Mechanism for improving pesticide application uniformity of grain storage pesticide application machine and control method thereof

Abstract

The invention discloses a mechanism for improving pesticide application uniformity of a grain storage pesticide application machine and a control method of the mechanism. The mechanism comprises a grain storage micro-spraying pesticide application box shell; the plurality of motors are mounted in the grain storage micro-spraying pesticide box shell; the blades are sequentially lapped end to end to form an annular opening, and the blades and the motors are arranged in a one-to-one correspondence mode; wherein one end of each blade is connected with the output end of the corresponding motor, the other end of each blade is provided with an arc-shaped hole, and each blade is in sliding connection with the output end of the motor connected with the adjacent blade through the arc-shaped hole; the spherical surface of the grain distributing hemisphere is upward; the grain distribution hemisphere and a grain collection port of the grain storage micro-spraying pesticide machine are coaxially arranged in the center of the interior of the grain storage micro-spraying pesticide box shell; an annular opening formed by the blades is coaxially formed right above the grain dividing hemisphere; one end of each gravity detection sensor is connected with the outer edge of the grain distribution hemisphere, and the other end of each gravity detection sensor is connected with the grain storage micro-spraying pesticide box shell.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a mechanism for improving the uniformity of pesticide application of a grain storage pesticide application machine and a control method thereof. Background Art

[0002] The diameter of the grain collecting port of the existing grain storage micro-spraying machine is fixed. When the grain does not reach the rated flow rate, the grain-dividing ball will slide down, resulting in waste of liquid medicine and uneven spraying. The atomizing nozzles on the grain storage micro-spraying machine are arranged to spray liquid medicine on the grain in four opposite directions, which requires the grain-dividing hemisphere to disperse the grain flow as much as possible. If the grain-dividing hemisphere wants to divide the grain evenly, the grain flow should fall directly above the hemisphere as much as possible. Only then can the grain-dividing hemisphere achieve a good grain-dividing effect and evenly spray the liquid medicine into the stored grain without wasting the liquid medicine. However, when the grain does not reach the rated flow rate, the grain will deviate from the grain-dividing hemisphere due to the conveyor belt flow rate, placement position, etc., and slide down one side of the grain-dividing hemisphere, causing the nozzles in other directions to be unable to apply medicine to the grain. Not only does it fail to meet the pesticide application standard, the pesticide application to the grain is uneven, and the pesticide industry is wasted. Summary of the invention

[0003] The purpose of the present invention is to provide a mechanism for improving the uniformity of pesticide application by a grain storage pesticide applicator and a control method thereof, which can achieve uniform dispersion of grain flow and uniform spraying of pesticide solution, improve the pesticide application effect and reduce the waste of pesticide solution.

[0004] The technical solution provided by the present invention is:

[0005] A mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator, comprising:

[0006] Shell of grain storage micro-spraying medicine box;

[0007] A plurality of motors are installed in the housing of the grain storage micro-spraying box;

[0008] A plurality of blades, the ends of which are overlapped in sequence to form a ring-shaped opening, and the blades are arranged in a one-to-one correspondence with the motors;

[0009] One end of the blade is connected to the output end of the motor, and the other end of the blade is provided with an arc hole, through which the blade is slidably connected to the output end of the motor connected to the adjacent blade;

[0010] The grain-distributing hemisphere has a spherical surface facing upward; the grain-distributing hemisphere is coaxially arranged at the center of the inner shell of the grain-storage micro-spraying machine with the grain-collecting port of the grain-storage micro-spraying machine;

[0011] Wherein, the annular opening formed by the blades is coaxially arranged just above the grain distributing hemisphere;

[0012] A plurality of gravity detection sensors are provided, one end of which is connected to the outer edge of the grain-distributing hemisphere, and the other end of which is connected to the shell of the grain-storage micro-spraying box.

[0013] Preferably, the number of the motor and the number of the blades are both four, and the output end of the motor is connected to the blades via a coupling.

[0014] Preferably, the shape of the blade is composed of a first arcuate edge, a second arcuate edge and a third arcuate edge, one end of the first arcuate edge is connected to one end of the second arcuate edge, a sharp angle is formed at the connection, the sharp angle is connected to the output end of the motor through the coupling, the two ends of the third arcuate edge are respectively connected to the other end of the first arcuate edge and the other end of the second arcuate edge, and the arc hole is arranged parallel to the third arcuate edge.

