Novel multivariable precise air supply spraying structure and control method thereof

Abstract

The invention discloses a novel multivariable precise air supply spraying structure and a control method thereof. The structure is mainly composed of a power unit, a control unit and a spraying unit. The power unit is composed of a water pump, an electromagnetic valve, a power source and a fan motor, the water pump pumps liquid medicine from the water tank and conveys the liquid medicine to a pipeline, and the opening-closing state of the electromagnetic valve and the rotating speed of the fan motor are regulated. The core of the control unit is a hardware driving controller, and the control unit is used for calculating the spraying amount in real time based on set parameters and feedback signals and driving the power unit to execute corresponding actions; the spraying unit comprises an integral duct, a pressure spray head and a spray head bottom plate, the pressure spray head generates fog drop areas distributed in a fan shape, and the integral duct efficiently gathers airflow generated by the fan, secondarily crushes pesticide liquid fog drops and disturbs crop leaf surface canopies at the same time, so that the deposition amount of the fog drops on the back faces of leaves and in the canopies is remarkably increased, and the crop leaf surface canopies are effectively prevented from being damaged. The device is key equipment for realizing precise pesticide application in intelligent agriculture.

Description

Technical Field

[0001] This invention belongs to the field of agricultural plant protection machinery, specifically relating to a novel precision air-assisted spraying structure and its control method based on multivariable sensor fusion and intelligent regulation technology. Background Technology

[0002] In orchard environments, fruit trees are susceptible to various pathogens, pests, and weeds during their growth and development, severely impacting their growth cycle and leading to significant yield losses. To mitigate these adverse effects, pesticides are sprayed multiple times during the fruit tree's growth stages. Traditional agricultural spraying equipment often uses fixed parameters and has limited spray angles, making it impossible to achieve precise variable-rate application based on crop growth cycles, canopy structure, and pest distribution. The fruit tree canopy has a three-dimensional spatial structure, with significant differences in foliage density at different growth stages, making it difficult for traditional equipment to achieve uniform droplet deposition within the canopy. Overspraying and underspraying result in low pesticide utilization rates, leading to substantial pesticide runoff into the soil and water bodies. Droplet drift and surface runoff pollution are also significant problems, threatening agricultural product quality and safety as well as ecological balance.

[0003] To address this issue, a novel multi-variable precision air-assisted spraying structure was designed to enable adjustable spraying parameters, precise variable application of pesticides, and improved uniformity and penetration of pesticide coverage, thereby promoting the development of green agriculture towards intelligence. Summary of the Invention

[0004] This invention addresses the limitations of traditional spraying equipment and current technology by designing a novel multi-variable precision air-driven spraying structure. During operation, it fully utilizes the potential energy of the wind field, breaking up the pesticide solution to improve droplet uniformity. Simultaneously, the airflow disturbs the canopy layer within the fruit trees, allowing the pesticide droplets to reach deeper into the canopy and enhancing droplet penetration. The designed mechanism features adjustable parameters for multiple components, meeting the spraying needs of different growth stages and fruit tree varieties. It achieves large-area, uniform, and precise spraying, improving spraying efficiency and greatly enhancing adaptability to diverse application scenarios.

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: A novel multi-variable precision air-assisted spray structure includes a system support (1), a water tank (2), and a base plate (3); the lower layer of the system support (1) is fixed to the base plate (3) by bolts and nuts, and is equipped with the water tank (2); the system support (1) is also equipped with a power unit, a control unit, and a spray unit.

[0006] The power unit is used to pump water from the water tank (2) and pressurize it, and to control the spray parameters. It includes a water pump (4), a solenoid valve (5), a power supply (10), and a fan module (7). The unit pumps water from the water tank (2) and pressurizes it, and coordinates the on / off state of the solenoid valve (5) and the speed of the fan module (7). The water pump (4) and the solenoid valve (5) are fixed to the lower layer of the system bracket (1) by bolts and nuts. The power supply (10) is fixed to the system bracket (1). The installation structure of the fan module (7) is as follows: the carbon fiber tube (77) runs through the ends of the two integral ducts (6). In the middle of the wind turbine installation area; the wind turbine motor (76) is fixed to the carbon fiber tube (77) by two pipe clamps (74) and bolts and nuts; the wind turbine blades (75) are connected to the output shaft of the wind turbine motor (76) by bolts and nuts; a flange (73) is provided at each end of the carbon fiber tube (77), and the flange (73) is fixed to the integral duct (6) on the corresponding side by bolts and nuts to prevent the carbon fiber tube (77) from sliding axially; fasteners (72) are fitted on the carbon fiber tube (77), and the integral duct (6) assembly is locked and fixed to the system bracket (1) by bolts and nuts;

