A wind pressure type centrifugal spray head and an adaptive control system and method thereof

Abstract

The present application belongs to the technical field of agricultural machinery equipment, and is a wind pressure type centrifugal nozzle and a self-adaptive control system and method thereof. The wind pressure type centrifugal nozzle comprises a wind pressure auxiliary device, a nozzle connecting rod, a nozzle main body and a centrifugal atomizing disc. The nozzle connecting rod is arranged on the wind pressure auxiliary device, and the nozzle main body is located between the wind pressure auxiliary device and the centrifugal atomizing disc. The wind pressure auxiliary device comprises a variable-pitch speed-regulating fan and a fan motor. The fan motor drives the variable-pitch speed-regulating fan to rotate, thereby generating a downward washing wind field. The nozzle main body comprises a motor control main body and a buffer cavity. The motor control main body rotates through a motor rotating shaft, thereby driving the centrifugal atomizing disc and the wind pressure auxiliary device to rotate. The liquid medicine enters the centrifugal atomizing disc after passing through the buffer cavity. The centrifugal atomizing disc atomizes and throws out the liquid medicine through rotation. The thrown-out liquid medicine is sprayed onto target crops under the action of the downward washing wind field. The present application solves the problem of unstable wind field caused by the change of the load of the plant protection unmanned aerial vehicle.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery and equipment technology, specifically relating to a wind-pressure centrifugal nozzle suitable for plant protection drones and its adaptive control system and method. Background Technology

[0002] In recent years, the agricultural drone industry has developed rapidly and is gradually becoming an important tool for achieving precision agriculture. Compared with traditional ground-based mechanical plant protection operations, agricultural drone operations are not limited by terrain and can significantly improve control efficiency and increase pesticide utilization.

[0003] Centrifugal nozzles are currently widely used spraying devices on agricultural drones. They control the size of droplets by adjusting the rotation speed of the atomizing disc. The droplet size distribution is narrow, the deposition pattern is controllable, and the droplets do not interfere with each other, thus giving them a greater advantage in aerial plant protection.

[0004] In traditional centrifugal nozzle designs, when the drone's payload decreases, the downwash airflow generated by the rotor weakens, leading to uneven droplet distribution and affecting application efficiency. Furthermore, existing nozzle control strategies generally fail to achieve real-time adaptive regulation of the airflow and spray pattern, resulting in insufficient operational precision.

[0005] Therefore, developing a centrifugal nozzle with wind pressure assistance and combining it with an adaptive control system to compensate for insufficient wind field and stabilize spraying effect is an urgent problem to be solved in the field of agricultural plant protection. Summary of the Invention

[0006] The purpose of this invention is to provide a wind-pressure centrifugal nozzle and its adaptive control system and method. By designing a wind pressure device and atomizing disc structure, combined with a real-time adaptive control strategy, the problem of wind field instability caused by changes in pesticide load of agricultural drones is solved, thereby achieving efficient, precise and stable control of spraying.

[0007] On one hand, the present invention proposes a wind pressure centrifugal nozzle, which includes an atomizing device and a wind pressure auxiliary device; the atomizing device includes a nozzle connecting rod, a nozzle body, and a centrifugal atomizing disc, the nozzle connecting rod is disposed on the wind pressure auxiliary device, and the nozzle body is located between the wind pressure auxiliary device and the centrifugal atomizing disc;

[0008] The wind pressure auxiliary device includes a variable pitch speed-regulating fan and a fan motor; the wind pressure auxiliary device is located directly above the nozzle body, forming a downwash airflow that works in conjunction with the rotor wind field; the fan motor drives the variable pitch speed-regulating fan to rotate, generating a downwash air field;

[0009] The nozzle body includes a motor control body and a buffer chamber that are coaxially connected vertically; the motor control body is connected to the fan motor and to the centrifugal atomizing disc through the motor shaft; the motor control body rotates through the motor shaft, which drives the centrifugal atomizing disc and the wind pressure auxiliary device to rotate.

[0010] The liquid medicine enters the centrifugal atomizing disc after the pressure and vertical flow rate of the liquid medicine flow are reduced by the buffer cavity; the centrifugal atomizing disc atomizes the liquid medicine by rotation and throws out the liquid medicine; the thrown-out liquid medicine is sprayed onto the target crops under the action of the downwash wind field generated by the wind pressure auxiliary device.