[0015] Preferably, the number of the gravity detection sensors is four, which are evenly arranged on the outer edge of the grain distribution hemisphere.

[0016] Preferably, it also includes:

[0017] A grain buffer box, the lower end of which is connected to the upper end of the grain storage micro-spraying box shell;

[0018] There are four S-type weighing sensors, which are evenly arranged at the connection between the grain buffer box and the shell of the grain storage micro-spraying box.

[0019] Preferably, one end of the gravity detection sensor is fixedly connected to the outer edge of the grain distribution hemisphere via a right-angle connecting angle piece; the other end of the gravity detection sensor is fixedly connected to one end of the sensor bracket; and the other end of the sensor bracket is connected to the shell of the grain storage micro-spraying box via a support rod.

[0020] Preferably, it also includes:

[0021] The atomizing nozzle is coaxially arranged directly below the grain distributing hemisphere; the atomizing nozzle is a cross structure, spraying liquid medicine in four directions at the same time; the atomizing nozzle is connected to the liquid medicine tank through a spraying pipe;

[0022] A pesticide application flow regulating valve is arranged on the spraying pipe.

[0023] Preferably, a control method for a mechanism for improving the uniformity of pesticide application by a stored grain pesticide applicator comprises:

[0024] By setting the target buffer weight in the upper computer and recording the measured value of the S-type weighing sensor, the incremental PID control method is used to control the rotation direction and angle of the motor, and the motor drives the blade to rotate, and the size of the annular opening formed by the blade is adjusted, thereby adjusting the flow rate of the grain flow; by recording the measured value of the gravity detection sensor, the incremental PID control method is used to control the flow of the spraying flow regulating valve, thereby adjusting the amount of liquid sprayed by the atomizing nozzle.

[0025] Preferably, the control formula for the rotation direction and angle of the motor is:

[0026]

[0027] Among them, PID 1(k) is the final output value; PID 1(k-1) is the last output value of PID1; K p1 is the proportional gain factor of the controller; K i1 is the integral time of the controller; K d1 is the differential time of the controller; E 1(k) is the current error; E 1(k-1) is the last error; E 1(k-2) is the error of the last time; k is the current cycle; k-1 is the last cycle; k-2 is the last cycle; H d is the target buffer weight, which is set by the host computer software; H is the measured buffer weight; s1, s2, s3, s4 are the measured values ​​of the four S-type weighing sensors respectively; H c is the weight of the grain buffer box itself.

[0028] Preferably, the flow rate control formula of the drug application flow regulating valve is:

[0029]

[0030] Among them, PID 2(k) is the final output value; PID 2(k-1) K is the last output value of PID1; p2 is the proportional gain factor of the controller; K i2 is the integral time of the controller; K d2 is the differential time of the controller; E 2(k) is the current error; E 2(k-1) is the last error; E 2(k-2) is the previous error; L dis the required flow rate; L is the measured flow rate; G is the reference gravity; η is a coefficient or a conversion formula; V is the falling volume of the medicine liquid in the medicine liquid tank over a period of time; t is time; g1, g2, g3, and g4 are the measurement values ​​of the four gravity detection sensors respectively.

[0031] The beneficial effects of the present invention are:

[0032] The mechanism for improving the uniformity of pesticide application by a grain storage pesticide applicator and the control method thereof provided by the present invention can achieve uniform dispersion of grain flow and uniform spraying of pesticide liquid, thereby improving the pesticide application effect and reducing the waste of pesticide liquid. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The figure is a schematic diagram of the overall structure of the mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator according to the present invention.

[0034] Figure 2 It is a schematic diagram of the partial structure of the mechanism for improving the uniformity of pesticide application of a stored-grain pesticide applicator according to the present invention.

[0035] Figure 3 This is a schematic diagram of the blade structure of a single set of contraction and expansion mechanisms described in the present invention.

[0036] Figure 4 This is a schematic diagram of the installation structure of the S-type weighing sensor described in the present invention.

[0037] Figure 5 It is a schematic diagram of the structure of the blade assembly of the expansion mechanism described in the present invention.

[0038] Figure 6 It is a schematic diagram of the structure of the blade group of the contraction mechanism described in the present invention.

