Pipeline spraying real-time controllable pesticide mixing and applying system and pesticide mixing and applying method

Abstract

The invention discloses a pipeline spraying real-time controllable pesticide mixing and applying system and a pesticide applying method. The system comprises a power supply module, a man-machine interaction module, a data acquisition module, an adjusting module and a pesticide mixing and applying module, the power supply module is used for providing stable and matched electric energy for each component of the system; the man-machine interaction module is used for displaying the current water flow, the current pesticide flow and the pesticide mixing ratio in real time and setting the pesticide mixing ratio; the data acquisition module is used for acquiring water flow and pesticide flow and outputting pulses to the adjusting module; and the adjusting module is used for adjusting and controlling the pesticide mixing and applying module through a particle swarm fuzzy PID algorithm, capturing the pulse output by the data acquisition module, calculating the current water flow, the current pesticide flow and the current pesticide mixing ratio, and transmitting the current water flow, the current pesticide flow and the current pesticide mixing ratio to the man-machine interaction module for display. Pesticide can be accurately applied according to specific disease conditions, diseases and pests can be effectively prevented and treated, unnecessary pesticide use can be reduced, cost and pollution of pesticide to soil and water can be reduced, and the ecological environment is protected.

Description

Technical Field

[0001] The invention relates to a pipeline spray real-time controllable mixed pesticide application system and a pesticide application method, belonging to the field of orchard spray application. Background Art

[0002] China is a mountainous country. The application of pesticides in mountain orchards mainly relies on backpack or motorized stretcher spray equipment equipped with long hoses. However, this method is labor-intensive and has low efficiency. In contrast, pipeline spray technology can set up multiple outlets in mountain orchards and can operate simultaneously, which can significantly reduce labor intensity and improve operation efficiency. It is particularly suitable for mountain orchards. However, traditional pipeline spray systems usually require applicators to rely on experience. Traditional pipeline spray systems usually rely on applicators to pre-mix pesticides and water in the medicine pool, which is not only time-consuming, but also has poor mixing effects. It is easy for a large amount of liquid medicine to remain in the pipeline, resulting in pesticide waste and environmental pollution.

[0003] Directly configuring a mixer at the end of the spray pipe and introducing an online mixing and application system can avoid transporting pre-mixed water and pesticides from the machine room to the spray gun or nozzle through a long-distance spray pipe. However, the existing pipeline spray system only has a single-stage jet mixer designed based on the principle of a Venturi tube and uses a traditional PID control algorithm. Although this design is simple, it is difficult to cope with nonlinear and dynamically changing complex systems, and the parameter adjustment is complex, the anti-interference ability is weak, the performance is limited, and it performs poorly in terms of mixing uniformity and flexibility in adjusting the mixing ratio. At the same time, the standard size inner diameter of the existing high-pressure spray hose is usually 6.5mm, 8.5mm and 13mm, and other sizes need to be customized, which may lead to a significant increase in costs. In addition, in mountain orchard spraying operations, the system usually requires a higher working pressure of 0.8MPa to achieve a better atomization effect. Summary of the invention

[0004] The purpose of the present invention is to solve the deficiencies of the above-mentioned prior art and provide a pipeline spray real-time controllable mixing and application system. The system uses a pipeline spray two-stage jet mixer as the core mixing device. After mixing through the upper throat section, the system enters the lower throat section again for secondary mixing, and adopts a particle swarm fuzzy PID algorithm for regulation, which can significantly improve the mixing uniformity, and can adjust the mixing ratio or replace the pesticide mother liquid in the medicine tank in real time through the human-computer interaction interface, accurately apply pesticides according to the specific disease situation, and effectively prevent and control pests and diseases; at the same time, it can also reduce unnecessary use of pesticides, reduce costs and pesticide pollution to soil and water bodies, and protect the ecological environment.

[0005] Another object of the present invention is to provide a pipeline spraying method for real-time controllable mixing of pesticides.

