Pesticide spraying operation vehicle and control method

Abstract

The invention provides a pesticide spraying operation vehicle and a control method, and the pesticide spraying operation vehicle comprises an operation vehicle body, a telescopic platform and a slideway which are installed at the top position of the operation vehicle body, a horizontal telescopic driving assembly, and a filling machine, a water tank, a preparation tank and a pesticide preparation control system which are arranged in an internal compartment of the operation vehicle body; the slide way is in sliding fit with the telescopic platform, and the horizontal telescopic driving assembly is used for driving the telescopic platform to do telescopic motion along the slide way; an energy storage cabinet, a PLC (Programmable Logic Controller) electric control cabinet and a standby generator are arranged in the electrical installation area of the internal compartment; one end of the filling machine is communicated with the raw material barrel through a pipeline, and the other end of the filling machine is connected with a first inlet of the preparation tank; an outlet section of the water tank is connected with a second inlet of the preparation tank through a pipeline; according to the control method of the pesticide spraying operation vehicle, the pesticide spraying operation efficiency and the precision of intelligent pesticide dispensing and spraying operation are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pesticide operation equipment, in particular to a pesticide spraying operation vehicle and a control method. BACKGROUND

[0002] Traditional manual backpack spraying is one of the most arduous and high-risk links in agricultural production. The operation personnel are deeply immersed in the diffused pesticide mist, not only bearing huge health risks, but also being restricted by physical strength, terrain and weather, with outstanding problems such as uneven spraying, low efficiency, resource waste, etc. However, with the cross-border integration of unmanned aerial vehicle technology, a quiet agricultural plant protection revolution is sweeping across the fields of China. Unmanned aerial vehicle aerial defense spraying, with its outstanding adaptability, revolutionary high efficiency and safety, and significant resource saving advantage, is breaking through traditional problems with unprecedented power, leading the pest control to a green new era of precision and intelligence.

[0003] Compared with the traditional manual spraying method, unmanned aerial vehicle aerial defense spraying shows significant advantages in adaptability, safety and efficiency, water saving, etc., and is the key to solving traditional problems. Unmanned aerial vehicle aerial defense operation is not limited by terrain factors such as mountains and paddy fields, and can adapt to different planting methods. At the same time, its spraying is more uniform, significantly improving the safety of pesticide spraying, and can save water. At present, there are more than 200,000 pesticide aerial defense unmanned aerial vehicles in China, which have basically replaced manual spraying, promoted the green transformation and upgrading of pest control, and the operation area has exceeded 2 billion mu. The main crops include rice, wheat, corn, cotton, etc. The total pesticide use can be reduced by 20%-30%, water saving is more than 90%, and pesticide utilization rate is increased by more than 30%.

[0004] Research has found that today, the trend of pesticide aerial defense towards intelligence and digitization is obvious, and the future application field will be more extensive, with broad market prospects. However, further research has found that at present, unmanned aerial vehicle dispensing and use are completed separately, and there is no vehicle matched with unmanned aerial vehicle; at the same time, due to the restriction of dispensing efficiency (mostly manual dispensing), lack of special operation vehicle (mostly pick-up truck or agricultural tricycle, which can only carry 1 unmanned aerial vehicle and a small amount of pesticide), and many other factors, the existing unmanned aerial vehicle aerial defense operation lacks matching dispensing equipment and vehicle, resulting in low overall efficiency of aerial defense operation, which still cannot meet the technical requirements of large-scale farmland operation. SUMMARY

[0005] The present application provides a pesticide spraying operation vehicle and a control method to solve the technical problems existing in the prior art.