[0007] The control unit is used to control the execution actions of the precision air-driven spray mechanism. It includes a hardware drive controller (9) and a speed sensor (71) and a pressure sensor (41) connected thereto.

[0008] The spraying unit is used to perform spraying operations and includes an integral duct (6), a pressure nozzle (81) and a nozzle base plate (82); the pressure nozzle (81) is fixed to the nozzle base plate (82) by bolts and nuts; the nozzle base plate (82) is inserted into a pre-set slot in the integral duct (6) for fixation.

[0009] Furthermore, the system support (1) is constructed of aluminum profile with a cross-sectional dimension of 30×30mm. The system support (1) is divided into upper and lower layers, separated by an acrylic plate to achieve waterproof sealing and ensure system safety and airtightness. The lower layer of the system support (1) is fixed to the base plate (3) by M5 bolts and nuts, and is equipped with a water tank (2), a water pump (4), a solenoid valve (5), a power supply (10), and a hardware drive controller (9). The upper layer of the system support (1) is equipped with an integrated duct (6), a fan module (7), and a spray unit (8). The aluminum profile connection is fastened by corner brackets and M5 bolts and nuts to provide stable support and load-bearing capacity for the system, while achieving lightweighting of the overall structure.

[0010] Furthermore, the water tank (2) is fastened to the base plate (3) and system bracket (1) by stainless steel snap-on straps to limit displacement, enhance system stability, and prevent the center of gravity from shifting due to the shaking of the liquid during movement; one water pump (4) is provided to pump water from the water tank (2), pressurize it, and deliver it to the pipeline system; a total of twelve solenoid valves (5) are provided, divided into four groups; two groups each contain three solenoid valves (5), which are arranged on both sides of the water pump (4); the solenoid valves (5) are respectively connected to the pressure nozzles (81) of the spray unit (8), and by controlling their on / off state, the liquid in the pipeline is delivered to the corresponding pressure nozzles (81) for spraying; the pressure sensor (41) is installed on the pipeline on the outlet side of the water pump (4) to monitor the pipeline pressure in real time and provide feedback for adjustment.

[0011] Furthermore, two integral ducts (6) are provided, symmetrically arranged on the left and right sides of the mechanism, for concentrating the wind field; each integral duct (6) is fixed to the upper layer of the system support (1) through a carbon fiber tube (77) that runs through the end fan installation area; six fan modules (7) are provided, three of which are placed in the end fan installation area of ​​each integral duct (6); the integral duct (6) is made of ABS material, which has excellent mechanical properties, can withstand large working stress, and has moisture-proof, high temperature resistance, and recyclability; the integral duct (6) is optimized by Fluent software simulation and adopts a gradually narrowing and widening streamlined air duct design (stable inlet, gradually narrowing throat, and gradually widening outlet), which can effectively suppress airflow turbulence, reduce energy loss, and improve outlet wind speed and stability.

[0012] The spray unit (8) further includes a pressure nozzle (81) and a nozzle base plate (82). The pressure nozzle (81) is assembled by connecting a nozzle (811), a double internal thread right-angle transition joint (812), and an external thread direct head (813) through threads. The assembled pressure nozzle (81) is fixed to the nozzle base plate (82) by a U-shaped clamp (814) and M3 bolts and nuts. The two ends of the nozzle base plate (82) are respectively inserted into the pre-set fixing grooves of the corresponding integral duct (6) to achieve positioning and installation. The pressure nozzle (81) can flexibly select fan-shaped nozzles with different openings to distribute the liquid flow into a fan-shaped or layered spray, which is uniformly distributed, has strong penetration, and the spray angle can reach 25° to 110°, which meets the requirements of variable spray.