[0039] Figure 7 This is a schematic diagram of the installation structure of the gravity detection sensor described in the present invention.

[0040] Figure 8 This is a schematic diagram of the drug spraying direction of the atomizing nozzle described in the present invention.

[0041] Fig. 9 It is a schematic diagram of the structure of the flow control valve described in the present invention.

[0042] Fig.10 The present invention is a schematic diagram of the working process structure of the grain storage micro-spraying applicator. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0044] like Figure 1-2As shown, the present invention provides a mechanism for improving the uniformity of pesticide application of a grain storage pesticide applicator, which includes: a grain storage micro-spraying box housing 100; a grain storage micro-spraying box bracket 100a, which is a cross-shaped structure; the grain storage micro-spraying box bracket 100a is arranged inside the grain storage micro-spraying box housing 100 and is fixedly connected to the grain storage micro-spraying box housing 100; a plurality of motors 210, which are installed in the grain storage micro-spraying box housing 100; the motor 210 adopts a reduction stepping motor; a plurality of blades 2 30, the ends of which are overlapped in sequence to form a ring-shaped opening; a plurality of couplings 220; a plurality of motor brackets 240; wherein the number of the motor 210, the coupling 220, the blade 230 and the motor bracket 240 are all four and are connected in a one-to-one correspondence; one end of the blade 230 is connected to the output end of the motor 210 through the coupling 220, and the other end of the blade 230 is provided with an arc hole 230a, and the blade 230 is connected to the motor 230 connected to the adjacent blade 230 through the arc hole 230a 10 output end sliding connection; the other end of the motor 210 is fixedly connected to the grain storage micro-spraying box bracket 100a through the motor bracket 240, so that the four motors 210 are fixedly connected to the grain storage micro-spraying box shell 100; the grain-distributing hemisphere 310, the spherical surface of which faces upward; the grain-distributing hemisphere 310 and the grain-collecting port 130 of the grain storage micro-spraying machine are coaxially arranged at the center of the grain storage micro-spraying box shell 100; wherein the annular opening formed by the blade 230 is coaxially arranged on the grain-distributing hemisphere 310 and directly below the grain collecting port 130; the motor 210, the coupling 220, the blades 230 and the motor bracket 240 are all arranged between the grain collecting port 130 and the grain dividing hemisphere 310 of the grain storage micro-spray applicator; a plurality of gravity detection sensors 320, one end of which is connected to the outer edge of the grain dividing hemisphere 310, and the other end is connected to the grain storage micro-spray box shell 100; the number of the gravity detection sensors 320 is four, which are evenly arranged on the outer edge of the grain dividing hemisphere 310.

[0045] like Figure 3 As shown, the shape of the blade 230 is composed of a first arcuate edge 230b, a second arcuate edge 230c and a third arcuate edge 230d, one end of the first arcuate edge 230b is connected to one end of the second arcuate edge 230c, and a sharp angle is formed at the connection, and the sharp angle is connected to the output end of the motor 210 through the coupling 220, and the two ends of the third arcuate edge 230d are respectively connected to the other end of the first arcuate edge 230b and the other end of the second arcuate edge 230c, and the arc hole 230a is arranged parallel to the third arcuate edge 230d.

[0046] One motor 210 and one blade 230 form a single set of contraction and expansion mechanism blades.

[0047] like Figure 4 As shown, the grain buffer box 120 has its lower end connected to the upper end of the grain storage micro-spraying box shell 100; there are four S-type weighing sensors 150, which are evenly arranged at the connection between the grain buffer box 120 and the grain storage micro-spraying box shell 100; the weight of the grain in the grain buffer box 120 is judged by the S-type weighing sensor 150, and the opening size of the annular mouth of the blade group of the contraction and expansion mechanism is automatically adjusted, so that there is a certain amount of grain in the buffer zone, so that the grain flow is constrained to a certain extent, and falls vertically to the central area of ​​the grain distribution hemisphere 310 through the mechanism.

