An ultrasonic atomization dust removal device system and control method

Abstract

The present invention discloses an ultrasonic atomization dust removal device system and a control method, which relate to the technical field of dust atomization and dust reduction. The present invention configures a main sprayer above the dust operation area at a fixed position to perform ultrasonic atomization dust reduction on the dust operation area, installs a lifting base frame outside the dust operation area, and installs a lifting distance sensing component at the top of the lifting base frame. Through the ring-position photoelectric probes distributed in multiple circles and multiple position points of the lifting distance sensing component, the escaped dust beyond the spray dust reduction range of the main sprayer is monitored, and the spray position of the auxiliary sprayer is adjusted through the rotary drive component and the servo lifting device, and the spray intensity of the auxiliary sprayer is linearly controlled according to the real-time spray distance, thereby filling the spray "blind area" of the main sprayer, greatly reducing the adhesion and damage of the dust escaping everywhere in the dust operation area to the surrounding equipment, and also effectively reducing the physical damage to the surrounding operating personnel.

Description

Technical Field

[0001] The present invention relates to the technical field of dust atomization and dust reduction, and particularly to an ultrasonic atomization dust removal device system and a control method thereof. Background Art

[0002] Pneumoconiosis is a systemic disease mainly characterized by diffuse fibrosis of the lung tissue, which is caused by long-term inhalation of productive mineral dust in occupational activities and deposition in the lungs. The International Labour Organization (ILO) defines pneumoconiosis as the accumulation of dust in the lungs and the body's reaction to the presence of dust. Patients may be asymptomatic in the early stage, and typical respiratory symptoms include coughing, expectoration, and dyspnea.

[0003] In order to reduce the amount of various dusts during the production operation process, ultrasonic atomization dust reduction methods are now adopted in many production operation scenarios to reduce the amount of dust. However, during the actual production operation process, the dust generated in the operation area of the equipment will spread to the surrounding areas. When the ultrasonic atomizer sprays, the covered area is limited, and the dust escapes outward at some positions. The ultrasonic atomizer cannot effectively atomize and remove the dust at these positions, resulting in the equipment around the dust operation area being affected by the "escaping" dust, and the operating personnel around the dust operation area will also be affected.

[0004] In addition, in the above several cases, the dust operation area is generally relatively fixed. Therefore, in some scenarios where the dust operation area is relatively fixed, how to reduce the adverse effects of the "escaping" dust on the surrounding equipment and operating personnel has become a problem to be solved. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide an ultrasonic atomization dust removal device system and a control method thereof, so as to fill the spray "blind area" of the main sprayer, greatly reduce the adhesion and damage of the dust escaping everywhere in the dust operation area to the surrounding equipment, and also effectively reduce the physical damage to the surrounding operating personnel.

[0006] To solve the above technical problems, the present invention is realized through the following technical solutions:

[0007] The present invention provides an ultrasonic atomization dust removal device system, which includes a main sprayer located directly above the dust area. Two lifting frames are installed outside the dust area, and the two lifting frames are symmetrically distributed outside the dust area. Among them, a ring-shaped lifting distance sensing component is fixedly installed at the upper ends of the two lifting frames. The lifting distance sensing component is provided with multiple concentrically distributed ring position photoelectric probes in multiple circles. The number of ring position photoelectric probes in each circle is the same, and the ring position photoelectric probes in each circle simultaneously detect downward to form a detection ring area.

[0008] Each lifting base frame is provided with a lifting area, and the lifting area is configured with a rotation driving component. The rotation driving component includes a servo motor with an output shaft vertically upward, and a vertical shaft rod connected to the output shaft of the servo motor. The vertical shaft rod includes a section of square rod, and a travel tooth opening is provided on one vertical surface of the square rod. A lifting sleeve is sleeved on the square rod, and an auxiliary sprayer is fixedly installed on the front side of the lifting sleeve facing the dust area. Among them, a plurality of spray heads are arranged from top to bottom on the front side of the auxiliary sprayer facing the dust area.

[0009] A servo lifting device is fixedly installed on one side of the lifting sleeve, and an arcuate positioning plate is fixedly installed on the other side of the lifting sleeve. Among them, the servo lifting device is provided with a driving gear that extends into the lifting sleeve and meshes with the travel tooth opening, and a distance sensor for detecting the distance to the positioning plate downward is provided on the top side of the lifting base frame.