[0013] Furthermore, the battery (10) is a lithium battery, fixed to the lower layer of the system bracket (1), providing working power for the water pump (4), fan motor (76), solenoid valve (5), pressure sensor (41), speed sensor (71) and hardware drive controller (9); the hardware drive controller (9) is fixed to the lower layer of the system bracket (1), and drives the actuator to complete the spraying operation by sending control signals to the water pump (4), solenoid valve (5) and fan motor (76).

[0014] Furthermore, the air delivery system adjusts the speed of the fan motor (76) in real time through PWM signal according to the density of the canopy branches and leaves of the target crop, so as to dynamically control the wind speed and air volume; the adjusted airflow is used to: assist in the delivery of atomized liquid, expand the coverage area and guide the droplets to be deposited in the target canopy; enhance the penetration ability of droplets in the canopy and the uniformity of the deposition distribution; increase the amount of droplets deposited on the back of the leaves and inside the canopy by turning the stems and leaves inside the canopy through airflow disturbance; perform secondary break-up of droplets to optimize the atomization effect; and comprehensively improve the coverage, penetration, uniformity and deposition efficiency of the spraying operation.

[0015] Furthermore, a pressure sensor (41) is added to the water pump (4), and an incremental PID control algorithm is used to achieve constant water pressure control. When the pressure in the delivery pipe is lower than the set value (spraying demand pressure), the pressure sensor (41) provides real-time feedback, and the PID controller increases the speed of the water pump (4) to increase the pressure; when the pressure in the delivery pipe is higher than the set value, the PID controller reduces the speed of the water pump (4) to reduce the pressure; this closed-loop control system maintains the water pressure in the delivery pipe in real time, which significantly reduces the energy consumption of the water pump (4) and extends the battery (10) runtime while ensuring effective spraying, thus achieving the goal of energy saving.

[0016] The present invention discloses a novel multivariable precision air-assisted spray structure control method, comprising the following steps:

[0017] Step 1, Equipment Inspection: After confirming that all components of the power, control, and spraying units are in good working order, power on the system and enter standby mode.

[0018] Step 2, system initialization and self-test: confirm that the water pump (4), solenoid valve (5), fan motor (76), pressure sensor (41), and speed sensor (71) are in normal and controllable condition; if there is any abnormality, the system will provide real-time feedback through the hardware driver controller (9) light strip, and support health status query.

[0019] Step 3: Wait for the operator to select the working mode. Select the working mode of the mechanism through the remote interactive interface on the remote control. There are two working modes: "automatic mode" and "manual mode".

[0020] Step 4, in manual mode, the operator manually adjusts the power of the water pump (4) and the on / off state of the solenoid valve (5), selects the spray area and controls the spray volume; adjusts the speed of the fan motor (76) according to the working environment and the target canopy density to optimize the droplet size and canopy penetration ability; the built-in water level monitoring system sets a safety threshold; when the water level is lower than the threshold, an alarm is triggered in real time.

[0021] Step 5: In automatic mode, the lidar scans in real time to acquire tree canopy point cloud data; the hardware drive controller (9) receives and processes five frames of point cloud data, calculates the target canopy volume and density; the hardware drive controller (9) generates control commands based on canopy characteristics, sends them to the bottom control board via serial port, and drives the water pump (4), solenoid valve (5), and fan motor (76) to work together to achieve controllable adjustment of fan speed, spray flow rate, and droplet size. If personnel or animals are detected during operation, the solenoid valve (5) is immediately shut off to stop spraying and prevent pesticide damage.

[0022] Step 6: After the operation is completed, the system enters standby safety state: disconnect the battery (10) power supply, and power off and reset the water pump (4), solenoid valve (5), fan motor (76), hardware drive controller (9) and sensors.