[0006] To solve the above technical problems, in a first aspect, the present application provides a pesticide spraying operation vehicle, comprising: The work vehicle body, the telescopic platform and the slide installed at the top position of the work vehicle body, the horizontal telescopic drive assembly and the filling machine, water tank and preparation tank arranged in the internal compartment of the work vehicle body, and the dosing control system; the slide is in sliding cooperation with the telescopic platform, the horizontal telescopic drive assembly is used to drive the telescopic platform to perform telescopic action along the slide; the dosing control system is a PLC-controlled dosing system; The middle position of the internal compartment is provided with a partition plate for dividing the two sides of the internal compartment into a raw material storage area and an electrical installation area respectively; the raw material storage area of the internal compartment is provided with a filling machine, a water tank and a preparation tank; the electrical installation area of the internal compartment is provided with an energy storage cabinet, a PLC electric control cabinet and a standby generator; one end of the filling machine is communicated with the raw material barrel through a pipeline, and the other end of the filling machine is connected with the first inlet of the preparation tank; one outlet section of the water tank is connected with the second inlet of the preparation tank through a pipeline; Preferably, as an implementable scheme; the water tank is at least two groups, and any two adjacent groups of water tanks are connected to form an integral water supply system.

[0007] Preferably, as an implementable scheme; the top of the preparation tank is provided with a high-efficiency stirring device; the stirring head of the stirring device extends into the interior of the preparation tank, and the stirring head is used to perform uniform speed control stirring action on the liquid medicine in the interior of the preparation tank.

[0008] Preferably, as an implementable scheme; the PLC-controlled dosing system further includes a human-computer operation interface; the human-computer operation interface is used to control the stirring head and is used to control the stirring head to perform uniform speed adjustment control stirring action and start-stop action on the liquid medicine in the interior of the preparation tank.

[0009] Preferably, as an implementable scheme; the human-computer operation interface is further used to control the filling machine and is used to control the filling machine to perform injection speed action and start-stop action of raw materials.

[0010] Preferably, as an implementable scheme; further including a high-precision flowmeter, which is used to measure the pesticide liquid output amount of the pesticide barrel, the additive output amount of the additive storage barrel and the water output amount of the water tank; thus, the high-precision flowmeter cooperates with the PLC-controlled dosing system to automatically control the addition amount of each component according to the preset formula (such as the proportion of pesticide, additive and water), and the error can be controlled within 0.5%, avoiding the problem of excessively high or low concentration caused by insufficient experience during manual dosing.

[0011] Preferably, as an implementable scheme; further including a cleaning ball, and the stirring device (i.e. the stirrer) is provided with the 360° rotating cleaning ball.

[0012] Preferably, as an implementable solution; the PLC control dispensing system is used to first acquire the preset standard ratio of various different ratio pesticide liquid input by the user; then real-time acquisition of statistical measurement data of high-precision flow meter, and according to the statistical measurement data, the ratio of pesticide, adjuvant and water at the current time is calculated; when it is determined that the deviation of the current ratio of pesticide, adjuvant and water from the input preset standard ratio is greater than 5%, a warning control signal is sent.

[0013] Preferably, as an implementable solution; further comprising a first flow valve installed at the output pipeline of the pesticide barrel, a second flow valve installed at the output pipeline of the adjuvant storage barrel and a third flow valve installed at the output pipeline of the water tank; the PLC control dispensing system is electrically connected with the first flow valve, the second flow valve and the third flow valve respectively.

[0014] The application provides a control method of a pesticide spraying operation vehicle, and comprises the following operation steps: The PLC control dispensing system acquires the preset standard ratio of various different ratio pesticide liquid input by the user; The high-precision flow meter performs statistical measurement data of adding amount of pesticide liquid output by the pesticide barrel, adding amount of adjuvant output by the adjuvant storage barrel and adding amount of water output by the water tank respectively; Then the PLC control dispensing system real-time acquires the statistical measurement data of high-precision flow meter, and according to the statistical measurement data, the ratio of pesticide, adjuvant and water at the current time is calculated; The PLC control dispensing system sends a warning control signal when it is determined that the deviation of the current ratio of pesticide, adjuvant and water from the input preset standard ratio is greater than 5%.