[0006] The purpose of the present invention can be achieved by adopting the following technical solutions:

[0007] A pipeline spray real-time controllable mixed medicine application system, comprising a human-computer interaction module, a data acquisition module, an adjustment module and a mixed medicine application module, wherein the adjustment module is respectively connected to the human-computer interaction module, the data acquisition module and the mixed medicine application module;

[0008] The human-computer interaction module is used to display the current water flow rate, drug flow rate and drug mixing ratio in real time, and to set the drug mixing ratio;

[0009] The data acquisition module is used to collect water flow and drug flow, and output pulses to the regulation module;

[0010] The regulating module is used to regulate the mixed medicine application module through the particle swarm fuzzy PID algorithm, capture the pulses output by the data acquisition module, calculate the current water flow, medicine flow and mixed medicine ratio, and transmit them to the human-computer interaction module for display.

[0011] Furthermore, the medicine mixing and application module includes a water tank, a medicine tank, a peristaltic pump, a plunger pump, a pipeline spray two-stage jet mixer and a spray gun. The water tank is connected to the water inlet of the plunger pump through a water outlet pipe, the water outlet of the plunger pump is connected to the water inlet of the pipeline spray two-stage jet mixer, the medicine tank is connected to the medicine inlet of the peristaltic pump through a medicine outlet pipe, the medicine outlet of the peristaltic pump is connected to the medicine suction port of the pipeline spray two-stage jet mixer, and the mixed liquid outlet of the pipeline spray two-stage jet mixer is connected to the spray gun.

[0012] Furthermore, the pipeline spray two-stage jet mixer includes an upper mixer and a lower mixer;

[0013] The upper drug mixer includes an upper contraction section, an upper drug suction section, an upper throat section and an upper diffusion section, the lower drug mixer includes a lower contraction section, a lower drug suction section, a lower throat section and a lower diffusion section, the upper diffusion section is connected to the lower drug suction section, the front ends of the upper contraction section and the lower contraction section are respectively provided with a first water inlet and a second water inlet, the end of the upper drug suction section is provided with a drug suction port, and the end of the lower drug mixer is provided with a mixed liquid outlet;

[0014] The first water inlet is connected to the water outlet of the plunger pump through a first hose, the second water inlet is connected to the water outlet of the plunger pump through a second hose, and the drug suction port is connected to the drug outlet of the peristaltic pump through a third hose.

[0015] Furthermore, the data acquisition module includes a water flow meter and a drug flow meter, the water flow meter is arranged on the first hose, and the drug flow meter is arranged on the third hose.

[0016] Furthermore, the first hose and the second hose are both high-pressure spray hoses.

[0017] Furthermore, the inner diameter of the first hose is 6.5 mm, the inner diameter of the first water inlet and the front end of the upper contraction section is 6.5 mm, and the outer diameter is 11 mm.

[0018] Furthermore, the inner diameter of the second hose is 13 mm, the inner diameter of the second water inlet and the front end of the lower contraction section is 13 mm, and the outer diameter is 20 mm.

[0019] Furthermore, the third hose is a BPT hose.

[0020] Furthermore, the inner diameter of the third hose is 2 mm, the inner diameter of the medicine inhalation port is 2 mm, and the outer diameter is 4 mm.

[0021] Another object of the present invention can be achieved by adopting the following technical solutions:

[0022] A pipeline spray real-time controllable mixed pesticide application method is implemented based on the above pipeline spray real-time controllable mixed pesticide application system, and the method comprises:

[0023] According to the needs of the current crop to be sprayed and the disease situation, the mixing ratio is set through the human-computer interaction module, and the system runs after the setting is completed;

[0024] The data acquisition module collects water flow and drug flow in real time, transmits them to the adjustment module for calculation, and compares the current drug mixing ratio with the set drug mixing ratio;

[0025] If the real-time drug mixing ratio is equal to the set drug mixing ratio, the current peristaltic pump speed is maintained; if they are not equal, the particle swarm fuzzy PID control algorithm is run to regulate the drug mixing and dosing module, thereby changing the drug flow rate so that the real-time drug mixing ratio is equal to the set drug mixing ratio;

[0026] The data collection and drug flow rate adjustment are executed in a loop until the system completes the operation or receives a stop signal.