[0011] In another aspect, the present application provides an adaptive control system for controlling the wind pressure type centrifugal spray head, which comprises a data acquisition unit, a data processing unit, a data transmission unit and a control unit.

[0012] The data acquisition unit comprises a pressure sensing module for collecting the load change during the flight of the unmanned aerial vehicle, an attitude sensing module for collecting the flight attitude parameters during the flight of the unmanned aerial vehicle, a flow acquisition module for collecting the spraying flow during the flight of the unmanned aerial vehicle, a Hall sensor for collecting the rotation speed of the centrifugal atomizing disc, and a wind speed sensor for collecting the wind field intensity of the wind pressure auxiliary device.

[0013] The data processing unit calculates the target rotation speed required by the fan motor of the wind pressure auxiliary device based on the various types of data obtained by the data acquisition unit, calculates the optimal rotation speed of the fan motor according to a preset wind field compensation model or algorithm, and transmits the optimal rotation speed to the control unit to adjust the rotation speed of the variable-pitch speed regulation fan in real time; the data obtained by the Hall sensor and the wind speed sensor in the data acquisition unit are subjected to closed-loop control of the centrifugal atomizing disc and the wind pressure auxiliary device by using a PID control strategy based on machine learning.

[0014] The control unit comprises a PWM signal generation module and a motor driving module, which are used to receive the target rotation speed parameters output by the data processing unit and drive the motors of the fan motor and the centrifugal atomizing disc by generating PWM signals to adjust the fan rotation speed of the wind pressure auxiliary device and realize dynamic compensation of the wind field; the rotation speed of the centrifugal atomizing disc is adjusted to realize dynamic adjustment of the droplet size.

[0015] The data transmission unit is used to transmit the data collected by the data acquisition unit, the calculation results of the data processing unit and the working state parameters of the wind pressure auxiliary device to the upper computer or the remote control terminal in real time.

[0016] In still another aspect, the present application provides an adaptive control method based on the above-mentioned control system, which specifically comprises the following steps:

[0017] S1, mounting the wind pressure type centrifugal spray head on the plant protection unmanned aerial vehicle, connecting the liquid medicine tank after the liquid medicine is injected to the liquid inlet of the wind pressure type centrifugal spray head, and starting the plant protection operation;

[0018] S2, during the operation, driving the wind pressure auxiliary device to rotate to generate a downwash wind field to compensate for the loss of the wind field caused by the reduction of the load of the plant protection unmanned aerial vehicle.

[0019] S3, obtain the real-time load change of the plant protection unmanned aerial vehicle through the pressure sensing module, combine the flight speed, height and pitch angle parameters obtained through the attitude sensing module, and solve the obtained data through the data processing unit to obtain the fan motor speed value of the required wind pressure auxiliary device;

[0020] S4, the control unit controls the centrifugal atomizing disc and the wind pressure auxiliary device according to the speed value of the fan motor and the required droplet size, and changes the speed value of the fan motor of the centrifugal atomizing disc and the wind pressure auxiliary device by changing the duty cycle of the PWM signal;

[0021] S5, according to the speed value of the centrifugal atomizing disc and the downwash wind field speed value of the wind pressure auxiliary device obtained by the data acquisition unit, the centrifugal atomizing disc and the wind pressure auxiliary device are controlled through independent PID control strategies based on machine learning;

[0022] S6, the data transmission unit transmits the real-time load, flight speed, geographical position, downwash wind field speed value of the wind pressure auxiliary device, centrifugal atomizing disc speed value and real-time flow information during the operation to the host computer or intelligent control terminal.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] 1. The present application designs a wind pressure-centrifugal composite atomizing nozzle, by increasing a wind pressure auxiliary device above the centrifugal atomizing disc, the variable-pitch speed regulation fan of the wind pressure auxiliary device rotates under the drive of the motor to generate a downward vertical wind field, which can effectively improve the penetration and deposition uniformity of the liquid droplets.

[0025] 2. By optimizing the parameters of the centrifugal atomizing disc, the atomization fineness of the droplets is improved, the droplet spectrum width is reduced, and the droplet distribution is more uniform.