[0010] As a preferred technical solution of the device of the present invention: The lifting distance sensing component is also provided with a load reduction empty groove that intersects with the position of the ring position photoelectric probe.

[0011] As a preferred technical solution of the device of the present invention: A top frame is provided at the upper end of the lifting base frame, and the lifting distance sensing component is fixedly installed on the lower side of the top frames of the two lifting base frames.

[0012] As a preferred technical solution of the device of the present invention: A top bearing is provided at the top end of the lifting base frame, and the upper side end of the vertical shaft rod is connected to the top bearing.

[0013] As a preferred technical solution of the device of the present invention: The lifting sleeve is provided with a vertically penetrating square groove that matches the square rod, and a horizontal through groove is provided on the circumferential side of the lifting sleeve, and the driving gear of the servo lifting device passes through the horizontal through groove.

[0014] As a preferred technical solution of the device of the present invention: The central axis of the arcuate positioning plate is collinear with the axis of the vertical shaft rod, and the positioning plate is flush with the spray head at the middle position of the auxiliary sprayer.

[0015] The present invention provides a control method for an ultrasonic atomization dust removal device system, including the following content:

[0016] S1. After dust appears in the dust area, the main sprayer sprays ultrasonic atomization downward. When the distances detected by all the ring position photoelectric probes meet the ground distance H preset by the system D At this time, the auxiliary sprayers on both sides of the dust area do not perform spraying work. In addition, a normal dust atomization area in the shape of a "circle" is formed inside the detection ring area;

[0017] S2. When there is a distance detected by a ring position photoelectric probe that is less than the ground distance H preset by the system DWhen the system analyzes the position of the annular position photoelectric probe, the servo lifting device drives the lifting sleeve and the auxiliary sprayer to reach the horizontal height where the annular position photoelectric probe is located. The servo motor drives the auxiliary sprayer to rotate, so that the spraying direction of the spray head of the auxiliary sprayer faces downward to the signal occlusion position detected by the annular position photoelectric probe.

[0018] Among them, the system analyzes the distance between the spray head of the auxiliary sprayer and the signal occlusion position detected downward by the annular position photoelectric probe, denoted as L. Then, there is a relationship between the spraying intensity P of the auxiliary sprayer and the distance L: F(P) ∝ F(L).

[0019] S3. When the distances detected by multiple annular position photoelectric probes in the same layer at the same time are less than the preset ground distance H of the system D At this time, in the order of the detected distances from small to large, the servo lifting device drives the auxiliary sprayer to adjust the height position. When reaching the signal occlusion position detected downward by each annular position photoelectric probe, the servo motor drives the auxiliary sprayer to rotate, so that the spraying direction of the spray head faces downward to the signal occlusion position detected by the annular position photoelectric probe.

[0020] If there are multiple annular position photoelectric probes detecting the same signal occlusion distance, when the servo motor drives the auxiliary sprayer to rotate, the fixed-point spraying movement is carried out in the order from near to far.

[0021] If multiple annular position photoelectric probes detect the same signal occlusion distance and the distance between the signal occlusion position and the spray head is also the same, then based on the position of the auxiliary sprayer, according to the principle of giving priority to the side with more annular position photoelectric probes with signal occlusion on the same side, the auxiliary sprayer turns and sprays. After completing the spraying on one side, it turns to the other side for spraying.

[0022] S4. When the distances detected by the annular position photoelectric probes in different layers at the same time are less than the preset ground distance H of the system D At this time, the system drives and controls the auxiliary sprayer to spray preferentially on the position where the annular position photoelectric probe in the outer layer detects signal occlusion downward.