[0027] The present invention has the following beneficial effects compared with the prior art:

[0028] The present invention designs a pipeline spray real-time controllable drug application system, which includes a human-computer interaction module, a data acquisition module, an adjustment module and a drug mixing and application module. The modules cooperate with each other and automatically adjust the peristaltic pump speed according to the difference between the real-time drug mixing ratio and the set value to ensure the drug mixing accuracy; wherein, the drug mixing and application module adopts a pipeline spray two-stage jet mixer, and water and drug solution are mixed twice by the upper and lower stages, which can improve the water-drug mixing effect; at the same time, the particle swarm fuzzy PID algorithm is used for regulation, which can reduce the dependence on manual parameter adjustment experience, significantly improve the response speed and stability of the system, and allow the user to set the required drug mixing ratio according to the crop disease situation, and can adjust or pause the operation at any time to meet different drug application needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0030] Figure 1 This is a structural diagram of the pipeline spray real-time controllable mixing and application system of Example 1 of the present invention.

[0031] Figure 2 This is a structural diagram of the drug mixing and application module of Example 1 of the present invention.

[0032] Figure 3 This is a structural diagram of a pipeline spray two-stage jet mixer according to Example 1 of the present invention.

[0033] Figure 4 This is a diagram of the human-machine exchange module interface of Example 1 of the present invention.

[0034] Figure 5 This is a structural diagram of the particle swarm fuzzy PID control algorithm of Example 1 of the present invention.

[0035] Figure 6 This is a general program function flow chart of the pipeline spray real-time mixable drug control and application system of Example 1 of the present invention.

[0036] Among them, 1-power module, 2-human-computer interaction module, 3-data acquisition module, 4-regulation module, 5-drug mixing and application module, 501-water tank, 502-drug tank, 503-peristaltic pump, 504-plunger pump, 505-pipeline spray two-stage jet mixer, 50501-upper contraction section, 50502-upper drug suction section, 50503-upper throat section, 50504-upper diffusion section, 50505-lower contraction section, 50506-lower drug suction section, 50507-lower throat section, 50508-lower diffusion section, 50509-first water inlet, 50510-second water inlet, 50511-drug suction port, 50512-mixed liquid outlet, 506-spray gun, 507-first hose, 508-second hose, 509-third hose. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0039] The description of the embodiments should be understood in conjunction with the attached drawings. The embodiments are only used to illustrate specific embodiments that can be used to implement the present invention, and do not limit the present invention. The directional terms mentioned in the present invention, such as "upper", "lower", "front", "back", "left", "right", "inner", "outer", "side", etc., are only referenced to the directions of the attached drawings. Therefore, the directional terms used are used to illustrate and understand the present invention, but not to limit the present invention.

[0040] Embodiment 1:

[0041] like Figure 1 As shown, this embodiment provides a pipeline spray real-time controllable mixed medicine application system, which includes a power supply module 1, a human-computer interaction module 2, a data acquisition module 3, an adjustment module 4 and a mixed medicine application module 5. The power supply module 1 is used to supply power to the human-computer interaction module 2, the data acquisition module 3, the adjustment module 4 and the mixed medicine application module 5, and the adjustment module 4 is respectively connected to the human-computer interaction module 2, the data acquisition module 3, and the mixed medicine application module 5.