[0026] 3. A self-adaptive control method is designed, which can obtain the load change of the unmanned aerial vehicle, calculate the optimal speed of the wind pressure auxiliary device in real time according to the intelligent optimization algorithm, and control the load and fan speed of the wind pressure auxiliary device; It has strong applicability and can be applied to different loads and operation environments, so as to make the unmanned aerial vehicle operation more accurate and improve the operation efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a schematic diagram of the three-dimensional structure of the wind pressure type centrifugal nozzle in the embodiment of the present application.

[0028] Figure 2 is a schematic diagram of the three-dimensional structure of the wind pressure type centrifugal nozzle in the embodiment of the present application.

[0029] Figure 3 Fig. 4 is a schematic diagram of the internal structure of the wind pressure type centrifugal nozzle in an embodiment of the present application.

[0030] Figure 4 Fig. 5 is a sectional view of the internal structure of the wind pressure type centrifugal nozzle in an embodiment of the present application.

[0031] Figure 5 Fig. 6 is a schematic diagram of the three-dimensional structure of the buffer cavity in an embodiment of the present application.

[0032] Figure 6 Fig. 7 is a side sectional view of the buffer cavity in an embodiment of the present application.

[0033] Figure 7 Fig. 8 is a schematic diagram of the three-dimensional structure of the centrifugal atomizing disc in an embodiment of the present application.

[0034] Figure 8 Fig. 9 is a schematic diagram of the structure of the bottom disc of the centrifugal atomizing disc in an embodiment of the present application.

[0035] Figure 9 Fig. 10 is a framework diagram of the self-adaptive control in an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solutions of the present application, the present application will be further described below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present application are not limited thereto.

[0037] Referring to Figures 1-3 The wind pressure type centrifugal nozzle of the present embodiment comprises an atomizing device and a wind pressure auxiliary device 8, wherein the atomizing device comprises a nozzle connecting rod 1, a nozzle main body 3, and a centrifugal atomizing disc 4, the nozzle connecting rod is arranged on the wind pressure auxiliary device, and the nozzle main body is located between the wind pressure auxiliary device and the centrifugal atomizing disc. The wind pressure type centrifugal nozzle is hung on an aerial plant protection unmanned aerial vehicle through the nozzle connecting rod 1.

[0038] Referring to Figures 4-6, the spray head body 3 includes a motor control body 13 and a buffer cavity 9, the motor control body 13 is coaxially connected with the buffer cavity 9. The buffer cavity 9 includes a liquid inlet 6, a buffer cavity body 14, a buffer grid 15, and a liquid outlet 16. The buffer grid 15 is provided with three layers, which are arranged in the buffer cavity body 14 from top to bottom. Each layer of the buffer grid is provided with a plurality of holes, which can be circular. After the liquid medicine enters the buffer cavity body 14 through the liquid inlet 6, it passes through the three-layer buffer grid 15 with circular holes, which can effectively reduce the vertical pressure of the liquid flow on the atomizing disc and the vertical flow rate of the liquid, thereby improving the uniformity of the liquid medicine atomization. After the liquid medicine passes through the buffer cavity to reduce the pressure of the liquid flow and the vertical flow rate of the liquid, it enters the centrifugal atomizing disc 4 from the liquid outlet 16. The centrifugal atomizing disc 4 atomizes and throws out the liquid medicine by high-speed rotation; the thrown-out liquid medicine is sprayed onto the target crops under the action of the downwash wind field generated by the wind pressure auxiliary device 8.

[0039] The motor control body 13 is connected with the centrifugal atomizing disc 4 below by a motor shaft extending downward and passing through a hole in the center of the buffer grid. In addition, a signal line is led out from the motor control body 13 and connected with a fan motor in the wind pressure auxiliary device 8. The motor control body 13 rotates through the motor shaft, drives the centrifugal atomizing disc 4 and the wind pressure auxiliary device 8 to rotate, breaks the mist and throws it out.

[0040] In this embodiment, the motor control body 13 includes a wind speed sensing module 7, which is used to obtain the wind field intensity value generated by the wind pressure auxiliary device 8 and transmit the obtained wind field intensity value data to the intelligent control unit in the motor control body 13, so as to more finely control the rotation speed of the wind pressure auxiliary device 8.