[0023] Compared with the existing technology, the beneficial effects of the present invention are:

[0024] In the present invention, a main sprayer is configured above the dust operation area at the immobilization position to perform ultrasonic atomization dust reduction on the dust operation area. A lifting base frame is installed around the dust operation area, and a lifting distance sensing component is installed at the top of the lifting base frame. Through the ring-position photoelectric probes distributed in multiple circles and multiple position points of the lifting distance sensing component, the escaped dust beyond the spray dust reduction range of the main sprayer is monitored. The spray position of the auxiliary sprayer is adjusted through the rotary drive component and the servo lifting device, and the spray intensity of the auxiliary sprayer is linearly controlled according to the real-time spray distance, thereby filling the spray "blind area" of the main sprayer, greatly reducing the adhesion and damage of the dust escaping everywhere in the dust operation area to the surrounding equipment (dust enters the interior of the surrounding equipment, affecting the normal operation of the surrounding equipment), and also effectively reducing the physical damage to the surrounding operators. Description of the Drawings

[0025] Figure 1 It is a schematic diagram of the overall distribution of the ultrasonic atomization dust removal device in the present invention.

[0026] Figure 2 It is a schematic diagram of the lifting base frame, rotary drive component, lifting sleeve, servo lifting device, positioning plate, and distance sensor in the present invention.

[0027] Figure 3 It is a schematic diagram of the lifting sleeve, auxiliary sprayer, and positioning plate in the present invention.

[0028] Figure 4 It is a schematic diagram of the lifting distance sensing component (viewed from below) in the present invention.

[0029] Figure 5 It is a schematic diagram of the initial position of the auxiliary sprayer in the present invention.

[0030] Figure 6 It is a schematic diagram of the auxiliary sprayer when adjusting the position and spraying towards the dust-exceeding area S1 in the present invention.

[0031] Figure 7 It is a schematic diagram of the auxiliary sprayer when adjusting the position and spraying from the dust-exceeding area S1 to the dust-exceeding area S2 in the present invention.

[0032] Among them: 1 - main sprayer; 2 - lifting base frame, 201 - lifting area, 202 - top frame; 3 - lifting distance sensing component, 301 - ring position photoelectric probe, 302 - detection ring area, 303 - load reduction empty slot; 4 - rotation drive component, 401 - servo motor, 402 - vertical shaft rod, 403 - square rod, 404 - stroke tooth opening, 405 - top bearing; 5 - lifting sleeve, 501 - square groove; 6 - servo lifting device, 601 - drive gear; 7 - auxiliary sprayer, 701 - spray head, 702 - feed pipe; 8 - positioning plate; 9 - distance sensor; S1, S2 - dust over - limit areas. Detailed implementation mode

[0033] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0034] Embodiment 1: The present invention relates to an ultrasonic atomization dust removal device system, mainly including structures such as a main sprayer 1, a lifting base frame 2, a lifting distance sensing component 3, a rotation drive component 4, an auxiliary sprayer 7, etc. The specific structural features are as follows:

[0035] Please refer to Figure 1 、 Figure 4 、 Figure 5 , the main sprayer 1 is installed directly above the dust area. There are two lifting base frames 2, symmetrically distributed around the dust area. The lifting distance sensing component 3 is of a ring structure and is fixedly installed on the lower side of the top frame 202 at the upper ends of the two lifting base frames 2.

[0036] The lifting distance sensing component 3 is provided with multi - layer ring position photoelectric probes 301. The number of ring position photoelectric probes 301 in each layer is the same, and the ring position photoelectric probes 301 in each layer are distributed in a concentric circle manner. The ring position photoelectric probes 301 in each layer simultaneously detect downward to form a detection ring area 302.

[0037] Please refer to Figure 2 , the inner side of the lifting base frame 2 forms a lifting area 201. The rotation drive component 4 is installed in the lifting area 201. The rotation drive component 4 includes a servo motor 401 at the bottom. The output shaft of the servo motor 401 is vertically upward. The upper end of the output shaft of the servo motor 401 is connected to a vertical shaft rod 402. There is a top bearing 405 at the top of the lifting base frame 2. The upper side end of the vertical shaft rod 402 is connected to the top bearing 405. A section of square rod 403 is provided on the vertical shaft rod 402, and a stroke tooth opening 404 is provided on one vertical surface of the square rod 403.

[0038] The lifting sleeve 5 is provided with a vertically penetrating square groove 501 that cooperates with the square rod 403. The lifting sleeve 5 is sleeved on the square rod 403. A servo lifting device 6 is fixedly installed on one side of the lifting sleeve 5, and an arcuate positioning plate 8 is fixedly installed on the other side of the lifting sleeve 5.

