A method for stabilizing voltage for dynamic changes in dose

Abstract

The application provides a pressure stabilizing method for dynamic changes of a spraying amount, which comprises the following steps: when a change value of the spraying amount monitored exceeds a change threshold value, reading sensor data from a pressure sensor and a flow sensor to calculate a current spraying amount, and then determining a current backflow ratio of a spraying system, and calculating a difference between the current backflow ratio and a preset target backflow ratio; if an absolute value of the difference is less than a preset difference threshold value, before a time difference of a spraying instruction issued by the spraying system, a preset stable pressure value is used to operate a backflow ratio valve to adjust a backflow of the spraying system; if the absolute value of the difference is not less than the difference threshold value, while the backflow ratio valve is operated to adjust, a rotating speed value of a three-phase asynchronous motor is adjusted to control the pressure of the spraying system. The problems that the spraying control system cannot realize rapid and accurate control of the system pressure when the number of the nozzle groups or the spraying amount changes greatly are solved.

Description

Technical Field

[0001] The present invention relates to the field of agricultural planting technology, and in particular to a voltage stabilization method oriented to dynamic changes in pesticide application amount. Background Art

[0002] my country relies heavily on chemical pesticides to combat pests and diseases, with pesticide usage exceeding 270,000 tons in 2020. To reduce pesticide residues and improve pesticide utilization, extensive research has been conducted on precision pesticide application equipment and systems. Precision pesticide application technologies primarily focus on variable-rate control, targeted spraying, and prescription-based spraying, achieving a certain degree of pesticide conservation. Traditional variable-rate spraying relies on manually set per-acre application rates. During operation, the applied rate is fixed, and pressure fluctuations are primarily caused by changes in travel speed and pressure fluctuations within the supply system. During targeted or prescription spraying, the number of nozzles or the required spray rate constantly fluctuates, causing pressure fluctuations. This results in precision application but fails to achieve the desired amount of precise spraying. Accurately controlling spray rates for targeted and prescription spraying remains a pressing issue.

[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 existing technology 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 a relatively 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, the problem of large overshoot occurs 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 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 method for stabilizing pressure in response to dynamic changes in the amount of pesticide applied, the method comprising:

[0006] When the drug dispensing system dispenses drugs according to a drug dispensing mode and monitors that a drug dispensing amount change value exceeds a change threshold, sensor data is read from a pressure sensor and a flow sensor, and a current drug dispensing amount is calculated based on the sensor data, wherein the drug dispensing mode includes target drug dispensing and prescription drug dispensing;

[0007] Determining a current reflux ratio of the pesticide application system according to the current pesticide application rate, and determining a difference between the current reflux ratio and a preset target reflux ratio;

[0008] 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 the 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 control the pressure of the pesticide application system;

[0009] 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, 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.

[0010] In some embodiments, the time difference between the pesticide application system and the pesticide application instruction is the time required to reduce the current pressure value of the pesticide application system to the target pressure value, and the target pressure value is not less than 90% of the current pressure value.

[0011] 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 reflux proportional valve;

[0012] 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 reflux proportional valve and negatively correlated with the speed value of the three-phase asynchronous motor.

[0013] In some embodiments, after controlling the pressure of the drug dispensing system, the method further comprises:

[0014] 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;

[0015] The ratio of the absolute value of the difference value to the amount of application after pressure control is used as the amount of application fluctuation value;

[0016] When the dosage fluctuation value is less than a preset fluctuation threshold, the pressure control is stopped.

[0017] In some embodiments, after the monitored change in the amount of pesticide applied exceeds a change threshold, the method further includes:

[0018] 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 switching signal to the solenoid valve of the spray nozzle, and the switching signal is used to control the spray nozzle to open or close;

[0019] The opening and closing amount data of the drug delivery nozzle is collected after the drug delivery nozzle is opened or closed, wherein the opening and closing amount data is used to indicate the operation of the backflow proportional valve and the adjustment of the rotating speed value of the three-phase asynchronous motor.

[0020] In some embodiments, the signal data sending process and the opening and closing amount data collecting process are realized through the broadcast communication of the drug delivery system.