[0042] Furthermore, the structure of the drug mixing and dispensing module 5 is as follows: Figure 2 As shown, it includes a water tank 501, a medicine tank 502, a peristaltic pump 503, a plunger pump 504, a pipeline spray two-stage jet mixer 505 and a spray gun 506. The water tank 501 is connected to the water inlet of the plunger pump 504 through a water outlet pipe, the water outlet of the plunger pump 504 is connected to the water inlet of the pipeline spray two-stage jet mixer 505, the medicine tank 502 is connected to the medicine suction port of the peristaltic pump 503 through a medicine outlet pipe, the medicine outlet of the peristaltic pump 503 is connected to the medicine suction port of the pipeline spray two-stage jet mixer 505, and the mixed liquid outlet of the pipeline spray two-stage jet mixer 505 is connected to the spray gun 506.

[0043] Further, the structure of the pipeline spray double-stage jet mixer 505 is as follows: Figure 3As shown, it includes an upper drug mixer and a lower drug mixer; the upper drug mixer includes an upper contraction section 50501, an upper drug suction section 50502, an upper throat section 50503 and an upper diffusion section 50504, and the lower drug mixer includes a lower contraction section 50505, a lower drug suction section 50506, a lower throat section 50507 and a lower diffusion section 50508, and the upper diffusion section 50504 and the lower drug suction section The upper contraction section 50501 and the lower contraction section 50505 are connected to each other, and the first water inlet 50509 and the second water inlet 50510 are respectively provided at the front ends of the upper drug suction section 50502, and the drug suction port 50511 is provided at the end of the lower drug mixer. The first water inlet 50509 is connected to the water outlet of the plunger pump 504 through the first hose 507. Then, the second water inlet 50510 is connected to the water outlet of the plunger pump 504 through the second hose 508, and the medicine suction port 50511 is connected to the medicine outlet of the peristaltic pump 503 through the third hose 509, wherein the first hose 507 and the second hose 508 are both high-pressure spray hoses, and the inner diameter of the first hose 507 is 6.5 mm. Accordingly, the inner diameter of the first water inlet 50509 and the front end of the upper contraction section 50505 is 6.5 mm, and the outer diameter is 11 mm. The inner diameter of the second hose 508 is 13 mm. Accordingly, the inner diameter of the second water inlet 50510 and the front end of the lower contraction section 50505 is 13 mm, and the outer diameter is 20 mm. The third hose 509 is a BPT hose, and the inner diameter of the third hose 509 is 2 mm. Accordingly, the inner diameter of the medicine suction port 50511 is 2 mm, and the outer diameter is 4 mm.

[0044] In the drug mixing and application module 5 of this embodiment, the downstream pipeline of the water tank 501 is the water outlet, the upstream pipeline is the plunger pump return channel, and a water inlet is reserved at the top; the plunger pump 505 is equipped with a pressure gauge and a valve, which can be used to adjust the water pressure and flow rate; the water in the water tank 501 is pumped out by the plunger pump 505 through the downstream pipeline, and provides a water source with a flow rate of 2MPa and 15L / min for the subsequent pipeline, passes through the first hose 507 and the second hose 208, and enters the pipeline spray two-stage jet mixer 510 at the first water inlet 50509 and the second water inlet 50510; the drug liquid is sucked out from the medicine tank 502 by the peristaltic pump 503, and enters the pipeline spray two-stage jet mixer 510 at the drug suction port 50511 through the third hose 509.

[0045] In the pipeline spray two-stage jet mixer 505 of this embodiment, when the high-pressure water flow passes through the upper contraction section 50501 and the lower contraction section 50505 with gradually decreasing cross-sections, the water flow speed gradually increases, the kinetic energy increases, and the pressure gradually decreases; the water flow enters the upper throat section 50503 and the lower throat section 50507 from the upper contraction section 50501 and the lower contraction section 50505, and a negative pressure is formed in the upper throat section 50503 and the lower throat section 50507; wherein, the pesticide mother liquid is sucked into the mixer from the suction port 50511 under the action of atmospheric pressure. device, and enters the throat section 304 together with the high-pressure water flow; in the upper throat section 50503, the low-pressure pesticide mother liquid and the high-pressure water flow exchange energy and mix due to the turbulent effect; then, the mixed liquid enters the upper diffusion section 50504 with a gradually expanding cross-section, the flow rate gradually decreases, and the pressure gradually increases, and then enters the lower throat section 50507 again to cause this phenomenon. Finally, the liquid medicine after secondary mixing flows out from the mixed liquid outlet 50512, completing the entire mixing process. After passing through a section of high-pressure spray hose, the mixed liquid is atomized at the spray gun 506 for pesticide application.

