A dust suppression robot and its control method

Abstract

This invention provides a dust suppression robot and its control method, relating to the field of dust suppression. The dust suppression robot includes: a mobile chassis; a dust suppressant spraying assembly connected to the mobile chassis for storing and spraying dust suppressant; a wind sensor connected to the mobile chassis for acquiring wind speed and direction; wherein a film-forming nozzle is fixedly connected to the mobile chassis and located below the settling nozzle, with the spray nozzle facing the ground; and a spray pump for pumping dust suppressant to the settling nozzle and the film-forming nozzle. This dust suppression robot maintains good dust suppression performance even in windy conditions.

Description

Technical Field

[0001] This invention relates to the field of dust suppression, and more particularly to a dust suppression robot and its control method. Background Technology

[0002] Construction sites, mining areas, and other similar locations generate significant amounts of dust. This dust not only pollutes the environment but also poses a risk to human health, particularly from tailings in mining operations, which may contain toxic substances. Therefore, dust suppression is essential. However, the application of dust suppressants in relevant technical solutions is easily affected by ambient wind, leading to reduced dust suppression effectiveness in windy conditions. Summary of the Invention

[0003] This invention provides a dust suppression robot and its control method to solve the technical problem of how to maintain good dust suppression effect in windy conditions.

[0004] A first aspect of this invention provides a dust suppression robot, comprising: a mobile chassis; a dust suppressant spraying assembly connected to the mobile chassis for storing and spraying dust suppressant; a wind sensor connected to the mobile chassis for acquiring wind speed and direction; wherein a settling nozzle connected to the mobile chassis, the settling nozzle being able to adjust the direction of the sprayed dust suppressant; a film-forming nozzle fixedly connected to the mobile chassis and located below the settling nozzle, the spray nozzle's nozzle facing the ground; and a liquid pump for pumping dust suppressant to the settling nozzle and the film-forming nozzle.

[0005] In some embodiments, the settling nozzle is rotatably connected to the chassis.

[0006] In some embodiments, the settling nozzle includes a plurality of nozzles arranged circumferentially, the plurality of nozzles being distributed in different spray directions; The dust suppression robot also includes a spray direction control component located inside the settling nozzle, used to control the opening and closing of each nozzle.

[0007] In some embodiments, the dust suppressant spraying assembly further includes: a storage tank connected to the mobile chassis for storing dust suppressant; a settling pipeline for connecting the storage tank and the settling nozzle; and a film-forming pipeline for connecting the storage tank and the film-forming nozzle.

[0008] In some embodiments, in the direction of travel of the mobile chassis, a plurality of settling nozzles are disposed at the front of the mobile chassis, and a plurality of film-forming nozzles are disposed at the rear of the mobile chassis; the liquid pump is connected to each of the settling nozzles and each of the film-forming nozzles.

[0009] In some embodiments, the film-forming nozzle has a plurality of annularly arranged spray nozzles, the orientation of each spray nozzle being variable to vary the distribution range of the dust suppressant sprayed by the film-forming nozzle.

[0010] In some embodiments, the dust suppression robot further includes: a fuel tank for storing fuel; an internal combustion engine for obtaining the fuel and driving the mobile chassis; a generator connected to the internal combustion engine for generating electrical energy; an electrical energy storage unit for storing electrical energy; and an electric motor for obtaining the electrical energy from the electrical energy storage unit and driving the mobile chassis.

[0011] A second aspect of the present invention also provides a control method for a dust suppression robot, which is applied to the dust suppression robot provided in the first aspect of the above embodiments. The control method includes: acquiring wind direction by the wind sensor. The spray nozzle of the settling nozzle is oriented towards the windward side based on the wind direction.

[0012] In some embodiments, the control method further includes: Wind force is obtained from the wind sensor; 16. The rotational speed of the spray pump is controlled based on the wind force, and the rotational speed of the spray pump is positively correlated with the wind force.

[0013] In some embodiments, the film-forming nozzle has a plurality of annularly arranged spray nozzles, the orientation of each spray nozzle being variable; After controlling the rotational speed of the injection pump based on the wind force, wherein the rotational speed of the injection pump is positively correlated with the wind force, the control method further includes: The orientation of each spray nozzle is adjusted based on the rotational speed of the spray pump. The angle between the orientation of the spray nozzle and the vertical direction is negatively correlated with the rotational speed of the spray pump.