[0021] The application further provides a pressure stabilizing device for dynamic changes of drug delivery amount, which comprises:

[0022] A calculation module is configured to read sensor data from the pressure sensor and the flow sensor when the drug delivery system is in a drug delivery mode and the monitored drug delivery amount change value exceeds a change threshold value, and calculate the current drug delivery amount according to the sensor data, wherein the drug delivery mode comprises target drug delivery and prescription drug delivery.

[0023] A determination module is configured to determine the current backflow amount ratio of the drug delivery system according to the current drug delivery amount, and determine the difference between the current backflow amount ratio and a preset target backflow amount ratio.

[0024] A pressure control module is configured to, if the absolute value of the difference is less than a preset difference threshold value, operate the backflow proportional valve to adjust the backflow amount of the drug delivery system according to a preset stable pressure value before a time difference at which the drug delivery system issues a drug delivery instruction, so as to control the pressure of the drug delivery system.

[0025] The pressure control module is further configured to, if the absolute value of the difference is not less than the difference threshold value, operate the backflow proportional valve to adjust the backflow amount of the drug delivery system according to a preset stable pressure value before a time difference at which the drug delivery system issues a drug delivery instruction, and adjust the rotating speed value of the three-phase asynchronous motor, so as to control the pressure of the drug delivery system.

[0026] The application further provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the pressure stabilizing method for dynamic changes of drug delivery amount as described above when executing the computer program.

[0027] The application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program implements the pressure stabilizing method for dynamic changes of drug delivery amount as described above when executed by a processor.

[0028] The application further provides a computer program product, which comprises a computer program, and the computer program implements the pressure stabilizing method for dynamic changes of drug delivery amount as described above when executed by a processor.

[0029] The pressure stabilization method for dynamic changes in the amount of medicine applied provided by the present invention monitors the change value of the amount of medicine applied in real time in the medicine application mode. When the change value of the amount of medicine applied exceeds the change threshold, data is read from the sensor to determine the amount of medicine applied and further determine the reflux ratio. The pressure stabilization operation is determined based on the difference between the reflux ratio and the target reflux ratio. When controlling the pressure, before the medicine application system issues the medicine application instruction, the reflux proportional valve is operated in advance to adjust the reflux volume for pressure stabilization, or the pressure is stabilized by dual control of the motor and the reflux proportional valve, which effectively saves the response time of the pressure stabilization and makes the pressure regulation faster and more stable. In addition, operating the reflux proportional valve in advance before the medicine application system issues the medicine application instruction can reduce the amplitude of the pressure change in the medicine application system and achieve more accurate pressure stabilization control. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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 any creative work.

[0031] 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.

[0032] Figure 2 Schematic diagram of the structure of the pesticide application system provided by the present invention.

[0033] Figure 3 It is a coordinate schematic diagram of the reflux amount changing with pressure provided by the present invention.

[0034] Figure 4 It is a coordinate diagram of adjusting the pressure change by regulating the reflux flow provided by the present invention.

[0035] Figure 5 This is a schematic diagram of the application principle of the pressure control of the pesticide application system provided by the present invention.

[0036] Figure 6 It is a schematic flow chart of a voltage stabilizing device for dynamic changes in the dosage of pesticides provided by the present invention.

[0037] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0038] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0039] The following describes the voltage stabilization method for dynamically changing pesticide application rates provided by the present invention, with reference to the accompanying drawings. The method can be implemented by the ECU controller of a pesticide application system. Applying this method to the ECU controller of a pesticide application system can provide voltage stabilization control for the system.

[0040] 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 As can be seen, the voltage stabilization control module of the pesticide application system primarily consists of an ECU controller and a three-phase asynchronous motor. The ECU and the three-phase asynchronous motor are connected via a frequency converter. The frequency converter features a voltage control interface, allowing the analog signal (voltage analog value) output by the ECU controller to control the speed signal (frequency value) output by the frequency converter, thereby controlling the power input of the three-phase asynchronous motor. The ECU controller is the control center of the pesticide application system, receiving control signals from the display screen via CAN communication to independently control the multi-way nozzle assembly. The ECU controller also controls the return flow proportional valve using pressure signals monitored by a pressure sensor and flow signals monitored by a flow sensor to achieve stable pressure control. The voltage stabilization method for dynamically changing pesticide application rates provided by the present invention is applied to the ECU controller, meaning that the method is executed by the pesticide application system's ECU controller. When the ECU controller detects dynamic changes in the pesticide application rate, the voltage stabilization method for dynamically changing pesticide application rates enables rapid and precise pressure control within the pesticide application system.