[0039] A horizontal through groove is opened on the circumferential side of the lifting sleeve 5. The driving gear 601 of the servo lifting device 6 passes through the horizontal through groove. The driving gear 601 of the servo lifting device 6 extends into the lifting sleeve 5 and meshes with the stroke tooth opening 404.

[0040] The distance sensor 9 is installed on the top side of the lifting base 2, and the distance sensor 9 detects downward the distance of the positioning plate 8.

[0041] Please refer to Figure 2 、 Figure 3 As shown in, a lifting sleeve 5 is sleeved on the square rod 403. An auxiliary sprayer 7 is fixedly installed on the front side of the lifting sleeve 5 facing the dust area. A plurality of spray heads 701 are arranged from top to bottom on the front side of the auxiliary sprayer 7 facing the dust area. The auxiliary sprayer 7 is also connected to a feed pipe 702. The feed pressure or feed rate of the feed pipe 702 is controlled by a feeding device and a feed pump upstream of the feed pipe. When the auxiliary sprayer 7 needs to spray with "high pressure", the feeding device and the feed pump synchronously increase the supply pressure. When the auxiliary sprayer 7 needs to spray with "low pressure", the feeding device and the feed pump synchronously reduce the supply pressure..

[0042] The central axis of the arcuate positioning plate 8 is collinear with the axis of the vertical shaft rod 402. The positioning plate 8 is flush with the spray head 701 at the middle position between the positioning plate 8 and the auxiliary sprayer 7, that is, the spray head 701 at the middle position among the plurality of spray heads 701 is aligned with the positioning plate 8. The distance sensor 9 detects the distance of the positioning plate 8, that is, the distance of the spray head 701 at the middle position of the auxiliary sprayer 7.

[0043] Please refer to Figure 4 As shown in, the lifting distance sensing assembly 3 is also provided with a plurality of weight reduction empty grooves 303. The weight reduction empty grooves 303 and the circumferential position optical probe 301 are distributed alternately with each other, thus greatly reducing the weight of the lifting distance sensing assembly 3 itself and reducing the load on the lifting base 2.

[0044] Embodiment 2: The present invention relates to a control method for an ultrasonic atomization dust removal device system, including the following contents:

[0045] First, after dust appears in the dust area, the main sprayer 1 sprays downward by ultrasonic atomization. When the distances detected by all the circumferential position optical probes 301 meet the ground distance H preset by the system D When this happens, the auxiliary sprayers 7 on both sides of the dust area do not perform spraying work. In addition, a normal dust atomization area in the shape of a "circle" is formed inside the detection ring area 302. Among them, the ground distance H preset by the system D, which can be the distance between the annular photoelectric probe 301 and the ground. When the distance detected by the annular photoelectric probe 301 conforms to this parameter, it indicates that the annular photoelectric probe 301 does not detect a dust occlusion signal downward.

[0046] Case 1: When the distance detected by one annular photoelectric probe 301 is less than the preset ground distance H of the system D The system analyzes the position of the annular photoelectric probe 301. The servo lifting device 6 drives the lifting sleeve 5 and the auxiliary sprayer 7 to reach the horizontal height where the annular photoelectric probe 301 is located (the distance sensor 9 detects the distance of the positioning plate 8 to complete this operation). The servo motor 401 drives the auxiliary sprayer 7 to rotate so that the spraying direction of the spray head 701 of the auxiliary sprayer 7 faces the signal occlusion position detected downward by the annular photoelectric probe 301. In fact, it is the dust misting area that has escaped dust and blocked the signal detected downward by the annular photoelectric probe 301, resulting in the distance detected by the annular photoelectric probe 301 being less than the preset ground distance H of the system. D At this time, the auxiliary sprayer 7 reaches the horizontal height position where the escaped dust is located, and the spray head 701 of the auxiliary sprayer 7 points to the position where the escaped dust is located to spray and atomize the escaped dust for dust reduction.

[0047] Among them, the system analyzes the distance between the spray head 701 of the auxiliary sprayer 7 and the signal occlusion position detected downward by the annular photoelectric probe 301, denoted as L. Then, there is a relationship between the spray intensity P of the auxiliary sprayer 7 and the distance L: FP∝FL, that is, the parameter value of the spray intensity P is positively correlated with the parameter value of the distance L. The larger the distance L, the greater the spray intensity P.