[0041] Further, the wind pressure auxiliary device 8 includes a variable pitch speed regulation fan 5, a filter screen 2 and a built-in fan motor. The wind pressure auxiliary device is located directly above the spray head body, forming a downwash air flow coordinated with the rotor wind field. The shaft of the fan motor is connected with the variable pitch speed regulation fan 5, and the fan motor drives the variable pitch speed regulation fan to rotate, thereby generating a downward vertical wind field, i.e. a downwash wind field. The size of the downward vertical wind field is jointly adjusted by the rotation speed of the fan and the pitch, which can be changed by changing the inclination angle of the fan blades. The filter screen 2 is arranged above the variable pitch speed regulation fan 5, which is used to prevent foreign matter from being rolled into the fan blades during operation.

[0042] The adjustment principle of the wind field intensity is as follows: the motor control body 13 sends a speed regulation instruction through the built-in intelligent control unit, drives the variable-pitch speed regulation fan 5 to rotate at a set speed, thereby generating a vertically downward wind field; meanwhile, each blade of the fan is connected to a rudder, and the motor control body 13 sends a control instruction to control the rotation of the rudder to drive the blade to rotate to a preset angle, thereby changing the pitch of the variable-pitch speed regulation fan 5. By adjusting the speed and pitch of the variable-pitch speed regulation fan 5, the intensity of the generated wind field can be adjusted. The filter screen 2 is located directly above the coaxial center of the variable-pitch speed regulation fan 5 and is located at the air inlet of the fan wind field, which can effectively prevent sundries from entering the rotation area of the fan blades and ensure the safe operation of the fan.

[0043] Referring to Figure 3 and Figures 7-8 , the centrifugal atomizing disc 4 comprises an outer atomizing disc 10, a centrifugal top disc 11 and a centrifugal rotating disc 12. The outer atomizing disc 10 and the centrifugal top disc 11 are provided with a circular through hole at the center, which is connected with the liquid outlet 16 of the buffer cavity. The outer atomizing disc 10 and the centrifugal top disc 11 are connected by screws 21, so that the outer atomizing disc can be quickly disassembled. In the actual operation process, the outer atomizing disc 10 can be selectively installed or removed to adapt to different operation requirements.

[0044] Further, the centrifugal rotating disc 12 comprises a flow guide groove 17 and a sawtooth edge 18. The flow guide groove 17 is divided into long and short types, which are alternately distributed along the radial direction of the centrifugal bottom disc to preliminarily break the liquid medicine. The shape of the flow guide groove can be selected as an Archimedes curve. The edge of the centrifugal rotating disc is provided with the sawtooth edge 18, and a hydrophobic coating is sprayed on the surface of the sawtooth edge 18, which can effectively reduce the residence time of the droplets and make the liquid medicine separate from the centrifugal rotating disc more quickly.

[0045] Further, the outer atomizing disc 10 is annular, the inner ring is provided with a tooth-shaped mist outlet 19, and the edge close to the outer ring is provided with two layers of staggered centrifugal atomizing teeth 20. The outer atomizing disc does not rotate with the centrifugal atomizing disc, and the liquid droplet breaking strength of the liquid medicine is improved through the centrifugal atomizing teeth, thereby improving the atomizing effect. The cross section of the centrifugal atomizing tooth 20 is triangular, and each layer of atomizing teeth is arranged to form a circle. The liquid medicine reaches the sawtooth edge 18 through the flow guide groove 17 and is thrown out through the mist outlet 19. The liquid medicine is impacted by the centrifugal atomizing teeth 20 during the throwing process, thereby being atomized twice. The structure of the two layers of atomizing teeth can make the droplets more refined and the atomizing effect more sufficient.

[0046] Therefore, in the preferred embodiment, under the high-speed rotation of the centrifugal atomizing disc, the liquid medicine flows along the flow guide groove of the centrifugal rotating disc to the sawtooth edge under the action of the centrifugal force, is broken by the multiple layers of centrifugal atomizing teeth and is thrown out, thereby being sprayed onto the target crops.

[0047] The embodiment also constructs an adaptive control system, and provides an adaptive control method suitable for the wind pressure type centrifugal spray head. The following takes the adaptive control system integrated with the wind pressure type centrifugal spray head as an example, and combines the flow chart of the adaptive control method provided by the embodiment to specifically describe the adaptive control method of the wind pressure type centrifugal spray head. Figure 9 The adaptive control method of the wind pressure type centrifugal spray head provided by the embodiment is described in detail in combination with the flow chart of the adaptive control system. It should be understood that when the processor is separately mounted on the aerial plant protection machine, arranged in the flight controller, arranged in the remote controller, or arranged in the server, the following control method can still be executed.