[0041] Figure 1 This is a flow chart of the voltage stabilization method for dynamic changes in the dosage of pesticides provided by the present invention. Figure 1 As shown, the method includes the following steps 101 to 104.

[0042] 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.

[0043] 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 in the spraying system, and prescription spraying is related to the amount of spraying.

[0044] The principle process diagram of the pesticide application system can be found in Figure 5 As shown, when the spraying starts, it is detected whether the SD card is stored successfully. Here, the SD card is generally set in the ECU controller, which stores the manually set spraying operation parameters, including the spraying 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 spraying operation parameters are read and the corresponding spraying mode is determined. Next, it is determined whether the spraying mode is a target spraying mode. If it is a target spraying mode, it is determined by the movement of the machine whether the target of the working area is detected. If so, the machine moving speed and the prescribed spraying amount are read. If not, the machine continues to move. If the spraying mode is not a target spraying mode, it is determined whether the working area is entered. If so, the machine moving speed and the prescribed spraying amount are read. If not, the machine continues to move. The machine moving speed can be measured by encoding using the speed measuring device on the machine.

[0045] 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 judged 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.

[0046] As the spraying system applies pesticides according to the spraying pattern, the number of nozzles or the required spraying volume will change, causing pressure fluctuations in the spraying system. Therefore, the spraying system needs to be stabilized to control the spraying volume. The ECU controller detects changes in the spraying volume through the spraying system's monitoring modules, such as pressure sensors and flow sensors.

[0047] Therefore, when the spraying system applies the medicine according to the spraying mode and monitors that the change value of the spraying amount exceeds the change threshold, the sensor data is read from the pressure sensor and the flow sensor, and the current spraying amount is calculated based on the sensor data. Here, if the spraying mode is target spraying, then the change in the spraying amount is caused by the change in the number of spraying nozzles. If the spraying mode is prescription spraying, then the normal spraying amount is changed. When it is monitored that the change value of the spraying amount exceeds the change threshold, the pressure sensor and the flow sensor will send out a pulse signal and a voltage analog signal after monitoring the corresponding pressure data, flow data and other sensor data. At this time, these signals are received and the current spraying amount of the spraying system is calculated based on the pressure data, flow data and other sensor data. .

[0048] 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 needs to be performed. 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 stabilization control is required.

[0049] Step 102: Determine the current reflux ratio of the pesticide application system according to the current pesticide application rate, and determine the difference between the current reflux ratio and a preset target reflux ratio.

[0050] 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 dosage cannot be precisely controlled and measured, it is necessary to convert the dosage into a reflux ratio as a standard for voltage stabilization control. This is then combined with the target reflux ratio that the pesticide application system needs to control. By comparing the difference between the two, the appropriate action to achieve voltage stabilization is determined. Specifically, the difference between the current reflux ratio and the preset target reflux ratio is determined.

[0051] Here, pressure fluctuations in the spraying system could be caused by an increase in the number of spray nozzles or an increase in the spraying volume, or a decrease in the number of spray nozzles or an increase in the spraying volume. Therefore, pressure fluctuations can result in either a pressure increase or a pressure decrease, and stabilization control involves either a pressure increase or a pressure decrease. The difference between the current reflux ratio and the preset target reflux ratio can be negative or positive. This difference represents the degree of pressure stabilization required and is used to determine the appropriate pressure stabilization operation for achieving fast and accurate pressure stabilization.

[0052] The target reflux ratio can also be calculated based on the change in the amount of medicine applied. This is because in the application system, the amount of medicine applied and the reflux ratio follow a certain correlation, and the corresponding reflux ratio can be determined based on the amount of medicine applied.

[0053] 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 the pesticide application instruction, operate the reflux proportional valve to adjust the reflux flow of the pesticide application system according to the preset stable pressure value to control the pressure of the pesticide application system.

[0054] After calculating the difference between the current backflow ratio and the preset target backflow ratio, a preset difference threshold is obtained here, the difference threshold is used to measure the size of the backflow ratio to be adjusted, and is generally 0.3. Considering that the stable voltage control may be voltage increase or voltage decrease, the difference between the current backflow ratio and the preset target backflow ratio may be negative or positive, therefore, 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.