[0048] Case 2: When the distances detected by multiple annular photoelectric probes 301 in the same layer are simultaneously less than the preset ground distance H of the system D The servo lifting device 6 drives the auxiliary sprayer 7 to adjust the height position in the order of the detected distances from small to large. When reaching the signal occlusion position detected downward by each annular photoelectric probe 301, the servo motor 401 drives the auxiliary sprayer 7 to rotate so that the spraying direction of the spray head 701 faces the signal occlusion position detected downward by the annular photoelectric probe 301.

[0049] Special case 1 in Case 2: If the distances at which multiple ring-position photoelectric probes 301 detect signal occlusion are the same, when the servo motor 401 drives the auxiliary sprayer 7 to rotate, fixed-point spray movement is performed in the order from near to far. That is, when multiple ring-position photoelectric probes 301 in the same circle layer detect dust over-limit, spray dust reduction is carried out on these floating dusts in the spraying method from top to bottom and from near to far. "Fixed-point spray movement": It means that after moving to a spray position, one spray is completed, and then move to the next spray position for the next spray, and so on for the spray and movement process.

[0050] Special case 2 in Case 2: If the distances at which multiple ring-position photoelectric probes 301 detect signal occlusion are the same and the distances between the signal occlusion positions and the spray head 701 are also the same, based on the position of the auxiliary sprayer 7, according to the principle of giving priority to the side with a larger number of ring-position photoelectric probes 301 with signal occlusion on the same side, the auxiliary sprayer 7 turns and sprays. After completing the spraying on one side, it turns to the other side for spraying. In fact, when the spray distances are the same, spray on the side with more spray positions first, and after completing the spraying on the side with a larger number of spray positions, then spray on the side with fewer spray positions.

[0051] Case 3: When the distances simultaneously detected by the ring-position photoelectric probes 301 in different circle layers are less than the preset ground distance H of the system D then the system drives and controls the auxiliary sprayer 7 to give priority to spraying at the positions where the external circle layer ring-position photoelectric probes 301 detect signal occlusion downward. This is easy to understand. When the ring-position photoelectric probes 301 in the inner and outer circle layers both detect dust occlusion signals, first spray and atomize the floating dust farther from the normal dust atomization area, and then spray and atomize the floating dust closer to the normal dust atomization area. Combining Figure 5 、 Figure 6 、 Figure 7 the external circle layer ring-position photoelectric probe 301 detects the dust over-limit area S1, and the inner circle layer ring-position photoelectric probe 301 detects the dust over-limit area S2. The auxiliary sprayer 7 first sprays on the dust over-limit area S1, and then turns to the dust over-limit area S2 and sprays towards the dust over-limit area S2.

[0052] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An ultrasonic atomization dust removal device system, characterized in that: It comprises a main sprayer (1) located directly above the dust area, and two lifting base frames (2) are installed on the periphery of the dust area, and the two lifting base frames (2) are symmetrically distributed on the periphery of the dust area; Wherein, an annular lifting distance sensor assembly (3) is fixedly mounted on the upper ends of the two lifting base frames (2), and the lifting distance sensor assembly (3) is provided with a plurality of layers of annular photoelectric probes (301) distributed in a concentric circle manner, and the number of annular photoelectric probes (301) in each layer is the same, and the annular photoelectric probes (301) in each layer simultaneously perform downward detection to form a detection ring area (302); Each lifting base frame (2) is provided with a lifting area (201), and the lifting area (201) is equipped with a rotary drive assembly (4), and the rotary drive assembly (4) comprises a servo motor (401) with an output shaft vertically facing upward, and a vertical shaft (402) connected to the output shaft of the servo motor (401), and the vertical shaft (402) comprises a square rod (403), and a vertical surface of the square rod (403) is provided with a travel tooth opening (404); The square rod (403) is sleeved with a lifting sleeve (5), and an auxiliary sprayer (7) is fixedly mounted on the front side of the lifting sleeve (5) facing the dust area; Wherein, the auxiliary sprayer (7) is provided with a plurality of spray heads (701) from top to bottom on the front side facing the dust area; A servo lifting device (6) is fixedly mounted on one side of the lifting sleeve (5), and a bow-shaped positioning plate (8) is fixedly mounted on the other side of the lifting sleeve (5); Wherein, the servo lifting device (6) is provided with a driving gear (601) extending into the lifting sleeve (5) and meshing with the travel tooth opening (404); Wherein, a distance sensor (9) for detecting the distance of the positioning plate (8) downwards is provided on the top side of the lifting base frame (2).