[0023] Traditional spraying methods have significant limitations: manual carrying is inefficient, easily leads to worker fatigue and health risks, and has poor atomization and uneven spraying, resulting in limited pesticide reaching the target area of ​​fruit trees, serious pesticide loss, waste, and environmental pollution. Direct contact with pesticides poses a high risk to personnel, and there are significant safety hazards when operating on complex terrains such as steep slopes and dense planting. Traditional mechanical spraying has a low level of intelligence, is prone to overspraying at turns and corners, and has a lot of pesticide drift. It also often adopts a fixed height / angle full coverage mode, with a single control variable, making it difficult to flexibly adjust the spray width to cope with non-standardized planting, often resulting in missed spraying or overspraying. At the same time, the pesticide solution is easily dispersed in the air by airflow disturbances, only covering the surface of the canopy and failing to deposit deeply, which seriously affects the control effect.

[0024] To address the aforementioned limitations, this invention features an innovative design: the integrated duct (6) employs a gradually narrowing and widening streamlined structure (stable inlet, narrowing throat, and widening outlet) to efficiently gather wind energy, enabling rapid and precise delivery of the pesticide to the target area, significantly reducing pesticide dispersion and environmental pollution; simultaneously, the high-speed airflow effectively disturbs the canopy and enhances penetration, causing the pesticide to deposit in deep leaves and on the underside of leaves, greatly improving coverage uniformity and application efficiency; the nozzle layout is based on the optimized spacing array of the pressure nozzles (81) and combined with precise switching control of the solenoid valves (5) to effectively eliminate overlapping sprays and expand the effective coverage area; the water pump (4) adopts an incremental PID constant pressure control strategy to stabilize pipeline pressure in real time, significantly reducing energy consumption and extending battery life while ensuring atomization effect. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention; (a) is a left front view; (b) is a front view; (c) is a left side view;

[0026] Figure 2 This is a structural diagram of the wind turbine module of the present invention;

[0027] Figure 3 This is a structural diagram of the spray module of the present invention;

[0028] Figure 4 This is a lower layer structure diagram of the present invention;

[0029] Figure 5 This is a control block diagram of the present invention.

[0030] The components are as follows: 1-System bracket; 2-Water tank; 3-Base plate; 4-Water pump; 41-Pressure sensor; 5-Solenoid valve; 6-Integrated duct; 7-Fan module; 71-Speed ​​sensor; 72-Fastener; 73-Flange; 74-Pipe clamp; 75-Fan blade; 76-Fan motor; 77-Carbon fiber pipe; 8-Spray module; 81-Pressure nozzle; 811-Nozzle; 812-Double internal thread right angle transition joint; 813-External thread straight joint; 814-U-shaped clamp; 82-Nozzle base plate; 9-Hardware drive controller; 10-Battery. Detailed Implementation

[0031] The invention will now be described in detail with reference to the accompanying drawings in the invention examples.

[0032] like Figure 1 A schematic diagram of a novel multivariable precision air-driven spray structure is shown. It mainly consists of a system support (1), a water tank (2), a base plate (3), a water pump (4), a solenoid valve (5), an integrated duct (6), a fan module (7), a spray module (8), a hardware drive controller (9), and a battery (10). It also includes the following components: 41-pressure sensor, 71-speed sensor, 72-fastener, 73-flange, 74-pipe clamp, 75-fan blade, 76-fan motor, 77-carbon fiber tube, 8-spray module, 81-pressure nozzle, 811-nozzle, 812-double internal thread right-angle transition joint, 813-external thread direct head, 814-U-shaped clamp, and 82-nozzle base plate.

[0033] The system support (1) is made of 30*30mm aluminum profiles, and the base plate (3) is made of stainless steel. The aluminum profiles are fixed at the joints with M5 bolts and nuts. The lower layer of the system support (1) is fixed to the base plate with M5 bolts and nuts, providing support and load-bearing for the entire system while reducing the weight of the structure. When the system is working, the battery (10) provides power to the hardware drive controller (9), water pump (4), solenoid valve (5), fan motor (76), pressure sensor (41), and speed sensor (71). The liquid medicine enters the delivery pipeline after being pressurized by the water pump (4) from the water tank (2). The solenoid valve (5) controls the flow direction of the liquid medicine and delivers it to the pressure nozzle (81) of the spray module (8). At the pressure nozzle, the liquid medicine is atomized into fine droplets. At the same time, the fan motor (76) drives the fan blades (75) to rotate, generating a high-speed wind field. The airflow is gathered and accelerated by the integrated duct (6) and then directed to the spray module (8) area, where the sprayed pesticide droplets are further blown and evenly covered to the target tree canopy, completing the spraying operation. The hardware drive controller (9) receives real-time feedback signals from the pressure sensor (41) and speed sensor (71), and dynamically adjusts the control signals (such as water pump speed, solenoid valve opening, fan motor speed, etc.) accordingly to achieve precise and coordinated control of spray pressure, airflow speed and flow rate, ensuring the optimal spraying effect.