[0015] The technical scheme provided by the application has the following beneficial effects: The core of the embodiment of the present application is to provide a pesticide spraying operation vehicle. It can be known from the analysis of the overall structure design that all key devices such as a filling machine, a water tank, a preparation tank, an energy storage cabinet and a PLC electric control cabinet are integrated on a “operation vehicle body”. The highly integrated design means that the whole preparation system is no longer a fixed workshop device, but a movable operation unit. The above-mentioned pesticide spraying operation vehicle analyzes the core control and execution unit. The high-precision flowmeter (error <0.5%) provides accurate metering data, and the PLC automatically controls according to the preset formula. The PLC not only controls the execution, but also performs real-time process monitoring. When the deviation of the ratio is detected, it can immediately give an early warning. Combined with the electrical connection of each pipeline flow valve, the system has the potential of closed-loop control (automatic adjustment or valve cutting after early warning). This fundamentally replaces the traditional extensive preparation method which relies on manual experience and naked eye observation, realizes high-precision and automation of the ratio, guarantees the accuracy of the liquid concentration from the source, avoids quality problems caused by too high (pesticide damage, pollution) or too low (poor prevention and treatment effect) concentration, and ensures the reliability of the pesticide application effect. The above-mentioned operation vehicle can directly go to the field, realizes the continuous operation of “preparation and spraying”, and saves the intermediate link of preparation and transportation at a fixed place. The above-mentioned pesticide spraying operation vehicle realizes the mobility and integration of preparation and spraying operation, greatly enhances the flexibility and maneuverability of the operation, and lays a physical foundation for improving the overall operation efficiency. BRIEF DESCRIPTION OF DRAWINGS Figure 1 A sectional view of a pesticide spraying operation vehicle provided by the embodiment of the present application is provided. Figure 2 A top view of a pesticide spraying operation vehicle provided by the embodiment of the present application is provided. Figure 3 A side view of a pesticide spraying operation vehicle provided by the embodiment of the present application is provided. Figure 4 A control principle schematic diagram of a PLC control preparation system in a pesticide spraying operation vehicle provided by the embodiment of the present application is provided. Figure 5 A specific implementation flowchart of an operation processing method of a pesticide spraying operation vehicle provided by the embodiment of the present application is provided.

[0016] Reference numerals: Operation vehicle body 10; inner compartment 11; partition 12; Telescopic platform 20; Slide 30; Filling machine 40; Water tank 50; Preparation tank 60; Preparation control system 70; Energy storage cabinet 80; 90 PLC electrical control cabinet; 100 backup generators; Stirring device 110; High-precision flow meter 120; First flow valve 130; Second flow valve 140; Third flow valve 150; Inclined staircase 160; Raw material storage area A; Electrical installation area B. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0019] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] Example 1 like Figures 1-3 As shown, the core of Embodiment 1 of the present invention is to provide a pesticide spraying vehicle, which specifically includes the following structural design: The work vehicle body 10, the telescopic platform 20 and the slide 30 installed at the top position of the work vehicle body, the horizontal telescopic drive assembly (not shown in the figure) and the filling machine 40, the water tank 50 and the preparation tank 60 arranged in the internal compartment 11 of the work vehicle body, and the dispensing control system 70; the slide is in sliding cooperation with the telescopic platform, the horizontal telescopic drive assembly is used for driving the telescopic platform to perform telescopic action along the slide; the dispensing control system 70 is a PLC controlled dispensing system; the telescopic platform can be expanded and contracted, and when the unmanned aerial vehicle needs to be recovered, the telescopic platform is expanded along the slide, which serves as a take-off and landing platform to facilitate the unmanned aerial vehicle to land on the work vehicle body 10, and when take-off and landing are not needed and the vehicle is running, the telescopic platform can be contracted; The middle position of the internal compartment 11 is provided with a partition plate 12, which is used for dividing the two sides of the internal compartment into a raw material storage area A and an electrical installation area B respectively; the raw material storage area of the internal compartment is used for being provided with the filling machine 40, the water tank 50 and the preparation tank 60; the electrical installation area of the internal compartment is used for being provided with an energy storage cabinet 80, a PLC electric control cabinet 90 and a standby generator 100; one end of the filling machine 40 is communicated with a raw material barrel through a pipeline, and the other end of the filling machine 40 is connected with a first inlet of the preparation tank; one outlet section of the water tank 50 is connected with a second inlet of the preparation tank 60 through a pipeline; The water tank 50 is at least two groups, and the two groups of water tanks 50 are communicated. It should be noted that the water consumption in the internal water tank of the above-mentioned work vehicle is large, so the multi-water tank design “multi-group communicated water tank” prolongs the endurance of single operation and reduces the frequency of water replenishment.