[0046] Furthermore, the human-computer interaction module 2 is used to display the current water flow, drug flow and mixed drug ratio in real time, and to set the mixed drug ratio. It uses a 7-inch capacitive touch serial port screen, and the communication method is RS485. The interface design is as follows: Figure 4 As shown, the upper part displays the current water flow, drug flow and mixed drug ratio in real time, and the mixed drug ratio can be set at the bottom. The up button increases the ratio, and the down button decreases the ratio. After completing the setting and confirming, press Start to adjust to the current set mixed drug ratio for spraying operations. After completion or in case of an emergency, press the Stop button to pause the operation.

[0047] Furthermore, the data acquisition module 3 is used to collect water flow and drug flow, and output pulses to the regulation module 4, which includes a water flow meter 301 and a drug flow meter 302. The water flow meter 301 is set on the first hose 507, and the drug flow meter 302 is set on the third hose 509. The water flow meter 301 and the drug flow meter 302 are used to collect water flow and drug flow respectively, and output pulses to the regulation module 4.

[0048] Furthermore, the regulating module 4 is used to regulate the mixed drug application module 5 through the particle swarm fuzzy PID (Proportion Integration Differentiation) algorithm, and to capture the pulses output by the data acquisition module 3, and calculate the current water flow, drug flow and mixed drug ratio, and transmit them to the human-computer interaction module 2 for display, which includes a main control board, on which a single-chip microcomputer (Microcontroller Unit, MCU for short) is provided. Specifically, the particle swarm fuzzy PID algorithm is used to compare the current setting with the real-time mixed drug ratio, and the output PWM signal adjusted by the MCU is amplified by the drive circuit to increase or decrease the speed of the peristaltic pump 503, thereby changing the amount of drug input and realizing real-time control of the mixed drug ratio.

[0049] The structure of the particle swarm fuzzy PID control algorithm is as follows Figure 5As shown in the figure, the core of the algorithm is to use fuzzy logic to process the relationship between the input and the parameters of the PID controller, namely the three key parameters of proportion P, integral I and differential D. At the same time, the fuzzification and defuzzification process of fuzzy control is optimized by particle swarm optimization. Specifically, the system error E (the deviation between the real-time liquid flow rate and the liquid flow rate required to set the mixing ratio) and its rate of change EC are first converted into fuzzy quantities. This process involves quantifying the error and the rate of change, and determining its fuzziness according to the predefined 7-level classification and the symmetrical triangle membership function. Subsequently, a series of fuzzy rules based on expert knowledge and experience are used for reasoning calculations. These rules are stored in the controller's rule base to guide how to adjust the behavior of the PID controller according to the current fuzzy input value. In order to further improve the control performance of the pipeline spray real-time controllable mixed drug application system, especially the accuracy of the fuzzification and defuzzification process, the particle swarm optimization algorithm is introduced. This method aims to automatically find the best quantization factors Ke and Kec and the proportional factors Kup, Kui and Kud. By treating these parameters as individuals in the particle swarm, the optimal solution is iteratively found in a given search space. The initialization phase includes setting the maximum number of iterations, population size, upper and lower limits of the learning factor, initial and final values ​​of the inertia factor. At the same time, the initial position is randomly assigned to each particle. In each iteration, the fitness function is evaluated by the ITAE integral criterion that can comprehensively evaluate the dynamic and static performance of the system. The optimal position of each particle and the global optimal position of the population are updated according to the fitness function value, and the position information and speed information of each particle are adjusted and updated accordingly, so as to gradually approach the optimal configuration. At the same time, it is determined whether the final stop condition is reached to output the result or continue the loop optimization iteration operation. Finally, the optimized quantization factors Ke, Kec and proportional factors Kup, Kui, Kud are sent to the fuzzy controller. After the fuzzy controller defuzzifies, the proportional factors Kup, Kui, Kud are sent to the PID controller to adjust and optimize the Kp, Ki, Kd parameters, so as to finally complete the optimization design of the fuzzy PID controller. Generate a more accurate control signal to ensure that the output liquid flow can closely track the expected value of the liquid flow required for the conversion of the mixed ratio setting calculation. In this way, the performance of fuzzy PID can be improved, and the reliance on experience in traditional manual parameter adjustment can be greatly reduced, which significantly improves the response speed and stability of the system and achieves more efficient liquid flow control.