2. The ultrasonic atomization dust removal device system according to claim 1, characterized in that: The lifting distance sensor assembly (3) is also provided with a load-reducing slot (303) which is interlaced with the position of the ring-shaped photoelectric probe (301).

3. The ultrasonic atomization dust removal device system according to claim 1, characterized in that: A top frame (202) is arranged at the upper end of the lifting base frame (2), and the lifting distance sensor assembly (3) is fixedly mounted on the lower side of the top frames of the two lifting base frames (2).

4. The ultrasonic atomization dust removal device system according to claim 1, characterized in that: A top bearing (405) is provided at the top of the lifting base frame (2), and the upper side end of the vertical shaft (402) is connected to the top bearing (405).

5. The ultrasonic atomization dust removal device system according to claim 1, characterized in that: The lifting sleeve (5) is provided with a vertically penetrating square groove (501) that matches the square rod (403), and a horizontal through groove is provided on the ring side of the lifting sleeve (5), and a driving gear (601) of the servo lifting device (6) passes through the horizontal through groove.

6. The ultrasonic atomization dust removal device system according to claim 1, characterized in that: The center axis of the arcuate positioning plate (8) is colinear with the axis center line of the vertical shaft (402), and the positioning plate (8) is flush with the spray head (701) at the middle position of the auxiliary sprayer (7).

7. A control method for an ultrasonic atomization dust removal device system, characterized in that: An ultrasonic atomization dust removal device system according to any one of claims 1 to 6, comprising the following contents: S1. After dust appears in the dust area, the main sprayer (1) performs ultrasonic atomization spraying downward. When the distance detected by all the ring photoelectric probes (301) meets the ground distance H preset by the system, D When the auxiliary sprayers (7) on both sides of the dust area do not perform spraying, a "circular" normal dust atomization area is formed inside the detection ring area (302); S2. When there is a ring photoelectric sensor (301) detecting a distance less than the ground distance H preset by the system D When the system analyzes the position of the annular photoelectric probe (301), the servo lifting device (6) drives the lifting sleeve (5) and the auxiliary sprayer (7) to reach the horizontal height of the annular photoelectric probe (301), and the servo motor (401) drives the auxiliary sprayer (7) to rotate, so that the spray head (701) of the auxiliary sprayer (7) sprays downward toward the annular photoelectric probe (301) to detect the signal blocking position; The system analyzes the distance between the spray head (701) of the auxiliary sprayer (7) and the position where the signal is blocked downwardly detected by the ring-type photoelectric probe (301), which is recorded as L. Then, there is a relationship between the spray intensity P of the auxiliary sprayer (7) and the distance L: F(P)∝F(L); S3. When there are multiple photoelectric sensors (301) in the same circle and the distance detected at the same time is less than the ground distance H preset by the system D When the servo lifting device (6) drives the auxiliary sprayer (7) to adjust the height position in the order of the detection distance from small to large, each time when the ring position photoelectric probe (301) detects a signal blocking position downward, the auxiliary sprayer (7) is driven to rotate by the servo motor (401) so that the spray direction of the spray head (701) is toward the ring position photoelectric probe (301) detecting a signal blocking position downward; If there are multiple ring-shaped photoelectric probes (301) that detect the same signal shielding distance, the servo motor (401) drives the auxiliary sprayer (7) to rotate, and the fixed-point spraying movement is performed in the order from near to far; If the multiple ring-position photoelectric probes (301) detect that the distance of signal blocking is the same and the distance between the signal blocking position and the spray head (701) is also the same, then the auxiliary sprayer (7) is used as a reference, and the auxiliary sprayer (7) is turned and sprayed according to the principle of priority on the side with a larger number of ring-position photoelectric probes (301) with signal blocking on the same side. After spraying on one side, it is turned to the other side for spraying; S4. When the distance detected by the photoelectric sensors (301) of different layers at the same time is less than the ground distance H preset by the system D When the signal is blocked, the system controls the auxiliary sprayer (7) to spray preferentially at the position where the outer ring photoelectric probe (301) detects signal blocking downward.

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