[0021] The core of the embodiment one of the present application is to provide a pesticide spraying work vehicle, and the overall structure design is analyzed, that is, all key equipment such as a filling machine, a water tank, a preparation tank, an energy storage cabinet, a PLC electric control cabinet and the like are integrated on a “work vehicle body”. This highly integrated design means that the entire dispensing system is no longer a fixed workshop equipment, but a mobile work unit. The above-mentioned pesticide spraying work vehicle analyzes the core control and execution unit, wherein a high-precision flowmeter (error <0.5%) provides accurate metering data, and a PLC automatically controls according to a preset formula. The PLC not only controls execution, but also performs real-time process monitoring. When a proportioning deviation is detected, it can immediately give an early warning. Combined with the electrical connection of each pipeline flow valve, the system has the potential of closed-loop control (automatic adjustment or valve cutting after early warning). This fundamentally replaces the traditional extensive dispensing method which relies on manual experience and naked eye observation, realizes high-precision and automation of proportioning, guarantees the accuracy of liquid concentration from the source, avoids quality problems caused by excessively high concentration (pesticide damage, pollution) or excessively low concentration (poor prevention and treatment effect), and ensures the reliability of pesticide application effect. The above-mentioned operation vehicle can directly go to the field to realize the continuous operation of "dispensing-spraying", and the intermediate link of dispensing and transporting in a fixed place is saved. The above-mentioned pesticide spraying operation vehicle realizes the mobility and integration of dispensing and spraying operation, greatly enhances the flexibility and maneuverability of operation, and lays a physical foundation for improving the overall operation efficiency. The above-mentioned operation vehicle adopts a closed design, that is, the dispensing, stirring and conveying links mostly adopt closed pipelines or containers, and most of the execution operations can be completed in the vehicle compartment inside the operation vehicle, thereby reducing pesticide volatilization and leakage, reducing pollution to the operation environment (such as soil and water source), and avoiding the inhalation of pesticide mist by the operator.

[0022] In a specific technical solution, the top of the preparation tank is provided with a high-efficiency stirring device 110; the stirring head of the stirring device extends into the inside of the preparation tank, and the stirring head is used to perform a stirring action of uniform speed control on the pesticide solution inside the preparation tank; the above-mentioned scheme has a built-in high-efficiency stirring device, which can fully mix various pesticides, additives and water in a short time, ensure uniform concentration of the pesticide solution, avoid local precipitation affecting the drug effect, and greatly shorten the dispensing time (single batch dispensing efficiency is 5-10 times higher than manual operation).

[0023] In a specific technical solution, the PLC-controlled dispensing system further includes a human-computer operation interface; the human-computer operation interface is used to control the stirring head and is used to control the stirring head to perform a stirring action of uniform speed adjustment control and start-stop action on the pesticide solution inside the preparation tank. The human-computer operation interface is also used to control the filling machine and is used to control the filling machine to perform an injection speed action and start-stop action of adding raw materials.

[0024] It should be noted that the stirring device is a device for assisting dispensing, and the stirring device is used for uniform and efficient stirring to ensure that pesticides and additives are fully and quickly dissolved and mixed in water. The PLC-controlled dispensing system further includes a human-computer operation interface; the human-computer operation interface is used to control the stirring head and is used to control the stirring head to perform a stirring action of uniform speed adjustment control and start-stop action on the pesticide solution inside the preparation tank. The PLC-controlled dispensing system can control the start-stop and the stirring speed to adapt to the needs of different preparations, so as to avoid uneven stirring or excessive foam.