[0048] The adaptive control system constructed includes a data acquisition unit, a data processing unit, a data transmission unit, and a control unit. The data processing unit and the data transmission unit are integrated on the same printed circuit board, and perform data transmission with the host computer or the remote control terminal through wireless communication; the data acquisition unit is distributed in different sensing areas, and performs data transmission with the data processing unit through wired or wireless mode; the control unit is distributed around the fan motor and the centrifugal atomizing disc motor, and is connected with the data processing unit through wired mode.

[0049] Further, the data acquisition unit includes a pressure sensing module for collecting the load change during the flight of the unmanned aerial vehicle, an attitude sensing module for collecting the flight attitude parameters during the flight of the unmanned aerial vehicle, an integrated sensing unit for collecting other parameters such as geographic position during the flight of the unmanned aerial vehicle, a flow acquisition module for collecting the spraying flow during the flight of the unmanned aerial vehicle, a Hall sensor for collecting the rotating speed of the centrifugal atomizing disc, and a wind speed sensor for collecting the wind field intensity of the wind pressure auxiliary device. The pressure sensing module is arranged at the bottom end of the unmanned aerial vehicle tank, and is used for detecting the change of the load of the unmanned aerial vehicle; the wind speed sensor is arranged below the wind pressure auxiliary device, and is used for detecting the wind field intensity generated by the wind pressure auxiliary device; the flow acquisition module is arranged at the liquid inlet, and is used for detecting the real-time flow of the liquid; and the attitude sensing module is arranged inside the wind pressure type centrifugal spray head, and is used for detecting the flight attitude of the unmanned aerial vehicle.

[0050] Further, the data processing unit includes an intelligent control algorithm built-in in addition to the hardware devices such as the computing device, the intelligent control algorithm can calculate the target rotating speed required by the fan motor of the wind pressure auxiliary device through various data acquired by the data acquisition unit, calculate the optimal rotating speed of the fan motor according to a preset wind field compensation model or algorithm (such as a BP neural network model, a PID control algorithm, etc.), and transmit the optimal rotating speed to the control unit, so as to adjust the rotating speed of the variable-pitch speed regulation fan in real time. At the same time, the data acquired by the Hall sensor and the wind speed sensor in the data acquisition unit are used to realize closed-loop control of the centrifugal atomizing disc and the wind pressure auxiliary device by using the PID control strategy based on machine learning.

[0051] Further, the data transmission unit comprises a wireless communication module (such as Wi-Fi, Bluetooth, LoRa, etc.), which is used to transmit the data collected by the data acquisition unit, the calculation results of the data processing unit and the working state parameters of the wind pressure auxiliary device to the upper computer or remote control terminal in real time.

[0052] Further, the control unit comprises a PWM signal generation module and a motor driving module, which are used to receive the target rotating speed parameter output by the data processing unit, and drive the fan motor and the motor of the centrifugal atomizing disc by generating a PWM signal, so as to adjust the rotating speed of the fan of the wind pressure auxiliary device, thereby realizing dynamic compensation of the wind field; and adjust the rotating speed of the centrifugal atomizing disc, thereby realizing dynamic adjustment of the droplet size. Therefore, the control unit controls the rotating speed of the centrifugal atomizing disc and the rotating speed of the wind pressure auxiliary device through two PWM outputs respectively; adjusts the droplet size of the sprayed liquid by adjusting the rotating speed of the centrifugal atomizing disc, and adjusts the wind field intensity generated by the wind pressure auxiliary device by adjusting the rotating speed of the wind pressure auxiliary device.

[0053] Please refer to Figure 9 The adaptive control method of the embodiment comprises the following steps:

[0054] S1, mounting the wind pressure type centrifugal nozzle on the plant protection unmanned aerial vehicle, and connecting the liquid tank after injecting the liquid to the liquid inlet of the wind pressure type centrifugal nozzle, and starting the plant protection operation.

[0055] S2, during the operation, as the liquid in the liquid tank decreases, the total weight of the plant protection unmanned aerial vehicle decreases, the lift required for flight decreases, the rotating speed of the rotor of the plant protection unmanned aerial vehicle decreases, the wind field below the rotor decreases, and the downward pressure on the sprayed liquid decreases, resulting in uneven distribution of the liquid during spraying. Therefore, the wind pressure auxiliary device needs to be driven to rotate to generate a downward compensation wind field, i.e. a downward washing wind field, to compensate for the loss of the wind field due to the decrease in the load.