[0014] This invention provides a dust suppression robot, which includes a settling nozzle that is rotatably connected to a mobile chassis.

[0015] The settling nozzle is rotatably connected to the mobile chassis, allowing the nozzle to rotate relative to the chassis and thus adjust the direction of its spray nozzle. During the operation of the dust suppression robot, the direction of the ambient wind may change. Through this rotatable connection, the nozzle can adaptively adjust its spray nozzle orientation, for example, pointing towards the windward side, so that the spray direction of the dust suppressant is opposite to the direction of the ambient wind. This reduces the impact of the ambient wind on the distribution of the sprayed dust suppressant, helps to form a more uniform mist distribution in the air, and thus improves the adsorption effect on airborne dust. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a dust suppression robot provided in an embodiment of the present invention; Figure 2 A schematic diagram of a dust suppressant spraying component in a dust suppression robot provided in an embodiment of the present invention; Figure 3 For the present invention Figure 1 A top view of a settling nozzle, a film-forming nozzle, and a wind sensor in a dust suppression robot provided; Figure 4 This is a schematic diagram of the structure of a film-forming nozzle in a dust suppression robot provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a mobile chassis in a dust suppression robot provided in an embodiment of the present invention; Figure 6 A flowchart illustrating the first control method for a dust suppression robot provided in an embodiment of the present invention; Figure 7 A flowchart illustrating a second control method for a dust suppression robot provided in an embodiment of the present invention; Figure 8 This is a flowchart illustrating a third control method for a dust suppression robot provided in an embodiment of the present invention.

[0017] Explanation of reference numerals in the attached figures 10. Mobile chassis; 14. Oil tank; 15. Energy storage unit; 16. Internal combustion engine; 18. Generator; 20. Dust suppressant spraying assembly; 21. Settling nozzle; 22. Film-forming nozzle; 221. Spray nozzle; 23. Liquid pump; 24. Liquid storage tank; 25. Settling pipeline; 26. Film-forming pipeline; 30. Wind sensor. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] The specific technical features described in the various embodiments in the detailed implementation can be combined in various ways without contradiction. For example, different implementation methods can be formed by combining different specific technical features. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features in this invention will not be described separately.

[0020] It should also be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and / or processing steps closely related to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.

[0021] Additionally, it should be noted that 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 a process, method, article, or apparatus. In the following description, the terms "first," "second," etc., are used merely to distinguish different objects and do not indicate any similarity or connection between them. It should be understood that the directional descriptions such as "above," "below," "inside," and "outside" refer to the orientation under normal use conditions.

[0022] In the following specific embodiments, the dust suppression robot can be applied to any scenario that requires dust suppression. For example, the dust suppression robot can be applied to construction sites or tailings ponds. Depending on the type of dust to be suppressed, the dust suppressant sprayed by the dust suppression robot can be changed. The structure and function of the dust suppression robot are described below with reference to various embodiments.

[0023] In some embodiments, such as Figure 1 As shown, the dust suppression robot includes: a mobile chassis 10, a dust suppressant spraying assembly 20, and a wind sensor 30.

[0024] The mobile chassis 10 is used for the dust suppressant spraying assembly 20 and the wind sensor 30 to move along a predetermined trajectory. The mobile chassis 10 can be any movable structure. For example, the mobile chassis 10 can be a wheeled chassis, a half-track chassis, or a full-track chassis. At the same time, the mobile chassis 10 can also provide installation space for the dust suppressant spraying assembly 20 and the wind sensor 30.

[0025] The dust suppressant spraying assembly 20 is used to store dust suppressant and spray it to a predetermined position during the movement of the mobile chassis 10. At the same time, since the sprayed dust suppressant is affected by the ambient wind, the spraying pressure and spraying direction of the dust suppressant need to be adjusted by the wind speed and wind direction obtained by the wind sensor 30. It should be noted that the dust suppressant spraying device provided in this application includes two nozzles with different functions, and the two nozzles need to be controlled by different principles based on wind force and wind direction. The functions of the two nozzles and the principle of resisting the influence of ambient wind are explained by example below.