[0025] Preferably, as an implementable scheme, a high-precision flowmeter 120 is further included, which is used to measure the pesticide solution output amount of the pesticide barrel, the additive output amount of the additive storage barrel and the water output amount of the water tank; thus, the high-precision flowmeter cooperates with the PLC-controlled dispensing system 70 to automatically control the addition amount of each component by presetting the formula (such as the proportion of pesticides, additives and water), and the error can be controlled within 0.5%, thereby avoiding the problems of excessively high or low concentration caused by insufficient experience during manual dispensing.

[0026] Preferably, as an implementable solution; the PLC control dispensing system 70 is used to first obtain the user input of the preset standard ratio of various different mixed liquid; then the statistical measurement data of high-precision flow meter is obtained in real time, and the ratio of pesticide, adjuvant and water at the current time is calculated according to the statistical measurement data; when it is judged that the deviation of the current ratio of pesticide, adjuvant and water is greater than 5% from the input preset standard ratio, a warning control signal is sent.

[0027] The scheme creates an intelligent mobile operation unit integrating power, dispensing, control and guarantee system by deeply integrating high-precision flow metering, PLC automatic control, real-time quality monitoring and mobile vehicle platform. It not only ensures the accuracy of liquid mixing ratio from the source (reliable quality) through automation and high-precision control, but also greatly improves the operation continuity and efficiency (high operation efficiency) through integrated design and auxiliary functions (efficient stirring, automatic cleaning). At the same time, the built-in warning system and independent power supply ensure the safety and stability of the operation process (safe and reliable). Finally, the invention overcomes the defects of slow "manual experience dispensing" and lack of auxiliary matching vehicles. The above pesticide spraying operation vehicle takes the operation vehicle body as the basis, internally sets the dispensing system and power supply system, and sets the telescopic platform on the top as the unmanned aerial vehicle landing and recovery platform, so the pesticide spraying operation vehicle is a comprehensive vehicle platform integrating dispensing, power supply and take-off and landing functions, which significantly improves the overall efficiency of unmanned aerial vehicle aerial defense operation and provides a comprehensive and efficient solution for large-scale farmland aerial defense operation.

[0028] Referring to Figure 4 , the pesticide spraying operation vehicle of the embodiment one further comprises a first flow valve 130 installed at the output pipeline of the pesticide barrel, a second flow valve 140 installed at the output pipeline of the adjuvant storage barrel and a third flow valve 150 installed at the output pipeline of the water tank; the PLC control dispensing system 70 is electrically connected with the first flow valve 130, the second flow valve 140 and the third flow valve 150 respectively.

[0029] Referring to Figure 3 , the pesticide spraying operation vehicle of the embodiment one further comprises a diagonal ladder 160 installed on the side of the operation vehicle, which is detachably connected at the operation vehicle body 10, and the diagonal ladder 160 facilitates the operation personnel to get on and off the vehicle top to check and maintain the unmanned aerial vehicle telescopic platform and the unmanned aerial vehicle on the vehicle top. Preferably, as an implementable solution; further comprising a cleaning ball, and the stirring device (i.e. the stirrer) is provided with the 360° rotating cleaning ball (not shown in the figure).

[0030] It should be noted that the cleaning ball is used to rotate and clean the inside of the stirring device, which improves the consistency and efficiency of the preparation of the liquid medicine, ensures that each tank of liquid medicine has high purity, and thus makes the spraying effect stable and reliable. From the "built-in cleaning ball", the cleaning ball can automatically rotate and clean the inner wall, thereby the cleaning function eliminates the cumbersome and dangerous manual cleaning process, and can quickly complete the cleaning work of the tank body during the switching of different liquid medicine varieties.

[0031] Preferably, as an implementable solution, the standby generator of the embodiment of the present application also adopts an energy storage power supply module for the function of storing the remaining power generated, which can simultaneously meet the charging of 2 unmanned aerial vehicles, the power demand of the medicine dispensing system production and lighting, and the operating cost is 10-20% of the charging cost of the traditional generator for the unmanned aerial vehicle, which is clean, environmentally friendly and cost-effective, and can greatly reduce the aerial operation cost.