[0034] The power unit is used to pump water from the water tank (2) and pressurize it, and to control the spray parameters. It includes a water pump (4), a solenoid valve (5), a power supply (10), and a fan module (7). The unit pumps water from the water tank (2) and pressurizes it, and coordinates the on / off state of the solenoid valve (5) and the speed of the fan module (7). The components are installed as follows: the water tank (2) is fixed to the base plate (3) and the system bracket (1) with stainless steel snap-on straps; the water pump (4) and the solenoid valve (5) are fixed to the lower layer of the system bracket (1) with M4 bolts and nuts; the power supply (10) is fixed to the system bracket (1) with Velcro.

[0035] like Figure 2The wind turbine module structure shown is as follows: the wind turbine motor (76) and the wind turbine blades (75) are connected by M2.5 bolts and nuts. During operation, the motor drives the blades to rotate and provide wind power. The wind turbine motor (76) and the speed sensor (71) used to monitor its rotation speed in real time are both fixed to the carbon fiber tube (77) that runs through the arc-shaped area at the end of the integral duct (6) by two pipe clamps (74) and M3 bolts and nuts. To prevent the carbon fiber tube (77) from sliding axially, there is a flange (73) on each of its left and right sides, which is fixed to it by M3 bolts and nuts. The integral duct (6) is fixed to the system bracket (1) by fasteners (72) fitted on the carbon fiber tube (77) and M5 bolts and nuts. There are two sets of integral ducts (6), and each set integrates and installs three sets of the wind turbine modules (7).

[0036] like Figure 3 The spray module structure diagram shown illustrates that the spray module (8) consists of a pressure nozzle (81) and a nozzle base plate (82). The internal components of the pressure nozzle (81), including the nozzle (811), double internal thread right-angle transition joint (812), and external thread direct head (813), are sequentially connected and assembled via internal threads. The assembled pressure nozzle (81) is fixed to the nozzle base plate (82) using U-shaped clamps (814) and M3 bolts and nuts. Both ends of the nozzle base plate (82) are fixed by being embedded in pre-set slots in the integral duct (6). Each integral duct (6) integrates and installs six sets of the aforementioned spray modules (8).

[0037] A carbon fiber tube (77) runs across the middle of the end fan installation area of ​​the integral duct (6); a flange (73) is provided at each end of the carbon fiber tube (77), and the flange (73) is fixed to the integral duct (6) on the corresponding side by M3 bolts and nuts to prevent the carbon fiber tube (77) from sliding axially; fasteners (72) are fitted on the carbon fiber tube (77), and the integral duct (6) assembly is locked and fixed to the system bracket (1) by M5 bolts and nuts.

[0038] like Figure 4 The lower structure diagram shown shows that the hardware drive controller (9), water pump (4), solenoid valve (5), battery (10), and pressure sensor (41) are all fixedly installed on the lower layer of the system bracket (1). Among them: the battery (10) is a lithium battery, which provides power to the system; the water pump (4) (1 in total) is responsible for drawing medicine from the water tank (2) and delivering it to the pipeline system; there are 12 solenoid valves (5 in total), configured in groups of three, with two groups (6 in total) symmetrically distributed on both sides of the outlet of the water pump (4), and the solenoid valves (5) are installed one-to-one with the pressure nozzles (81) of the spray module (8); the pressure sensor (41) monitors the liquid pressure in the pipeline in real time.