[0026] Combination Figure 3As shown, the dust suppressant spraying assembly 20 includes a settling nozzle 21, a film-forming nozzle 22, and a spray pump 23. The settling nozzle 21 sprays the dust suppressant into the air in a mist form to adsorb airborne dust. The settling nozzle 21 is connected to the movable chassis 10, and the direction of the dust suppressant spray can be adjusted. The film-forming nozzle 22 is fixedly connected to the movable chassis 10 and located below the settling nozzle 21. The spray nozzle 221 of the film-forming nozzle 22 faces the ground, spraying the dust suppressant onto the ground in a jet state, thereby forming a dust suppressant film on the ground and reducing the possibility of dust being stirred up. The film-forming nozzle 22 is fixedly connected to the movable chassis 10. Both the film-forming nozzle 22 and the settling nozzle 21 are connected to the spray pump 23, which pumps the dust suppressant to the settling nozzle 21 and the film-forming nozzle 22.

[0027] It should be noted that the settling nozzle 21 can adjust the spray direction, while the film-forming nozzle 22 is fixedly connected and the spray nozzle 221 faces the ground. The two work together to enable the dust suppression robot to suppress dust in the air and cover dust sources on the ground. The wind speed and wind direction information obtained by the wind sensor 30 provides a basis for adaptive adjustment of the spraying process.

[0028] This invention provides a dust suppression robot, which includes a settling nozzle 21 rotatably connected to a mobile chassis 10, allowing the settling nozzle 21 to rotate relative to the chassis 10, thereby adjusting the direction of its spray nozzle 221. During operation, the direction of the ambient wind may change. By rotating the settling nozzle 21 to the chassis 10, the nozzle 21 can adaptively adjust the direction of its spray nozzle 221, for example, by pointing the nozzle 221 towards the windward side, so that the spray direction of the dust suppressant is opposite to the direction of the ambient wind. This reduces the influence of the ambient wind on the distribution of the sprayed dust suppressant, helps the dust suppressant form a more uniform mist distribution in the air, and thus improves the adsorption effect on airborne dust.

[0029] In some embodiments, such as Figure 2 As shown, the dust suppressant spraying assembly 20 includes a settling nozzle 21, a film-forming nozzle 22, and a spray pump 23. The settling nozzle 21 includes multiple nozzles arranged circumferentially and a spray direction control component. The multiple nozzles are distributed in different spray directions, giving the settling nozzle 21 multiple selectable spray directions. The spray direction control component is located within the settling nozzle 21 and is used to control the opening and closing of each nozzle. Optionally, the spray direction control component can selectively open one or more nozzles to spray the dust suppressant along a target direction. Alternatively, the spray direction control component can also adjust the spray volume distribution in different directions by controlling the opening duration or opening ratio of each nozzle. By arranging the nozzles circumferentially and distributing them in different directions, and combining this with the control of the opening and closing states of each nozzle by the spray direction control component, the settling nozzle 21 can switch spray directions without overall rotation. This helps adapt to changes in wind direction and reduces the impact of ambient wind on the uniformity of dust suppressant distribution. The following provides an example illustration of different types of spray direction control components: Optionally, the injection direction control may include a movable member with a fluid channel that can communicate with nozzles in different orientations as the movable member moves.

[0030] For example, the movable structural component can be a rotary valve core with an internal flow channel. By rotating the valve core, it aligns with the inlet of one or more of the circumferentially arranged nozzles, thereby establishing a dust suppressant passage from the spray pump 23 to that nozzle, while the other nozzles are closed. In this way, the spray direction control component, by controlling the on / off state of different nozzles, allows the settling nozzle 21 to change the spray direction of the dust suppressant without relying on its overall rotation, which helps to simplify the connection structure between the settling nozzle 21 and the mobile chassis 10.

[0031] For example, the spray direction control component may also include multiple on / off valves respectively disposed on each nozzle. For instance, each nozzle may be equipped with a solenoid valve as an on / off valve. By selectively opening one solenoid valve and closing the others, the dust suppressant can be sprayed only from the nozzle corresponding to the opened solenoid valve. This arrangement allows for electronic control of the spray direction, facilitating timely switching of the spray direction.