[0048] like Figure 5-6 As shown, the number of the motors 210 is four, which are the first motor 211, the second motor 212, the third motor 213 and the fourth motor 214 in counterclockwise order; the number of the blades 230 is four, which are the first blade 231, the second blade 232, the third blade 233 and the fourth blade 234 in counterclockwise order; one end of the first blade 231 is connected to the output end of the first motor 211 through the coupling 220, and the other end of the first blade 231 is slidably connected to the output end of the second motor 212 through the arc hole 230a; one end of the second blade 232 is connected to the output end of the second motor 212 through the arc hole 230a; The second blade 232 is connected through the coupling 220, and the other end of the second blade 232 is slidably connected to the output end of the third motor 213 through the arc hole 230a; one end of the third blade 233 is connected to the output end of the third motor 213 through the coupling 220, and the other end of the third blade 233 is slidably connected to the output end of the fourth motor 214 through the arc hole 230a; one end of the fourth blade 234 is connected to the output end of the fourth motor 214 through the coupling 220, and the other end of the fourth blade 234 is slidably connected to the output end of the first motor 211 through the arc hole 230a.

[0049] The single set of contraction and expansion mechanism blades is slidably connected to the output end of the motor 210 connected to adjacent blades 230 through the blades 230 to form a contraction and expansion mechanism blade group. The blades 230 rotate with the motor 210 to achieve the purpose of opening and closing the annular opening.

[0050] By setting the target buffer weight in the host computer and recording the measured value of the S-type weighing sensor 150, the rotation direction and angle of the motor 210 are controlled by using the incremental PID control method. The motor 210 drives the blade 230 to rotate and adjusts the size of the annular opening formed by the blade 230, thereby adjusting the flow rate of the grain flow.

[0051] Using the incremental PID control method, the formula for controlling the rotation angle and direction of the motor 210 is:

[0052]

[0053] Among them, PID 1(k) is the final output value; PID 1(k-1) K is the last output value of PID1; p1 is the proportional gain factor of the controller; K i1 is the integral time of the controller; K d1 is the differential time of the controller; E 1(k) is the current error; E 1(k-1) is the last error; E 1(k-2) is the error of the last time; k is the current cycle; k-1 is the last cycle; k-2 is the last cycle; H d is the target buffer weight, which is set by the upper computer software; H is the measured buffer weight, s1, s2, s3, s4 are the measured values ​​of the four S-type weighing sensors 150 respectively; H c is the weight of the grain buffer box 120 itself.

[0054] The final output value of PID1 is converted into the frequency of the motor 210 through a chip or a computer, and the rotation direction and angle of the motor 210 are output to control the opening and closing of the annular opening of the blade group of the contraction and expansion mechanism, so that there is a certain amount of grain in the buffer zone, and the weight of the buffered grain stock is balanced within a certain range, so that the grain will be constrained to a certain extent, and then the grain flow will fall vertically through the annular opening of the blade group of the contraction and expansion mechanism to the central area of ​​the grain distribution hemisphere 310, thereby achieving a good grain distribution effect.

[0055] like Figure 7 As shown, four gravity detection sensors 320 are evenly arranged on the edge of the grain distribution hemisphere 310, and are used to detect the weight of grain falling on the grain distribution hemisphere 310; one end of the gravity detection sensor 320 is fixedly connected to the outer edge of the grain distribution hemisphere 310 through a right-angle connecting angle piece 330; the other end of the gravity detection sensor 320 is fixedly connected to one end of a sensor bracket 340; the other end of the sensor bracket 340 is connected to the grain storage micro-spraying box bracket 100a through a support rod 350, so that the other end of the gravity detection sensor 320 is connected to the grain storage micro-spraying box shell 100; wherein, the number of the connecting angle piece 330, the sensor bracket 340 and the support rod 350 are all four; the gravity detection sensor 320 is connected to the connecting angle piece 330, the sensor bracket 340 and the support rod 350 in a one-to-one correspondence.

[0056] like Figure 8-9As shown, the atomizing nozzle 410 is coaxially arranged directly below the grain distributing hemisphere 310; the atomizing nozzle 410 is a cross structure, and sprays liquid medicine in four directions at the same time; the atomizing nozzle 410 is connected to the liquid medicine tank 430 through a spraying pipe 411; the drug application flow regulating valve 412 is arranged on the spraying pipe 411, and is used to control the flow rate of drug application.

[0057] By recording the measured value of the gravity detection sensor 320 and using the incremental PID control method, the flow rate of the drug application flow control valve 412 is controlled, thereby adjusting the amount of drug solution sprayed by the atomizing nozzle 410.