[0055] If the absolute value of the difference is less than the preset difference threshold, it indicates that the backflow ratio to be controlled is not large, and the backflow proportional valve in the drug delivery system only needs to be operated to adjust the backflow, so as to realize the pressure control of the drug delivery system.

[0056] Here, the backflow is adjusted by operating the backflow proportional valve, which is realized by controlling the number of opening and closing states of the drug delivery nozzle. Therefore, in the embodiment of the application, after monitoring that the drug delivery amount change value exceeds the change threshold, signal data is also sent to the multi-channel signal generator, the signal data is used to instruct the multi-channel signal generator to send on-off quantity signals to the electromagnetic valve of the drug delivery nozzle, and the on-off quantity signals are used to control the opening or closing of the drug delivery nozzle.

[0057] Here, refer to Figure 2 When monitoring that the drug delivery amount change value exceeds the change threshold, the ECU controller sends signal data to the signal generator, the ECU controller outputs RS232 format signal data, the signal data is transmitted to the signal generator after signal conversion by the RS232 to RS485 module, the signal generator sends on-off quantity signals to the electromagnetic valve of the drug delivery nozzle, the number of on-off quantity signals is determined according to the number of drug delivery nozzles, Figure 2 If there are 18 drug delivery nozzles, the on-off quantity signals are 18 on-off signals, after receiving the on-off quantity signals, the battery valve amplifies the signal voltage and power through the MOS tube amplification module, so as to control the opening or closing of the electromagnetic valve of the drug delivery nozzle. In this way, the ECU controller can output a smaller voltage, and the voltage is amplified for control when the electromagnetic valve is controlled, so as to avoid the heating phenomenon of the ECU controller.

[0058] After the drug delivery nozzle is opened or closed, the opening and closing amount data of the drug delivery nozzle is collected, the opening and closing amount data is used to instruct the operation of the backflow proportional valve, so as to control the corresponding backflow, and realize the pressure control of the drug delivery system.

[0059] However, in the embodiment of the application, when the backflow proportional valve is used to adjust the backflow, there is an inevitable response time of the backflow proportional valve, and during the time before the response, the adjustment value of the backflow to the pressure is small. Figure 3As shown, by adjusting the reflux flow rate, the pressure value (bar) of the spraying system drops slightly in the first 1.2 seconds or so. However, the pressure value (bar) only drops significantly after 1.2 seconds. If the reflux proportional valve is used to adjust the reflux flow rate for pressure stabilization according to normal procedures, the pressure control time will be prolonged and rapid pressure control will not be achieved.

[0060] 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 spraying system issuing the spraying 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 dosing system to control the pressure of the dosing system.

[0061] 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 The current pressure value of the spraying system can only drop to the target pressure value within a certain period of time, 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 for the current pressure value of the spraying system to drop 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 the time difference Inside, the pressure (bar) only drops from 3 to about 2.8.

[0062] If this time difference is exceeded, before the spraying system issues a spraying command, the reflux proportional valve is operated in advance to adjust the spraying system's reflux flow according to the preset stable pressure value. In other words, signal data is sent to the signal generator in advance to control the solenoid valve to open or close the spraying nozzle. This can shorten the time required for pressure adjustment and reduce the pressure fluctuation amplitude under the condition of not affecting the reflux flow response time, thus achieving rapid pressure stabilization control.

[0063] For details, please refer to Figure 4 , the time difference in issuing the spraying instruction under the spraying system Before, the pressure value is constant. At this time, the reflux proportional valve can be operated in advance to control the pressure. At this time, the pressure has already entered the steady pressure control mode, and the pressure drop is very small. After this, the drug delivery system has made a drug delivery decision and issued a drug delivery instruction to perform the drug delivery operation, although the pressure rises quickly, the pressure drops very quickly at this time, and the time difference After that, fast and stable control is achieved. In addition, if it is a normal situation, that is, the backflow proportional valve is not operated in advance, the pressure drop amplitude and speed are slower than when the backflow proportional valve is operated in advance. Thus, it can be seen that operating the backflow proportional valve in advance can achieve faster and more effective pressure control.

