the current reflux volume ratio of the medicine application system according to the current medicine application amount, and determining the difference between the current reflux volume ratio and the preset target reflux volume ratio; if the absolute value of the difference is less than the preset difference threshold, before the medicine application system issues the time difference of the medicine application instruction, operate the reflux proportional valve to adjust the reflux volume of the medicine application system according to the preset stable pressure value to control the pressure of the medicine application system; if the absolute value of the difference is not less than the difference threshold, before the medicine application system issues the time difference of the medicine application instruction, operate the reflux proportional valve to adjust the reflux volume of the medicine application system according to the preset stable pressure value, and adjust the speed value of the three-phase asynchronous motor to control the pressure of the medicine application system.

[0071] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0072] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the voltage stabilization method for dynamic changes in the dosage provided by the above methods. The method includes: when the drug application system applies drugs according to the drug application mode and monitors that the drug application amount change value exceeds the change threshold, reading sensor data from the pressure sensor and the flow sensor, and calculating the current drug application amount based on the sensor data, wherein the drug application mode includes target drug application and prescription drug application; determining the current drug application amount based on the current drug application amount Determine the current reflux flow ratio of the pesticide application system, and determine the difference between the current reflux flow ratio and a preset target reflux flow ratio; if the absolute value of the difference is less than a preset difference threshold, before the time difference for the pesticide application system to issue a pesticide application instruction, operate the reflux flow ratio valve to adjust the reflux flow of the pesticide application system according to a preset stable pressure value, so as to perform pressure control on the pesticide application system; if the absolute value of the difference is not less than the difference threshold, before the time difference for the pesticide application system to issue a pesticide application instruction, operate the reflux flow ratio valve to adjust the reflux flow of the pesticide application system according to a preset stable pressure value, and adjust the speed value of the three-phase asynchronous motor to perform pressure control on the pesticide application system.

[0073] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the voltage stabilization method for dynamic changes in the dosage provided by the above-mentioned methods, the method comprising: when the dosage system applies drugs according to the dosage mode and monitors that the dosage change value exceeds the change threshold, reading sensor data from the pressure sensor and the flow sensor, and calculating the current dosage according to the sensor data, wherein the dosage mode includes target dosage and prescription dosage; determining the current reflux ratio of the dosage system according to the current dosage , and determine the difference between the current reflux flow ratio and the preset target reflux flow ratio; if the absolute value of the difference is less than the preset difference threshold, before the time difference for the pesticide application system to issue a pesticide application instruction, the reflux proportional valve is operated to adjust the reflux flow of the pesticide application system according to the preset stable pressure value to perform pressure control on the pesticide application system; if the absolute value of the difference is not less than the difference threshold, before the time difference for the pesticide application system to issue a pesticide application instruction, the reflux proportional valve is operated to adjust the reflux flow of the pesticide application system according to the preset stable pressure value, and the speed value of the three-phase asynchronous motor is adjusted to perform pressure control on the pesticide application system.

[0074] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0075] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A voltage stabilization method for dynamic changes in dosage, characterized in that: The method comprises: When the drug application system applies drugs according to the drug application mode and monitors that the drug application amount change value exceeds the change threshold, sensor data is read from the pressure sensor and the flow sensor, and the current drug application amount is calculated according to the sensor data, wherein the drug application mode includes target drug application and prescription drug application; Determine the current reflux ratio of the pesticide application system according to the current pesticide application amount, and determine the difference between the current reflux ratio and a preset target reflux ratio; If the absolute value of the difference is less than the preset difference threshold, before the time difference for the pesticide application system to issue a pesticide application instruction, the reflux proportional valve is operated to adjust the reflux volume of the pesticide application system according to the preset stable pressure value, so as to control the pressure of the pesticide application system; If the absolute value of the difference is not less than the difference threshold, before the time difference for the pesticide application system to issue a pesticide application instruction, the reflux proportional valve is operated to adjust the reflux volume of the pesticide application system according to the preset stable pressure value, and the speed value of the three-phase asynchronous motor is adjusted to control the pressure of the pesticide application system.

2. The voltage stabilization method for dynamic changes in dosage according to claim 1, characterized in that: The time difference for the pesticide application system to issue a pesticide application instruction is the time required to reduce the current pressure value of the pesticide application system to a target pressure value, and the target pressure value is not less than 90% of the current pressure value.

3. The voltage stabilization method for dynamic changes in the dosage of pesticides according to claim 1, characterized in that: If the absolute value of the difference is less than the preset difference threshold, the absolute value of the difference and the advance action time of the operating reflux proportional valve satisfy a positive correlation relationship; If the absolute value of the difference is not less than the preset difference threshold, the absolute value of the difference has a positive correlation with the advance action time of the operating reflux proportional valve and has a negative correlation with the rotation speed of the three-phase asynchronous motor.

4. The voltage stabilization method for dynamic changes in dosage according to claim 1, characterized in that: After the pressure of the pesticide application system is controlled, the method further comprises: Determine the difference between the amount of pesticide applied after pressure control is performed in the pesticide application system and the current amount of pesticide applied; The ratio of the absolute value of the difference value to the amount of application after the pressure control is used as the fluctuation value of the amount of application; When the dosage fluctuation value is less than a preset fluctuation threshold, the pressure control is stopped.

5. The voltage stabilization method for dynamic changes in the dosage of pesticides according to claim 1, characterized in that: After the monitored change in the amount of pesticide applied exceeds a change threshold, the method further includes: Sending signal data to a multi-channel signal generator, wherein the signal data is used to instruct the multi-channel signal generator to send a switch signal to the solenoid valve of the spray nozzle, and the switch signal is used to control the spray nozzle to open or close; After the spray nozzle is opened or closed, the opening and closing amount data of the spray nozzle is collected, wherein the opening and closing amount data is used to indicate the operation of the reflux proportional valve and the adjustment of the speed value of the three-phase asynchronous motor.

6. The voltage stabilization method for dynamic changes in the dosage of pesticides according to claim 5, characterized in that: The signal data transmission process and the opening and closing amount data collection process are realized through the broadcast communication of the pesticide application system.

7. A voltage stabilizing device for dynamic changes in the amount of pesticide applied, characterized in that: The device comprises: A calculation module, used for reading sensor data from a pressure sensor and a flow sensor when the drug application system applies drugs according to a drug application mode and monitoring that a drug application amount change value exceeds a change threshold, and calculating a current drug application amount according to the sensor data, wherein the drug application mode includes target drug application and prescription drug application; A determination module, used to determine a current reflux ratio of the pesticide application system according to the current pesticide application amount, and determine a difference between the current reflux ratio and a preset target reflux ratio; The pressure control module is used to operate the reflux proportional valve to adjust the reflux volume of the pesticide application system according to the preset stable pressure value before the pesticide application system issues a pesticide application instruction if the absolute value of the difference is less than a preset difference threshold value, so as to control the pressure of the pesticide application system; The pressure control module is also used to operate the reflux proportional valve to adjust the reflux volume of the pesticide application system and adjust the speed value of the three-phase asynchronous motor according to a preset stable pressure value before the time difference for the pesticide application system to issue a pesticide application instruction if the absolute value of the difference is not less than the difference threshold, so as to control the pressure of the pesticide application system.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the voltage stabilization method for dynamic changes in the dosage of the drug is implemented as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the voltage stabilization method for dynamic changes in the dosage of the drug is implemented as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the voltage stabilization method for dynamic changes in the dosage of the drug is implemented as described in any one of claims 1 to 6.

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