[0039] The control unit is used to control the execution of the precision air-driven spray mechanism, and includes a hardware drive controller (9), a speed sensor (71), and a pressure sensor (41). The components are installed as follows: the hardware drive controller (9) is fixed to the system bracket (1) with M4 bolts and nuts; the speed sensor (71) is fixed to the carbon fiber tube (77) with two tube clamps (74) and M3 bolts and nuts; the pressure sensor (41) is fixed to the system bracket (1) with M4 bolts and nuts.

[0040] The core control functions of the hardware-driven controller (9) are as follows: Based on the density of the canopy branches and leaves, the speed of the fan motor (76) is dynamically adjusted by outputting a PWM signal, thereby optimizing the wind speed and air volume in real time, expanding the coverage of the liquid and enhancing the penetration and uniformity of the droplets in the fruit tree canopy; Based on the pipeline pressure signal fed back by the pressure sensor (41), the incremental PID control algorithm is used to achieve precise constant pressure control of the water pressure; Based on the detected canopy height position information, the opening and closing of the corresponding solenoid valve (5) is precisely controlled; Through the coordinated control of the fan motor (76), water pump (4) and solenoid valve (5), the precise wind-driven spraying operation of multiple variables is finally realized.

[0041] like Figure 5 The control block diagram shown shows the control system workflow as follows: After the system is powered on, it initializes and performs self-tests on each module. Abnormal states are fed back in real time through the status indicator lights of the main control system. After the equipment health is confirmed to be correct, it navigates autonomously according to the preset path and uses the laser radar sensor to obtain the tree canopy position coordinates in real time. The "cumulative method" is used to fuse five consecutive frames of canopy point cloud data to the main control system, and the canopy volume and density are calculated accordingly. The generated control commands are sent to the bottom control board through serial communication, thereby driving the water pump (4) to adjust the power, the solenoid valve (5) to control the switch, and the fan motor (76) to adjust the speed. Based on the pipeline pressure feedback of the pressure sensor (41) and the fan speed feedback of the speed sensor (71), the system dynamically adjusts the water pump power and fan speed in real time, realizes the coordinated control of fan speed, spray flow rate and droplet size, and completes multi-variable precision spraying operation. After the operation is completed, the system enters the standby safety state, actively disconnects the battery (10) power supply and resets each actuator.

[0042] The present invention discloses a novel multivariable precision air-assisted spray structure control method, comprising the following steps:

[0043] Step 1, Equipment Inspection: After confirming that all components of the power, control, and spraying units are in good working order, power on the system and enter standby mode.

[0044] Step 2, system initialization and self-test: confirm that the water pump (4), solenoid valve (5), fan motor (76), pressure sensor (41), and speed sensor (71) are in normal and controllable condition; if there is any abnormality, the system will provide real-time feedback through the hardware driver controller (9) light strip, and support health status query.

[0045] Step 3: Wait for the operator to select the working mode. Select the working mode of the mechanism through the remote interactive interface on the remote control. There are two working modes: "automatic mode" and "manual mode".

[0046] Step 4, in manual mode, the operator manually adjusts the power of the water pump (4) and the on / off state of the solenoid valve (5), selects the spray area and controls the spray volume; adjusts the speed of the fan motor (76) according to the working environment and the target canopy density to optimize the droplet size and canopy penetration ability; the built-in water level monitoring system sets a safety threshold; when the water level is lower than the threshold, an alarm is triggered in real time.

[0047] Step 5: In automatic mode, the lidar scans in real time to acquire tree canopy point cloud data; the hardware drive controller (9) receives and processes five frames of point cloud data, calculates the target canopy volume and density; the hardware drive controller (9) generates control commands based on canopy characteristics, sends them to the bottom control board via serial port, and drives the water pump (4), solenoid valve (5), and fan motor (76) to work together to achieve controllable adjustment of fan speed, spray flow rate, and droplet size. If personnel or animals are detected during operation, the solenoid valve (5) is immediately shut off to stop spraying and prevent pesticide damage.

[0048] Step 6: After the operation is completed, the system enters standby safety state: disconnect the battery (10) power supply, and power off and reset the water pump (4), solenoid valve (5), fan motor (76), hardware drive controller (9) and sensors.