[0056] S3, the pressure sensing module at the bottom of the liquid tank acquires the real-time load change of the plant protection unmanned aerial vehicle, and combines the flight speed, height, pitch angle and other parameters acquired by the attitude sensing module, and the data processing unit calculates the acquired data through an intelligent control algorithm to obtain the rotating speed value of the fan motor of the wind pressure auxiliary device. At the same time, the geographical position and other environmental information acquired by the integrated sensing unit are transmitted to the data transmission unit.

[0057] S4, the control unit controls the centrifugal atomizing disc and the wind pressure auxiliary device through two PWM outputs according to the rotating speed value of the fan motor and the required droplet size. The rotating speed value of the fan motor of the centrifugal atomizing disc and the wind pressure auxiliary device is changed by changing the duty cycle of the PWM signal.

[0058] S5, according to the data acquisition unit obtains the centrifugal atomization disc speed value, the wind pressure auxiliary device washes the wind field wind speed value, respectively through the independent PID control strategy based on machine learning, to the centrifugal atomization disc and wind pressure auxiliary device carries out closed loop control, realizes the closed loop control of motor, improves the stability of motor.

[0059] S6, data transmission unit transmits the information such as real-time load, flight speed, geographic position, wind pressure auxiliary device washes the wind field wind speed value, centrifugal atomization disc speed value, real-time flow during operation to host computer or intelligent control terminal, so as to realize data visualization, data analysis and other operations.

[0060] The above application of specific embodiments to the principles and implementation of the present application are described, the above-mentioned embodiment is only used to help understand the method and its core idea of the present application. But the implementation of the present application is not limited by the above content, other any change, modification, substitution, combination, simplification, which does not deviate from the spirit and principle of the present application, should be equivalent to the replacement mode, all contain in the protection scope of the present application. In summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A pneumatic centrifugal nozzle, characterized in that, It includes an atomizing device and a wind pressure auxiliary device; the atomizing device includes a nozzle connecting rod, a nozzle body, and a centrifugal atomizing disc, the nozzle connecting rod is set on the wind pressure auxiliary device, and the nozzle body is located between the wind pressure auxiliary device and the centrifugal atomizing disc; The wind pressure auxiliary device includes a variable pitch speed-regulating fan and a fan motor; the wind pressure auxiliary device is located directly above the nozzle body, forming a downwash airflow that works in conjunction with the rotor wind field; the fan motor drives the variable pitch speed-regulating fan to rotate, generating a downwash air field; The nozzle body includes a motor control body and a buffer chamber that are coaxially connected vertically; the motor control body is connected to the fan motor and to the centrifugal atomizing disc through the motor shaft; the motor control body rotates through the motor shaft, which drives the centrifugal atomizing disc and the wind pressure auxiliary device to rotate. After the liquid medicine passes through the buffer chamber to reduce the pressure and vertical flow velocity of the liquid medicine, it enters the centrifugal atomizing disc; the centrifugal atomizing disc atomizes and throws out the liquid medicine by rotating; the thrown out liquid medicine medicine is sprayed onto the target crop under the action of the downwash air field generated by the wind pressure auxiliary device; The buffer chamber includes an inlet, a main body, a buffer grid, and an outlet. The buffer grid has multiple layers, which are arranged from top to bottom inside the main body of the buffer chamber. Each layer of the buffer grid has several holes. After the liquid enters the main body of the buffer chamber through the inlet, it passes through the multiple layers of buffer grid and then enters the centrifugal atomizing disc through the outlet. The centrifugal atomizing disk includes an outer atomizing disk, a centrifugal top disk, and a centrifugal rotating disk; the outer atomizing disk and the centrifugal top disk are provided with through holes in their centers, and the through holes are connected to the buffer chamber; The centrifugal disc includes a flow channel and a serrated edge; the flow channel is used for the initial crushing of the liquid medicine. The outer atomizing disc is ring-shaped, the inner ring has toothed mist outlets, and centrifugal atomizing teeth are provided near the edge of the outer ring; The liquid medicine reaches the edge of the saw teeth through the guide channel, and is then thrown out through the mist outlet. During the throwing process, the liquid medicine is impacted by the centrifugal atomizing teeth and undergoes secondary atomization.