[0032] Under the control of the spray direction control component, the multiple nozzles included in the settling nozzle 21 can operate as spray outlets 221 at different times, allowing the settling nozzle 21 to adaptively switch spray directions according to changes in wind direction. For example, when the wind sensor 30 detects a change in wind direction, the spray direction control component can correspondingly close the nozzles that were originally open and open the nozzles facing the new windward side, ensuring that the dust suppressant is always sprayed in the direction of the ambient wind. This utilizes the spray pressure to counteract at least part of the influence of the crosswind, reducing the interference of the ambient wind on the atomization distribution of the dust suppressant.

[0033] In some embodiments, such as Figure 2As shown, the dust suppressant spraying assembly 20 also includes: a storage tank 24, a settling pipe 25, and a film-forming pipe 26. The storage tank 24 is used to store the dust suppressant. The settling pipe 25 connects the storage tank 24 and the settling nozzle 21, and the settling nozzle 21 is rotatably connected to the settling pipe 25. The film-forming pipe 26 connects the storage tank 24 and the film-forming nozzle 22, and the film-forming nozzle 22 is connected to the film-forming pipe 26.

[0034] In some embodiments, such as Figure 5 As shown, the dust suppression robot also includes an oil tank 14, an energy storage unit 15, an internal combustion engine 16, and an electric motor. The oil tank 14 is used to store fuel. The internal combustion engine 16 can obtain fuel and drive the mobile chassis 10 to move. The electric motor can use the electrical energy stored in the energy storage unit 15 to drive the mobile chassis 10 to move. The mobile chassis 10 also includes a generator 18, which is connected to the output shaft of the internal combustion engine 16 so that the internal combustion engine 16 can drive the generator 18 to generate electrical energy. It can be understood that the mobile chassis 10 is a hybrid drive system, which enables the mobile chassis 10 to have strong driving capabilities in different scenarios and improves the endurance of the mobile chassis 10.

[0035] In some embodiments, such as Figure 3 As shown, in the traveling direction of the mobile chassis 10, a plurality of settling nozzles 21 are disposed at the front of the mobile chassis 10, and a plurality of film-forming nozzles 22 are disposed at the rear of the mobile chassis 10. The liquid pump 23 is connected to each settling nozzle 21 and each film-forming nozzle 22.

[0036] Specifically, by placing multiple settling nozzles 21 at the front of the mobile chassis 10, when the dust suppression robot moves along its direction of travel, the settling nozzles 21 at the front can first spray airborne dust in front of the path, allowing the dust suppressant to adsorb the airborne dust in a mist form; subsequently, multiple film-forming nozzles 22 at the rear of the mobile chassis 10 spray the ground it passes over, causing the dust suppressant to form a dust-suppressing film on the ground; it can be understood that by arranging the settling nozzles 21 at the front... The film-forming nozzles 22 are arranged at the rear, so that the aerial dust suppression operation and the ground film-forming operation are carried out in sequence, which helps to reduce the mutual interference between the two spraying operations and makes the distribution of dust suppressant in the air and the coverage on the ground more orderly. At the same time, the spray pump 23 is connected to each settling nozzle 21 and each film-forming nozzle 22, and can provide dust suppressant to the settling nozzles 21 at the front and the film-forming nozzles 22 at the rear through the same spray pump 23, which simplifies the pipeline structure of the dust suppressant spraying assembly 20.