[0032] The above-mentioned independent power supply system (generator combined with energy storage cabinet, wherein an energy storage power supply module is arranged in the energy storage cabinet) ensures that all electrical equipment can still operate stably in the case of lack of power grid support in the wild. The above-mentioned structural design enhances the operation endurance and operation reliability of the entire operation vehicle system in the complex environment in the wild, and ensures that the operation task can be continuously and uninterruptedly carried out. The pesticide spraying operation vehicle of the first embodiment of the present application integrates all key devices such as the filling machine, water tank, preparation tank, energy storage cabinet, PLC electric control cabinet, etc. on a "operation vehicle body". This highly integrated design means that the entire medicine dispensing system is no longer a fixed workshop equipment, but a mobile operation unit. In the specific medicine dispensing process, high precision and automation of dispensing are realized, the accuracy of the liquid medicine concentration is ensured from the source, quality problems caused by excessively high concentration (pesticide damage, pollution) or excessively low concentration (poor prevention and treatment effect) are avoided, and the reliability of the pesticide application effect is ensured.

[0033] Embodiment two The second embodiment of the present application is specifically based on the pesticide spraying operation vehicle structure of the first embodiment, and performs a specific implementation method flow chart, as shown in Figure 5 The control method of the pesticide spraying operation vehicle comprises the following operation steps: S10, first, the PLC control medicine dispensing system obtains the preset standard dispensing of various different dispensing liquid input by the user; S20, the high-precision flow meter executes statistical measurement data of the adding amount of the pesticide liquid output by the metering pesticide barrel, the adding amount of the additive output by the additive storage barrel and the adding amount of the water output by the water tank; S30, then the PLC control medicine dispensing system obtains the statistical measurement data of the high-precision flow meter in real time, and calculates the dispensing ratio of the pesticide, additive and water at the current time according to the statistical measurement data; S40, the PLC control dispensing system sends a warning control signal when it is determined that the deviation of the current ratio of pesticide, adjuvant and water from the preset standard ratio is greater than 5%.

[0034] The research found that the current unmanned aerial vehicle dispensing is mostly manual preparation of pesticides, which is low in efficiency and poor in safety. The control method of the pesticide spraying operation vehicle provided in the embodiment of the application comprises the following steps: constructing a precise dispensing system controlled by a PLC, the core of which is to input a plurality of raw pesticides and dilution water according to the required input amount, then directly dispensing in the operation vehicle, and then precisely entering the stirrer through the conveying and metering equipment under automatic control, uniformly mixing, and finally completing the dispensing action in the dispensing tank, and finally delivering the pesticide liquid to the unmanned aerial vehicle at the top of the operation vehicle through the pipeline. The dispensing system realizes full automation and high-quality customized production of various different ratio pesticide liquids, and meets the personalized pesticide demand of different crops in different forms. The mixing is on demand, and the pesticide liquid is used immediately after mixing, which avoids waste caused by pesticide liquid residue, deterioration or excessive configuration, and reduces the cost of pesticide use. A 360° rotating cleaning ball is arranged in the stirring device, and the stirrer can be cleaned without dead angle after the pesticide is discharged.

[0035] In summary, the control method of the pesticide spraying operation vehicle provided in the second embodiment of the application has a high degree of automation in the above control process, and the whole control system can be completed by operating the PLC system only, and there is no contact between people and pesticide liquid, which improves the operation efficiency and protects the operation safety.

[0036] The pesticide spraying operation vehicle and the control method provided by the application are described in detail above. The principles and implementation modes of the application are described by applying specific examples in this paper, and the above description of the embodiments is only used to help understand the method of the application and its core idea. It should be pointed out that for ordinary skilled persons in the technical field, some improvements and modifications can be made to the application without departing from the principles of the application, and these improvements and modifications also fall within the protection scope of the application.