[0050] Furthermore, the power module 1 provides stable and matching electric energy to each component of the system. It is powered by a 24V lithium battery and powers the water flow meter 301, the drug flow meter 302, the peristaltic pump 503 and the main control board through a 24V to 12V, 5V and 3.3V step-down circuit.

[0051] Furthermore, users can press the stop button at any time, and adjust the mixing ratio or replace the pesticide stock solution in the medicine tank in real time according to the type and degree of pests and diseases of different fruit trees or regions. After completing the settings, confirm the start-up operation again, and apply pesticides accurately according to the specific situation, which can effectively prevent and control pests and diseases and reduce the waste of pesticides. At the same time, it can also reduce unnecessary use of pesticides, reduce costs and pesticide pollution to soil and water bodies, and protect the ecological environment.

[0052] Furthermore, the overall program function flow chart of the system is as follows Figure 6 As shown in the figure, first, the user sets the mixing ratio in the human-computer interaction interface according to the current crop object and disease situation. After completing the setting of the mixing ratio, press the confirmation and start buttons, and the system starts to run; at this time, the water flow meter and the drug flow meter will continuously collect and detect the water flow and drug flow, and transmit the data to the MCU for calculation, and compare the current mixing ratio with the set mixing ratio. If the real-time mixing ratio is equal to the set mixing ratio, the current peristaltic pump speed is maintained. If not equal, the particle swarm fuzzy PID control program is run to adjust the current peristaltic pump speed to change the drug flow so that the real-time mixing ratio is equal to the set mixing ratio. The whole process is continuously executed in a cycle until the system completes the operation or receives a stop signal.

[0053] In summary, the present invention designs a pipeline spray real-time controllable mixing and application system, which includes a human-computer interaction module, a data acquisition module, an adjustment module and a mixing and application module. The modules cooperate with each other and automatically adjust the peristaltic pump speed according to the difference between the real-time mixing ratio and the set value to ensure the mixing accuracy; wherein, the mixing and application module adopts a pipeline spray two-stage jet mixer, and the water and the liquid medicine are mixed twice by the upper and lower stages, which can improve the water-drug mixing effect; at the same time, the particle swarm fuzzy PID algorithm is used for regulation, which can reduce the dependence on manual parameter adjustment experience, significantly improve the response speed and stability of the system, and allow the user to set the required mixing ratio according to the crop disease situation, and can adjust or pause the operation at any time to adapt to different application needs.

[0054] The above is only a preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and inventive concept of the present invention within the scope disclosed by the present invention, which shall fall within the protection scope of the present invention.

Claims

1. A pipeline spray real-time controllable mixing and application system, characterized in that: It includes a human-computer interaction module, a data acquisition module, an adjustment module and a mixed medicine application module, wherein the adjustment module is respectively connected to the power supply module, the human-computer interaction module, the data acquisition module and the mixed medicine application module; The human-computer interaction module is used to display the current water flow rate, drug flow rate and drug mixing ratio in real time, and to set the drug mixing ratio; The data acquisition module is used to collect water flow and drug flow, and output pulses to the regulation module; The regulating module is used to regulate the mixed medicine application module through the particle swarm fuzzy PID algorithm, capture the pulses output by the data acquisition module, calculate the current water flow, medicine flow and mixed medicine ratio, and transmit them to the human-computer interaction module for display.