[0037] In some embodiments, such as Figure 4As shown, the film-forming nozzle 22 has multiple annularly arranged spray nozzles 221, each with a variable orientation. Adjusting the orientation of each nozzle 221 allows for adjustment of the distribution range of the dust suppressant sprayed by the film-forming nozzle 22. Specifically, the dust suppressant sprayed through each nozzle 221 forms a cylindrical or elliptical stream curtain. Adjusting the orientation of each film-forming nozzle 22 allows for adjustment of the radial dimension of this cylindrical or elliptical stream, thereby adjusting the distribution range of the dust suppressant. This can be understood as increasing the spray pressure of the film-forming nozzle 22 to form a more stable stream to counteract crosswinds; however, dust suppressants sprayed at higher pressure will diffuse and form a larger area upon contact with the ground, thus causing changes in the effective range of the dust suppressant during spraying. To make... The dust suppressant can reliably form a dust suppressant film on the ground in the entire area requiring dust suppression. During the path planning process of the dust suppression robot, the area of ​​the dust suppressant film is determined by the minimum effective range of the dust suppressant. The path planning allows the dust suppressant film to cover the entire area. However, this path planning method does not take into account the increase in the dust suppressant film formation area caused by increasing the spray pressure of the film-forming nozzle 22 to counteract crosswinds. This results in some overlap of the dust suppressant film in certain areas, leading to uneven thickness of the dust suppressant film on the ground. Consequently, the dust suppression capacity of different areas on the ground varies. By adjusting the orientation of the spray nozzle 221 to adjust the effective range of the dust suppressant, the same area of ​​dust suppressant film can be formed under different spray pressures, thereby making the thickness of the dust suppressant film on the entire ground more uniform.

[0038] This invention also provides a control method for a dust suppression robot, which is applied to applications such as... Figures 1 to 5 The dust suppression robot shown in any of the images can be controlled by a control unit integrated within the robot. Alternatively, the control unit can be an online intelligent cloud platform server. The dust suppression robot transmits the acquired data to this server, which then sends control commands to the robot based on the acquired data to control its movement and the spraying of the dust suppressant. The steps of this control method are illustrated below with reference to specific embodiments.

[0039] In some embodiments, please refer to Figure 6 , Figure 6 This is a flowchart illustrating the control method for a first dust suppression robot provided in an embodiment of the present invention, as shown below. Figure 6 As shown, the control method for the dust suppression robot includes: Step S101: Obtain wind direction from wind sensor.

[0040] This can be understood as obtaining the wind direction of the external environment through wind sensors.

[0041] Step S102: Based on the wind direction, control the spray nozzle of the settling nozzle to face the windward side.

[0042] This can be understood as controlling the orientation of the settling nozzle so that it faces the windward side, which is the direction from which the ambient wind blows. The spraying direction of the nozzle is opposite to the wind direction, so that the spraying pressure of the settling nozzle can directly resist the crosswind force, thereby reducing the impact of the crosswind on the effective position of the dust suppressant sprayed by the settling nozzle.

[0043] In some embodiments, for a dust suppression robot of this structure, the control method flow is as follows: Figure 7 As shown, based on Figure 6 The control method also includes: Step S103: Obtain wind force from the wind sensor.

[0044] This can be understood as obtaining wind force information of the external environment through wind sensors.

[0045] Step S104: Control the rotation speed of the spray pump based on wind power. The rotation speed of the spray pump is positively correlated with the wind power.

[0046] This can be understood as the rotational speed of the spray pump increasing with increasing wind speed and decreasing with decreasing wind speed, so that the spray pressure provided by the spray pump to the settling nozzle and film-forming nozzle can adapt to the wind speed.

[0047] When the ambient wind increases, increasing the speed of the spray pump can increase the spray pressure of each nozzle, thereby enhancing the dust suppressant's ability to resist the influence of crosswinds. When the ambient wind decreases, reducing the speed of the spray pump can prevent excessive spraying of dust suppressant due to excessive spraying pressure, which helps to adapt to changes in ambient wind while ensuring the utilization efficiency of the dust suppressant.

[0048] In some embodiments, the film-forming nozzle has a plurality of annularly arranged spray nozzles, the orientation of which is variable; for this dust suppression robot, the flowchart of the control method is as follows: Figure 8 As shown, based on Figure 7 After step S104, the control method further includes: Step S105: Adjust the orientation of each spray nozzle based on the rotation speed of the spray pump. The angle between the orientation of the spray nozzle and the vertical direction is negatively correlated with the rotation speed of the spray pump.