Claims

1. A novel multi-variable precision air-driven spray structure, characterized in that, The system includes a system bracket (1), a water tank (2), and a base plate (3); the lower layer of the system bracket (1) is fixed to the base plate (3) by bolts and nuts, and the water tank (2) is mounted on it; the system bracket (1) also carries a power unit, a control unit, and a spray unit. The power unit is used to pump water from the water tank (2) and pressurize it, and to control the spray parameters. It includes a water pump (4), a solenoid valve (5), a power supply (10), and a fan module (7). The unit pumps water from the water tank (2) and pressurizes it, and coordinates the on / off state of the solenoid valve (5) and the speed of the fan module (7). The water pump (4) and the solenoid valve (5) are fixed to the lower layer of the system bracket (1) by bolts and nuts. The power supply (10) is fixed to the system bracket (1). The installation structure of the fan module (7) is as follows: the carbon fiber tube (77) runs through the ends of the two integral ducts (6). In the middle of the wind turbine installation area; the wind turbine motor (76) is fixed to the carbon fiber tube (77) by two pipe clamps (74) and bolts and nuts; the wind turbine blades (75) are connected to the output shaft of the wind turbine motor (76) by bolts and nuts; a flange (73) is provided at each end of the carbon fiber tube (77), and the flange (73) is fixed to the integral duct (6) on the corresponding side by bolts and nuts to prevent the carbon fiber tube (77) from sliding axially; fasteners (72) are fitted on the carbon fiber tube (77), and the integral duct (6) assembly is locked and fixed to the system bracket (1) by bolts and nuts; The control unit is used to control the execution of the precision air-driven spray mechanism. It includes a hardware drive controller (9) and a speed sensor (71) and a pressure sensor (41) connected thereto. The spraying unit is used to perform spraying operations and includes an integral duct (6), a pressure nozzle (81) and a nozzle base plate (82); the pressure nozzle (81) is fixed to the nozzle base plate (82) by bolts and nuts; the nozzle base plate (82) is inserted into a pre-set slot in the integral duct (6) for fixation.

2. The novel multi-variable precision air-driven spray structure according to claim 1, characterized in that, The system support (1) is constructed of aluminum profile with a cross-sectional size of 30×30mm. The system support (1) is divided into upper and lower two-layer structures, separated by an acrylic plate to achieve waterproof sealing and ensure system safety and airtightness. The aluminum profile connection is fastened with corner pieces and M5 bolts and nuts to provide stable support and load-bearing capacity for the system, while achieving lightweighting of the overall structure.

3. The novel multi-variable precision air-driven spray structure according to claim 1, characterized in that, The water tank (2) is fastened to the base plate (3) and system bracket (1) by stainless steel snap-on straps to limit displacement, enhance system stability, and prevent the center of gravity from shifting due to the shaking of the liquid during movement; one water pump (4) is provided to pump water from the water tank (2), pressurize it, and deliver it to the pipeline system; a total of twelve solenoid valves (5) are provided, divided into four groups; two groups each contain three solenoid valves (5), which are arranged on both sides of the water pump (4); the solenoid valves (5) are respectively connected to the pressure nozzles (81) of the spray unit (8), and by controlling their on / off state, the liquid in the pipeline is delivered to the corresponding pressure nozzles (81) for spraying; the pressure sensor (41) is installed on the pipeline on the outlet side of the water pump (4) to monitor the pipeline pressure in real time and provide feedback for adjustment.

4. The structure according to claim 1, characterized in that, Two integral ducts (6) are set up symmetrically on the left and right sides of the mechanism to concentrate the wind field. Each integral duct (6) is fixed to the upper layer of the system support (1) through a carbon fiber tube (77) that runs through the end fan installation area. There are six fan modules (7) in total, with three placed in the end fan installation area of ​​each integral duct (6). The integral duct (6) is made of ABS material, which has excellent mechanical properties, can withstand large working stress, and has moisture-proof, high temperature resistance and recyclability. The integral duct (6) is optimized by Fluent software simulation and adopts a gradually narrowing and expanding streamlined air duct design, that is, the inlet is stable, the throat gradually narrows and the outlet gradually widens, which can effectively suppress airflow turbulence, reduce energy loss and improve outlet wind speed and stability.