[0058] Using the incremental PID control method, the formula for controlling the spraying flow rate of the spraying flow rate regulating valve 412 is:

[0059]

[0060] Among them, PID 2(k) is the final output value; PID 2(k-1) K is the last output value of PID1; p2 is the proportional gain factor of the controller; K i2 is the integral time of the controller; K d2 is the differential time of the controller; E 2(k) is the current error; E 2(k-1) is the last error; E 2(k-2) is the previous error; L d is the required flow rate; L is the measured flow rate, and the measured flow rate can also be monitored by setting a flow meter behind the pesticide flow regulating valve 412 to monitor the real-time liquid flow rate; G is the reference gravity; η is a coefficient or a conversion formula, which is determined according to the actual situation, such as whether the stored grain is corn or wheat or the amount of pesticide required by the grain depot; V is the falling volume of the liquid medicine in the liquid medicine tank 430 within a period of time; t is time; g1, g2, g3, and g4 are the measurement values ​​of the four gravity detection sensors 320 respectively.

[0061] The final output value of PID1 is converted into an electrical signal for controlling the pesticide flow regulating valve 412 through a chip or a computer, and the pesticide flow is controlled according to the grain flow, thereby adjusting the amount of liquid medicine sprayed by the atomizing nozzle 410 to avoid waste of liquid medicine.

[0062] like Fig.10As shown, the grain storage protective agent is mixed with water in a specified proportion to form a suspended liquid medicine, which is injected into the liquid medicine tank 430 of the grain storage spraying machine. The liquid medicine flows into the high-pressure pump group 420 through the water suction pipe 431. Under the action of the high-pressure pump group 420, the liquid medicine flows into the atomizing nozzle 410 along the pipeline of the spraying pipe 411. The atomizing nozzle 410 sprays the liquid medicine in the form of mist in the grain storage micro-spraying box, and the overflowed liquid medicine flows back to the liquid medicine tank 430 through the return pipe 432 of the overflow effect. While the atomizing nozzle 410 sprays, the grain passes through the conveyor belt. Throwing, enters the grain storage micro-spraying box from the grain storage entrance 110, passes through the grain storage buffer box 120 and the grain collecting port 130 in sequence to form a grain flow. During the falling process of the grain flow, under the obstruction of the grain dividing hemisphere 310, the concentrated downward flow is changed to a dispersed downward flow along the spherical surface. The purpose of dispersing the grain flow is to ensure that the mist medicine is in full contact with the grain particles, which solves the problem that the mist medicine cannot fully act on the grain in the center area of ​​the grain flow. Finally, the grain that has completed the spraying flows out from the grain storage outlet 140 and is transported to the granary by a conveyor belt to complete the grain storage spraying operation.

[0063] The mechanism for improving the uniformity of pesticide application by a grain storage pesticide applicator and the control method thereof described in the present invention can achieve uniform dispersion of the grain flow and uniform spraying of the pesticide solution, thereby improving the pesticide application effect and avoiding waste of the pesticide solution; the opening size of the annular opening of the blade group of the contraction and expansion mechanism can be automatically adjusted according to the grain flow rate, so that the grain flow can fall vertically to the central area of ​​the grain dividing hemisphere, thereby significantly improving the grain dividing effect and the uniformity of pesticide application; combined with the reference gravity detection mechanism of the grain dividing hemisphere, the pesticide application flow rate can be accurately controlled to ensure that the pesticide solution is evenly sprayed on the grain, effectively avoiding waste of the pesticide solution and improving the efficiency and effect of pesticide application.

[0064] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator, characterized in that: include: Shell of grain storage micro-spraying medicine box; A plurality of motors are installed in the housing of the grain storage micro-spraying box; A plurality of blades, the ends of which are overlapped in sequence to form a ring-shaped opening, and the blades are arranged in a one-to-one correspondence with the motors; One end of the blade is connected to the output end of the motor, and the other end of the blade is provided with an arc hole, through which the blade is slidably connected to the output end of the motor connected to the adjacent blade; The grain-distributing hemisphere has a spherical surface facing upward; the grain-distributing hemisphere is coaxially arranged at the center of the inner shell of the grain-storage micro-spraying machine with the grain-collecting port of the grain-storage micro-spraying machine; Wherein, the annular opening formed by the blades is coaxially arranged just above the grain distributing hemisphere; A plurality of gravity detection sensors are provided, one end of which is connected to the outer edge of the grain-distributing hemisphere, and the other end of which is connected to the shell of the grain-storage micro-spraying box.