[0049] This can be understood as follows: the angle between the spray nozzle and the vertical direction decreases as the rotational speed of the spray pump increases, and increases as the rotational speed of the liquid spray pump decreases. When the spray pressure of the film-forming nozzle increases with the increase of the liquid spray pump, the dust suppressant tends to diffuse and form a larger distribution range when it comes into contact with the ground. At this time, by reducing the angle between the spray nozzle and the vertical direction, the dust suppressant jets sprayed from each nozzle become more convergent, thus reducing the degree of expansion of the distribution range caused by the high spray pressure. Conversely, when the rotational speed of the liquid spray pump decreases and the spray pressure decreases, by increasing the angle between the spray nozzle and the vertical direction, the distribution range of the dust suppressant can be expanded to a certain extent. Through this adjustment method, the dust suppressant sprayed by the film-forming nozzle can form a more similar distribution range under different spray pressures, which helps to reduce the impact of large fluctuations in the coverage area of ​​the dust suppression film caused by changes in spray pressure, thereby making the thickness of the dust suppression film formed on the ground more uniform.

[0050] Steps 103 and 104 can be executed synchronously with steps 101 and 102.

[0051] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A dust suppression robot, characterized in that, The dust suppression robot includes: Mobile chassis; A dust suppressant spraying assembly, connected to the mobile chassis, is used to store and spray dust suppressant; A wind sensor, connected to the mobile chassis, is used to acquire wind speed and wind direction; The dust suppressant spraying assembly includes: A settling nozzle is connected to the mobile chassis, and the settling nozzle can adjust the direction of the dust suppressant sprayed out. A film-forming nozzle is fixedly connected to the movable chassis, with the spray nozzle facing the ground. A spray pump is used to pump the dust suppressant to the settling nozzle and the film-forming nozzle; The settling nozzle is rotatably connected to the chassis.

2. The dust suppression robot according to claim 1, characterized in that, The settling nozzle includes multiple nozzles arranged circumferentially, and the multiple nozzles are distributed in different spray directions; The dust suppression robot also includes a spray direction control component located inside the settling nozzle, used to control the opening and closing of each nozzle.

3. The dust suppression robot according to claim 1, characterized in that, The dust suppressant spraying assembly also includes: A liquid storage tank, connected to the mobile chassis, is used to store dust suppressant; A settling pipeline is used to connect the liquid storage tank and the settling nozzle; Film-forming conduit, used to connect the liquid storage tank and the film-forming nozzle.

4. The dust suppression robot according to claim 1, characterized in that, In the direction of travel of the mobile chassis, a plurality of settling nozzles are disposed at the front of the mobile chassis, and a plurality of film-forming nozzles are disposed at the rear of the mobile chassis; the liquid pump is connected to each of the settling nozzles and each of the film-forming nozzles.

5. The dust suppression robot according to any one of claims 1 to 3, characterized in that, The film-forming nozzle has multiple annularly arranged spray nozzles, and the orientation of each spray nozzle is variable to adjust the distribution range of the dust suppressant sprayed by the film-forming nozzle.

6. The dust suppression robot according to any one of claims 1 to 3, characterized in that, The dust suppression robot also includes: Fuel tanks are used to store fuel. An internal combustion engine is used to obtain the fuel and drive the mobile chassis to move; A generator, connected to the internal combustion engine, is used to generate electrical energy; An energy storage unit is used to store electrical energy; An electric motor is used to obtain electrical energy from the energy storage unit and drive the mobile chassis to move.

7. A control method for a dust suppression robot, characterized in that, The control method is applied to the dust suppression robot as described in any one of claims 1 to 6, and the control method includes: Wind direction is obtained from the wind sensor; The spray nozzle of the settling nozzle is oriented towards the windward side based on the wind direction.

8. The control method according to claim 7, characterized in that, The control method further includes: Wind force is obtained from the wind sensor; The rotational speed of the spray pump is controlled based on the wind force, and the rotational speed of the spray pump is positively correlated with the wind force.

9. The control method according to claim 8, characterized in that, The film-forming nozzle has multiple spray nozzles arranged in a ring, and the orientation of each spray nozzle is variable. After controlling the rotational speed of the injection pump based on the wind force, wherein the rotational speed of the injection pump is positively correlated with the wind force, the control method further includes: The orientation of each spray nozzle is adjusted based on the rotational speed of the spray pump. The angle between the orientation of the spray nozzle and the vertical direction is negatively correlated with the rotational speed of the spray pump.

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