[0064] After the pressure control of the drug delivery system, the drug delivery amount after the pressure control of the drug delivery system needs to be determined , the difference between the current drug delivery amount , that is, the difference between the two, and then the absolute value of the difference value and the ratio of the drug delivery amount after the pressure control , as the drug delivery amount fluctuation value, when the drug delivery amount fluctuation value is less than the preset fluctuation threshold value, it means that the pressure has tended to be stable, and the pressure control is stopped. When the drug delivery amount fluctuation value is still not less than the preset fluctuation threshold value, it means that the pressure is not stable, and the backflow proportional valve is continued to be operated for pressure control.

[0065] This fluctuation threshold value is also preset according to prior knowledge, and the value is generally 0.05. The drug delivery amount fluctuation value is used to represent the degree of pressure problem of the drug delivery system. The smaller the drug delivery amount fluctuation value, the more stable the pressure control.

[0066] Here, please continue to refer to Figure 5 During the execution of the prescription drug delivery or the target drug delivery process, the absolute value of the difference between the current backflow rate and the target backflow rate is then determined. If it is less than 0.3, the backflow proportional valve is operated in advance according to the preset stable pressure value , the pressure fluctuation amplitude value is adjusted, and then it is determined whether the drug delivery amount fluctuation value is greater than the amplitude threshold value, that is, whether is less than 0.05. If it is less than, it means that the pressure is stable, and the drug delivery is continued. If it is not less than, it means that the pressure is not stable, and the backflow proportional valve is continued to be operated in advance.

[0067] In some embodiments, although the fast pressure stabilizing control is realized by operating the backflow proportional valve in advance, as mentioned above, when adjusting the backflow 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 head, which involves the transmission of signals and data and is easily affected by external abnormal factors. Therefore, in the application, the transmission of signals and data is realized by broadcasting communication in the application, that is, the signal data sending process and the opening and closing amount data collection process are realized by broadcasting communication of the application. Considering that there are multiple signal generators and the signal data is sent uniformly, the broadcasting communication can make all signal transmitters receive the signal data at the same time, select the available data content required by itself, reduce the transmission time of signals and data, and improve the response speed of the pressure control of the application.

[0068] In the application, when operating the backflow proportional valve in the application to control the pressure, the backflow proportional valve is operated in advance to adjust the backflow of the application, that is, the signal data is sent to the signal generator in advance to control the electromagnetic valve to open or close the spray head, which can shorten the required time of pressure adjustment, reduce the pressure fluctuation amplitude value under the opening and closing amount of the spray head without affecting the response time of the backflow, realize fast pressure stabilizing control, and realize the sending of signal data by broadcasting communication, which can further reduce the response time of pressure control.

[0069] In step 104, if the absolute value of the difference is not less than the difference threshold value, the backflow proportional valve is operated to adjust the backflow of the application according to the preset stable pressure value before the time difference of the application instruction, and the speed value of the three-phase asynchronous motor is adjusted to control the pressure of the application.

[0070] In some embodiments, if the absolute value of the difference is not less than the preset difference threshold value, it means that the backflow rate to be controlled is large, and only operating the backflow proportional valve in the application to adjust the backflow cannot realize fast and accurate pressure control. Therefore, in the application, when the absolute value of the difference is not less than the difference threshold value, the speed value of the three-phase asynchronous motor is adjusted according to the stable pressure value, and the backflow proportional valve is operated to adjust the backflow of the application within the time difference of the application instruction to control the pressure of the application. Here, on the basis of operating the backflow proportional valve in advance to adjust the backflow, the speed value of the three-phase asynchronous motor is further adjusted to assist the system to realize stable pressure control.

[0071] Specifically, if the absolute value of the difference is not less than the preset difference threshold, the return flow rate of the pesticide application system is adjusted according to the preset stable pressure value, still before the time difference for the pesticide application system to issue the application instruction. The specific process can be referred to in step 103 above and will not be repeated here. However, while operating the return flow proportional valve, the speed of the three-phase asynchronous motor must also be adjusted.

[0072] 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, the ECU controller statistically analyzes the opening and closing volume data and sends an analog signal to the three-phase asynchronous motor. The analog signal is processed by the frequency converter and outputs a speed signal to the three-phase asynchronous motor. The three-phase asynchronous motor adjusts its speed based on the speed signal. After the three-phase asynchronous motor reduces its speed, it provides power input to the diaphragm pump, adjusting the diaphragm pump's power, thereby reducing the flow rate in the pipeline. Combined with the reflux proportional valve to control the reflux volume, this achieves rapid and stable pressure control in the spraying system pipeline.