2. The pipeline spray real-time controllable mixing and application system according to claim 1 is characterized in that: The medicine mixing and application module includes a water tank, a medicine tank, a peristaltic pump, a plunger pump, a pipeline spray two-stage jet mixer and a spray gun. The water tank is connected to the water inlet of the plunger pump through a water outlet pipe, the water outlet of the plunger pump is connected to the water inlet of the pipeline spray two-stage jet mixer, the medicine tank is connected to the medicine inlet of the peristaltic pump through a medicine outlet pipe, the medicine outlet of the peristaltic pump is connected to the medicine suction port of the pipeline spray two-stage jet mixer, and the mixed liquid outlet of the pipeline spray two-stage jet mixer is connected to the spray gun.

3. The pipeline spray real-time controllable mixing and application system according to claim 2 is characterized in that: The pipeline spray double-stage jet mixer comprises an upper mixer and a lower mixer; The upper drug mixer includes an upper contraction section, an upper drug suction section, an upper throat section and an upper diffusion section, the lower drug mixer includes a lower contraction section, a lower drug suction section, a lower throat section and a lower diffusion section, the upper diffusion section is connected to the lower drug suction section, the front ends of the upper contraction section and the lower contraction section are respectively provided with a first water inlet and a second water inlet, the end of the upper drug suction section is provided with a drug suction port, and the end of the lower drug mixer is provided with a mixed liquid outlet; The first water inlet is connected to the water outlet of the plunger pump through a first hose, the second water inlet is connected to the water outlet of the plunger pump through a second hose, and the drug suction port is connected to the drug outlet of the peristaltic pump through a third hose.

4. The pipeline spray real-time controllable mixing and application system according to claim 3 is characterized in that: The data acquisition module includes a water flow meter and a medicine flow meter. The water flow meter is arranged on the first hose, and the medicine flow meter is arranged on the third hose.

5. The pipeline spray real-time controllable mixing and application system according to any one of claims 3-4, characterized in that: The first hose and the second hose are both high-pressure spray hoses.

6. The pipeline spray real-time controllable mixing and application system according to claim 5 is characterized in that: The inner diameter of the first hose is 6.5 mm, the inner diameter of the first water inlet and the front end of the upper contraction section is 6.5 mm, and the outer diameter is 11 mm.

7. The pipeline spray real-time controllable mixing and application system according to claim 5 is characterized in that: The inner diameter of the second hose is 13 mm, the inner diameter of the second water inlet and the front end of the lower contraction section is 13 mm, and the outer diameter is 20 mm.

8. The pipeline spray real-time controllable mixing and application system according to any one of claims 3-4, characterized in that: The third hose is a BPT hose.

9. The pipeline spray real-time controllable mixing and application system according to claim 8, characterized in that: The inner diameter of the third hose is 2 mm, the inner diameter of the medicine inhalation port is 2 mm, and the outer diameter is 4 mm.

10. A method for applying pesticides by real-time controllable mixing of pipeline spray, which is implemented based on the real-time controllable mixing of pipeline spray according to any one of claims 1 to 9, characterized in that: The method comprises: According to the needs of the current crop to be sprayed and the disease situation, the mixing ratio is set through the human-computer interaction module, and the system runs after the setting is completed; The data acquisition module collects water flow and drug flow in real time, transmits them to the adjustment module for calculation, and compares the current drug mixing ratio with the set drug mixing ratio; If the real-time drug mixing ratio is equal to the set drug mixing ratio, the current peristaltic pump speed is maintained; if not, the particle swarm fuzzy PID control algorithm is run to regulate the drug mixing and dosing module, thereby changing the drug flow rate so that the real-time drug mixing ratio is equal to the set drug mixing ratio; The data collection and drug flow rate adjustment are executed in a loop until the system completes the operation or receives a stop signal.

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