2. The pneumatic centrifugal nozzle according to claim 1, characterized in that, The size of the downwash airflow is adjusted by the fan speed and pitch, and the pitch is changed by altering the tilt angle of the fan blades.

3. The pneumatic centrifugal nozzle according to claim 1, characterized in that, The motor control unit includes a wind speed sensing module, which is used to acquire the wind field intensity value generated by the wind pressure auxiliary device and transmit the acquired wind field intensity value data to the intelligent control unit inside the motor control unit to control the rotation speed of the wind pressure auxiliary device.

4. The pneumatic centrifugal nozzle according to claim 1, characterized in that, The wind pressure auxiliary device also includes a filter screen, which is installed above the variable pitch speed-regulating fan.

5. The pneumatic centrifugal nozzle according to claim 1, characterized in that, The centrifugal atomizing teeth have two layers, which are arranged in an alternating pattern, with each layer of atomizing teeth arranged in a circle.

6. The pneumatic centrifugal nozzle according to claim 1, characterized in that, The cross-section of the centrifugal atomizing tooth is triangular.

7. An adaptive control system for controlling the pneumatic centrifugal nozzle according to any one of claims 1-6, characterized in that, The control system includes a data acquisition unit, a data processing unit, a data transmission unit, and a control unit; The data acquisition unit includes a pressure sensing module for collecting load changes during UAV flight, an attitude sensing module for collecting flight attitude parameters during UAV flight, a flow acquisition module for collecting spraying flow during UAV flight, a Hall sensor for collecting the rotational speed of the centrifugal atomizing disc, and a wind speed sensor for collecting the wind field intensity of the wind pressure auxiliary device. The data processing unit calculates the target speed required by the fan motor of the wind pressure auxiliary device based on the various data acquired by the data acquisition unit, calculates the optimal speed of the fan motor according to the preset wind field compensation model or algorithm, and transmits the optimal speed to the control unit to adjust the speed of the variable pitch speed-regulating fan in real time; for the data acquired by the Hall sensor and wind speed sensor in the data acquisition unit, a PID control strategy based on machine learning is adopted to perform closed-loop control of the centrifugal atomizing disc and the wind pressure auxiliary device. The control unit includes a PWM signal generation module and a motor drive module. It receives the target speed parameters output by the data processing unit and drives the fan motor and the centrifugal atomizing disk motor by generating PWM signals to adjust the fan speed of the wind pressure auxiliary device and realize dynamic wind field compensation; it also adjusts the speed of the centrifugal atomizing disk to realize dynamic adjustment of the droplet size. The data transmission unit is used to transmit the data collected by the data acquisition unit, the calculation results of the data processing unit, and the working status parameters of the wind pressure auxiliary device to the host computer or remote control terminal in real time.

8. An adaptive control method, implemented based on the control system of claim 7, characterized in that, Includes the following steps: S1. Mount the wind-pressure centrifugal nozzle onto the agricultural drone, connect the injected pesticide tank to the inlet of the wind-pressure centrifugal nozzle, and begin the agricultural operation. S2. During operation, drive the wind pressure auxiliary device to rotate and generate a downwash wind field to compensate for the wind field loss caused by the reduced load of the agricultural drone. S3. The real-time load change of the agricultural drone is obtained through the pressure sensing module. Combined with the flight speed, altitude and pitch angle parameters obtained by the attitude sensing module, the data processing unit calculates the obtained data to obtain the required fan motor speed value of the wind pressure auxiliary device. S4. The control unit controls the centrifugal atomizing disc and the wind pressure auxiliary device according to the fan motor speed and the required droplet size. The fan motor speed of the centrifugal atomizing disc and the wind pressure auxiliary device is changed by changing the duty cycle of the PWM signal. S5. Obtain the rotational speed of the centrifugal atomizing disc and the wind speed of the downwash air field of the wind pressure auxiliary device from the data acquisition unit, and perform closed-loop control on the centrifugal atomizing disc and the wind pressure auxiliary device through independent PID control strategies based on machine learning. S6. The data transmission unit transmits real-time data such as load, flight speed, geographical location, wind speed value of the downwash field of the wind pressure auxiliary device, rotation speed value of the centrifugal atomizing disc, and real-time flow information during the operation to the host computer or intelligent control terminal.

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