Claims

1. A pesticide spraying vehicle, characterized in that, include: The work vehicle body, the telescopic platform and slide installed on the top of the work vehicle body, the horizontal telescopic drive assembly, and the filling machine, water tank and preparation tank and the drug dispensing control system set in the internal compartment of the work vehicle body. The slide rail is slidably engaged with the telescopic platform, and the horizontal telescopic drive assembly is used to drive the telescopic platform to extend and retract along the slide rail; the drug dispensing control system is a PLC-controlled drug dispensing system. A partition is installed in the middle of the internal compartment, which divides the two sides of the internal compartment into a raw material storage area and an electrical installation area, respectively. The raw material storage area of ​​the internal compartment is equipped with a dispensing machine, a water tank, and a preparation tank. The electrical installation area of ​​the internal compartment is equipped with an energy storage cabinet, a PLC control cabinet, and a backup generator. One end of the dispensing machine is connected to the raw material tank through a pipe, and the other end of the dispensing machine is connected to the first inlet of the preparation tank. One outlet of the water tank is connected to the second inlet of the preparation tank through a pipe.

2. The pesticide spraying vehicle according to claim 1, characterized in that, The water tanks are at least two sets, and any two adjacent sets of water tanks are connected to form an overall water supply system.

3. The pesticide spraying vehicle according to claim 1, characterized in that, The top of the preparation tank is equipped with a high-efficiency stirring device; the stirring head of the stirring device extends into the interior of the preparation tank, and the stirring head is used to perform a stirring action with uniform speed control on the liquid medicine inside the preparation tank.

4. The pesticide spraying vehicle according to claim 3, characterized in that, The PLC-controlled drug preparation system also includes a human-machine interface; the human-machine interface is used to control the stirring head, and to control the stirring head to perform stirring actions and start / stop actions to uniformly adjust the speed of the drug solution inside the preparation tank.

5. The pesticide spraying vehicle according to claim 4, characterized in that, The human-machine interface is also used to control the dispensing machine, and to control the dispensing machine to perform the injection speed action and start / stop action of the dispensing raw materials.

6. The pesticide spraying vehicle according to claim 5, characterized in that, It also includes a high-precision flow meter, which is used to measure the amount of pesticide solution added from the pesticide tank, the amount of adjuvant added from the adjuvant storage tank, and the amount of water added from the water tank.

7. The pesticide spraying vehicle according to claim 3, characterized in that, It also includes a cleaning ball, which is installed in the stirring device and rotates 360°.

8. The pesticide spraying vehicle according to claim 6, characterized in that, The PLC-controlled dosing system is used to first acquire the preset standard ratios of various pesticide solutions input by the user; acquire the statistical measurement data of the high-precision flow meter in real time, and calculate the ratio of pesticide, adjuvant, and water at the current moment based on the statistical measurement data; and send an early warning control signal when it is determined that the deviation between the current ratio of pesticide, adjuvant, and water and the input preset standard ratio is greater than 5%.

9. The pesticide spraying vehicle according to claim 8, characterized in that, It also includes a first flow valve installed at the output pipe of the pesticide tank, a second flow valve installed at the output pipe of the adjuvant storage tank, and a third flow valve installed at the output pipe of the water tank; the PLC-controlled dosing system is electrically connected to the first flow valve, the second flow valve, and the third flow valve respectively.

10. A control method for a pesticide spraying vehicle, comprising the following operating steps: The PLC-controlled drug dispensing system acquires the preset standard ratios of various drug solutions input by the user. The high-precision flow meter performs statistical measurement data on the amount of pesticide solution added from the pesticide metering tank, the amount of adjuvant added from the adjuvant storage tank, and the amount of water added from the water tank. Then, the PLC controls the dosing system to acquire the statistical measurement data of the high-precision flow meter in real time, and calculates the ratio of pesticide, adjuvant and water at the current moment based on the statistical measurement data. When the PLC-controlled pesticide mixing system determines that the deviation between the current ratio of pesticide, adjuvant, and water and the preset standard ratio is greater than 5%, it sends an early warning control signal.

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