2. The mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator according to claim 1, characterized in that: The number of the motor and the number of the blades are both four, and the output end of the motor is connected to the blades via a coupling.

3. The mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator according to claim 2, characterized in that: The shape of the blade is composed of a first arcuate edge, a second arcuate edge and a third arcuate edge. One end of the first arcuate edge is connected to one end of the second arcuate edge, and a sharp angle is formed at the connection. The sharp angle is connected to the output end of the motor through the coupling. The two ends of the third arcuate edge are respectively connected to the other end of the first arcuate edge and the other end of the second arcuate edge, and the arc hole is arranged parallel to the third arcuate edge.

4. The mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator according to claim 1, characterized in that: The number of the gravity detection sensors is four, which are evenly arranged on the outer edge of the grain distributing hemisphere.

5. The mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator according to claim 1, characterized in that: Also includes: A grain buffer box, the lower end of which is connected to the upper end of the grain storage micro-spraying box shell; There are four S-type weighing sensors, which are evenly arranged at the connection between the grain buffer box and the shell of the grain storage micro-spraying box.

6. The mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator according to claim 1, characterized in that: One end of the gravity detection sensor is fixedly connected to the outer edge of the grain-distributing hemisphere via a right-angle connecting angle piece; the other end of the gravity detection sensor is fixedly connected to one end of the sensor bracket; the other end of the sensor bracket is connected to the shell of the grain storage micro-spraying box via a support rod.

7. The mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator according to claim 1, characterized in that: Also includes: Atomizing nozzles are coaxially arranged directly below the grain distributing hemisphere; the atomizing nozzles are cross-shaped structures and spray liquid medicine in four directions simultaneously; The atomizing nozzle is connected to the liquid medicine tank via a spraying pipe; A pesticide application flow regulating valve is arranged on the spraying pipe.

8. A control method for a mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator, used for controlling the mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator as claimed in any one of claims 1 to 7, characterized in that: include: By setting the target buffer weight in the upper computer and recording the measured value of the S-type weighing sensor, the incremental PID control method is used to control the rotation direction and angle of the motor, and the motor drives the blade to rotate, and the size of the annular opening formed by the blade is adjusted, thereby adjusting the flow rate of the grain flow; by recording the measured value of the gravity detection sensor, the incremental PID control method is used to control the flow of the spraying flow regulating valve, thereby adjusting the amount of liquid sprayed by the atomizing nozzle.

9. The control method for a mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator according to claim 8, characterized in that: The control formula for the rotation direction and angle of the motor is: Among them, PID 1(k) is the final output value; PID 1(k-1) is the last output value of PID1; K p1 is the proportional gain factor of the controller; K i1 is the integral time of the controller; K d1 is the differential time of the controller; E 1(k) is the current error; E 1(k-1) is the last error; E 1(k-2) is the error of the last time; k is the current cycle; k-1 is the last cycle; k-2 is the last cycle; H d is the target buffer weight, which is set by the host computer software; H is the measured buffer weight; s1, s2, s3, s4 are the measured values ​​of the four S-type weighing sensors respectively; H c is the weight of the grain buffer box itself.

10. The control method for a mechanism for improving the uniformity of pesticide application by a stored-grain pesticide applicator according to claim 9, characterized in that: The flow control formula of the spraying flow regulating valve is: Among them, PID 2(k) is the final output value; PID 2(k-1) is the last output value of PID1; K p2 is the proportional gain factor of the controller; K i2 is the integral time of the controller; K d2 is the differential time of the controller; E 2(k) is the current error; E 2(k-1) is the last error; E 2(k-2) is the previous error; L d is the required flow rate; L is the measured flow rate; G is the reference gravity; η is a coefficient or a conversion formula; V is the falling volume of the medicine liquid in the medicine liquid tank over a period of time; t is time; g1, g2, g3, and g4 are the measurement values ​​of the four gravity detection sensors respectively.

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