5. The structure according to claim 1, characterized in that, The spray unit (8) includes a pressure nozzle (81) and a nozzle base plate (82). The pressure nozzle (81) is assembled by connecting a nozzle (811), a double internal thread right-angle transition joint (812), and an external thread direct head (813) through threads. The assembled pressure nozzle (81) is fixed to the nozzle base plate (82) by a U-shaped clamp (814) and an M3 bolt and nut. The two ends of the nozzle base plate (82) are respectively inserted into the fixed grooves of the corresponding integral duct (6) to achieve positioning and installation. The pressure nozzle (81) can flexibly select fan-shaped nozzles with different openings to distribute the liquid flow into a fan-shaped or layered spray, which is uniformly distributed, has strong penetration, and the spray angle can reach 25° to 110°, which meets the requirements of variable spray.

6. The structure according to claim 1, characterized in that, The battery (10) is a lithium battery, which is fixed to the lower layer of the system bracket (1) and provides working power for the water pump (4), fan motor (76), solenoid valve (5), pressure sensor (41), speed sensor (71) and hardware drive controller (9). The hardware drive controller (9) is fixed to the lower layer of the system bracket (1) and drives the actuator to complete the spraying operation by sending control signals to the water pump (4), solenoid valve (5) and fan motor (76).

7. The structure according to claim 1, characterized in that... Based on the density of the canopy branches and leaves of the target crop, the speed of the fan motor (76) is adjusted in real time through PWM signal to dynamically control the wind speed and air volume.

8. The structure according to claim 1, characterized in that, The water pump (4) is equipped with a pressure sensor (41), and an incremental PID control algorithm is used to achieve constant water pressure control. When the pressure in the delivery pipe is lower than the set value, the pressure sensor (41) provides real-time feedback signal, and the PID controller increases the speed of the water pump (4) to increase the pressure. When the pressure in the delivery pipe is higher than the set value, the PID controller reduces the speed of the water pump (4) to reduce the pressure. This closed-loop control system maintains the water pressure in the delivery pipe in real time, which significantly reduces the energy consumption of the water pump (4) and extends the battery (10) runtime while ensuring effective spraying, thus achieving the goal of energy saving.

9. The control method for a novel multivariable precision air-assisted spray structure according to claim 1, characterized in that, The control method is as follows: Step 1, Equipment Inspection: After confirming that all components of the power, control, and spraying units are in good working order, power on the system and enter standby mode; Step 2, system initialization and self-test: confirm that the water pump (4), solenoid valve (5), fan motor (76), pressure sensor (41), and speed sensor (71) are in normal and controllable condition; if there is any abnormality, the system will provide real-time feedback through the hardware driver controller (9) light strip, and support health status query. Step 3: Wait for the operator to select the working mode. Select the working mode of the mechanism through the remote interactive interface on the remote control. There are two working modes: "automatic mode" and "manual mode". Step 4, in manual mode, the operator manually adjusts the power of the water pump (4) and the on / off state of the solenoid valve (5), selects the spray area and controls the spray volume; adjusts the speed of the fan motor (76) according to the working environment and the target canopy density to optimize the droplet size and canopy penetration ability; the built-in water level monitoring system sets a safety threshold; when the water level is lower than the threshold, an alarm is triggered in real time. Step 5: In automatic mode, the lidar scans in real time to acquire tree canopy point cloud data; the hardware drive controller (9) receives and processes five frames of point cloud data to calculate the target canopy volume and density; the hardware drive controller (9) generates control commands based on canopy characteristics and sends them to the bottom control board via serial port to drive the water pump (4), solenoid valve (5), and fan motor (76) to work together to achieve controllable adjustment of fan speed, spray flow rate and droplet size; when personnel or animals are detected during operation, the solenoid valve (5) is immediately shut off to stop spraying and prevent pesticide damage. Step 6: After the operation is completed, the system enters standby safety state: disconnect the battery (10) power supply, and power off and reset the water pump (4), solenoid valve (5), fan motor (76), hardware drive controller (9) and sensors.

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