[0073] Here you can continue to see Figure 5 , judge 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 dosage fluctuation value is greater than the amplitude threshold, that is, to determine whether the dosage fluctuation value is greater than the amplitude threshold. Is it less than 0.05? If not, the pressure is still not stable, so the reflux proportional valve will continue to operate in advance and the speed of the three-phase asynchronous motor will be adjusted. If it is less than 0.05, the pressure has stabilized, so the pesticide application will continue. Finally, it is determined whether to terminate the pesticide application operation. If not, the pesticide application system will continue to monitor the changes in the application rate to determine whether the absolute value of the difference between the current reflux flow ratio and the target reflux flow ratio is less than 0.3. If so, the pesticide application will be stopped.

[0074] In an 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 volume 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 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.

[0075] In some embodiments, although voltage stabilization control of the spraying system can be achieved by adjusting the speed of the three-phase asynchronous motor and operating the reflux proportional valve, the range of adjustment and operation is generally within an optimal value range, that is, there is an optimal value range for both the speed range of the three-phase asynchronous motor and the advance operation time range of the reflux proportional valve. The speed range of the three-phase asynchronous motor is represented as (ΔRPM1, ΔRPM2, ΔRPM3), and the advance operation time range of the reflux proportional valve is (ΔT1, ΔT2, ΔT3, ΔT4, ΔT5). In addition, the absolute value of the difference between the current reflux flow ratio and the preset target reflux flow ratio is correlated with the speed of the three-phase asynchronous motor and the advance operation time of the reflux proportional valve, which is explained in detail below.

[0076] First, based on the 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.

[0077] The specific settings are shown in the following table:

[0078] Table 1:

[0079]

[0080] If the absolute value (&) of the difference between the current reflux flow ratio and the preset target reflux flow ratio is less than a preset difference threshold (e.g., 0.3), the reflux proportional valve is advanced to achieve pressure stabilization control. The absolute value of the difference and the advance time of the reflux proportional valve are positively correlated. In other words, the larger the absolute value of the difference, the earlier the advance time of the reflux proportional valve (satisfying ΔT1 < ΔT2). Conversely, the smaller the absolute value of the difference, the later the advance time.

[0081] Accordingly, if the absolute value of the difference between the current reflux flow rate ratio and the preset target reflux flow rate ratio is not less than a preset difference threshold, voltage stabilization is achieved by advancing the reflux proportional valve and adjusting the speed of the three-phase asynchronous motor. The absolute value of the difference is positively correlated with the advance timing of the reflux proportional valve and negatively correlated with the speed of the three-phase asynchronous motor. In other words, the greater the absolute value of the difference, the earlier the advance timing of the reflux proportional valve (satisfying ΔT3 < ΔT4 < ΔT5) and the slower the speed of the three-phase asynchronous motor (satisfying ΔRPM1 > ΔRPM2 > ΔRPM3). Conversely, the smaller the absolute value of the difference, the later the advance timing of the reflux proportional valve and the faster the speed of the three-phase asynchronous motor.

[0082] In an 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, the speed adjustment amplitude of the three-phase asynchronous motor and the advance action time of the reflux proportional valve in each value interval can be reasonably set, thereby achieving more accurate voltage stabilization control of the spraying system.

[0083] The following describes a pressure stabilizing device for dynamic changes in the dosage provided by the present invention. The pressure stabilizing device for dynamic changes in the dosage described below and the pressure stabilizing method for dynamic changes in the dosage described above can be referenced to each other.

[0084] like Figure 6 As shown, the pressure stabilizing device for dynamic changes in the amount of applied pesticides 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 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, and calculate the current drug application amount based on the sensor data, wherein the drug application mode includes target drug application and prescription drug application; the determination module 602 is used to determine the current reflux flow ratio of the drug application system according to the current drug application amount, and determine the difference between the current reflux flow ratio and the preset target reflux flow ratio; the pressure control module 603 is used to operate the reflux proportional valve to adjust the reflux flow 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 flow 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.

[0085] 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.

[0086] Figure 7 An example of a physical structure diagram of an electronic device is shown below. 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 via the communication bus 740 . The processor 710 can call the logic instructions in the memory 730 to execute a pressure stabilization method for dynamic changes in the dosage of medicine, the method comprising: when the medicine dispensing system dispenses medicine according to the medicine dispensing mode and monitors that the medicine dispensing change value exceeds the change threshold, reading sensor data from the pressure sensor and the flow sensor, and calculating the current medicine dispensing amount based on the sensor data, wherein the medicine dispensing mode includes target medicine dispensing and prescription medicine dispensing; determining the current reflux flow ratio of the medicine dispensing system according to the current medicine dispensing amount, and determining 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 the preset difference threshold, before the time difference that the medicine dispensing system issues the medicine dispensing instruction, operating the reflux proportional valve to adjust the reflux flow of the medicine dispensing system according to the preset stable pressure value to control the pressure of the medicine dispensing system; if the absolute value of the difference is not less than the difference threshold, before the time difference that the medicine dispensing system issues the medicine dispensing instruction, operating the reflux proportional valve to adjust the reflux flow of the medicine dispensing system according to the preset stable pressure value, and adjusting the speed value of the three-phase asynchronous motor to control the pressure of the medicine dispensing system.

[0087] Furthermore, the logic instructions in the aforementioned memory 730 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0088] 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 pressure stabilization method for dynamic changes in the dosage provided by the above methods. The method includes: when the dosage system administers the drug 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 based on the sensor data, wherein the dosage mode includes target dosage and prescription dosage; determining the dosage based on the current dosage 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 that the pesticide application system issues a pesticide application instruction, operate the reflux proportional valve 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 that the pesticide application system issues a pesticide application instruction, operate the reflux proportional valve to adjust the reflux flow of the pesticide application system according to the preset stable pressure value, and adjust the speed value of the three-phase asynchronous motor to perform pressure control on the pesticide application system.

[0089] 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 pressure stabilization method for dynamic changes in the dosage provided by the above-mentioned methods, the method comprising: when the dosage system administers the drug 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 based on the sensor data, wherein the dosage mode includes target dosage and prescription dosage; determining the current reflux ratio of the dosage system based on 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 that the pesticide application system issues the 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 that the pesticide application system issues the 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.

[0090] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0091] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0092] 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 various 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 dispensing system dispenses drugs according to a drug dispensing mode and monitors that a drug dispensing amount change value exceeds a change threshold, sensor data is read from a pressure sensor and a flow sensor, and a current drug dispensing amount is calculated based on the sensor data, wherein the drug dispensing mode includes target drug dispensing and prescription drug dispensing; Determining a current reflux ratio of the pesticide application system according to the current pesticide application rate, and determining a 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 the 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 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 the 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 between the pesticide application system and the pesticide application instruction is the time required to reduce the current pressure value of the pesticide application system to the 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 dosage 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 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 is positively correlated with the advance action time of the reflux proportional valve and negatively correlated with the speed value of the three-phase asynchronous motor.

4. The voltage stabilization method for dynamic changes in dosage according to claim 1, characterized in that: After controlling the pressure of the pesticide application system, the method further includes: 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 pressure control is used as the amount of application fluctuation value; 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 dosage 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 switching signal to the solenoid valve of the spray nozzle, and the switching 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 dosage 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 dosage, characterized in that: The device comprises: a calculation module, configured to read sensor data from a pressure sensor and a flow sensor when the drug dispensing system is dispensing drugs according to a drug dispensing mode and a change value of the drug dispensing amount exceeds a change threshold, and calculate the current drug dispensing amount based on the sensor data, wherein the drug dispensing mode includes target drug dispensing and prescription drug dispensing; a determination module, configured to determine a current reflux ratio of the pesticide application system according to the current pesticide application rate, and determine a difference between the current reflux ratio and a preset target reflux ratio; a pressure control module for operating a reflux proportional valve to adjust the reflux flow of the pesticide application system according to a 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, 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 spraying system and adjust the speed value of the three-phase asynchronous motor according to the preset stable pressure value before the time difference when the spraying system issues the spraying instruction if the absolute value of the difference is not less than the difference threshold, so as to control the pressure of the spraying 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 pesticides as described in any one of claims 1 to 6 is implemented.

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 pesticides as described in any one of claims 1 to 6 is implemented.

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 pesticides as described in any one of claims 1 to 6 is implemented.

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