WO2021120660A1

WO2021120660A1 - Spraying system and control method for spraying system

Info

Publication number: WO2021120660A1
Application number: PCT/CN2020/110336
Authority: WO
Inventors: 李杰孙; 彭斌; 赵晓童
Original assignee: 广州极飞科技有限公司
Priority date: 2019-12-19
Filing date: 2020-08-20
Publication date: 2021-06-24

Abstract

A spraying system (100) and a control method for a spraying system. The spraying system (100) comprises: a first moving device (110) comprising a moving main body and a power component, the power component being provided at the moving main body to drive the moving main body to move; a chemical spraying device (120) provided at the first moving device (110) and comprising a chemical preparation device (121) and an atomization device (123), the chemical preparation device (121) communicating with the atomization device (123); and a controller in a communication connection with the first moving device (110).

Description

Spraying system and control method of spraying system

Cross-references to related applications

This application requires the priority of the Chinese patent application numbers "201911320304.5" and "201922302544.4" filed by Guangzhou Jifei Technology Co., Ltd. on December 19, 2019 under the name "Spray system and spray system control method".

Technical field

This application relates to the technical field of plant protection machines, in particular to a spraying system and a control method of the spraying system.

Background technique

In the field of plant protection machine technology, some spraying system control devices can control the movement of the drone or unmanned vehicle body, and the dispensing machine of the drone or unmanned vehicle can dispense medicine according to the set ratio of water and medicine and whether the spraying device sprays operation. The above-mentioned spraying system has a low degree of automation, and the actual spraying area and the spraying area are prone to errors.

Summary of the invention

This application aims to solve one of the technical problems in the related technology at least to a certain extent.

For this reason, one purpose of the present application is to propose a spray system, which has the advantage of high degree of automation.

Another object of the present application is to provide a method for controlling a spray system, which also has the advantage of a high degree of automation.

The spraying system according to the embodiment of the present application includes: a first moving device, the first moving device includes a moving body and a power component, the power component is provided on the moving body to drive the moving body to move; a spraying device , The spraying device is provided in the first moving device, the spraying device includes a dispensing device and an atomizing device, the dispensing device is in communication with the atomizing device; a controller, the controller and the The first mobile device is in communication connection.

According to the spraying system of the embodiment of the present application, by communicating with the controller and the first mobile device, the first mobile device drives the spraying device to move, and the atomizing device sprays the liquid medicine prepared by the dispensing device to the spraying area, thereby Realize the automatic spraying operation, thereby saving labor, and also avoiding the harm of the liquid medicine to the human body.

In some embodiments, the spraying system further includes a pan/tilt, the pan/tilt is arranged on the first mobile device, the atomization device is arranged on the pan/tilt, and the pan/tilt drives the atomization device to move to Change the spray direction of the atomization device.

In some embodiments, the controller is communicatively connected with the pan-tilt.

In some embodiments, the pan/tilt head swings in a first direction relative to the first mobile device, and the pan/tilt head swings in a second direction relative to the first mobile device. The first direction and The second direction is vertical.

In some embodiments, the controller is communicatively connected with the spraying device, and the spraying device further includes a medicine mixing device, and the medicine mixing device is connected between the dispensing device and the atomizing device.

In some embodiments, the dispensing device includes: a water tank, a medicine tank, a dispensing machine, a water volume control valve for controlling the amount of water, and a medicine volume control valve for controlling the amount of medicine. The medicine dispensing machine has an initial mixing cavity, and the initial mixing cavity is in communication with the medicine mixing device. The water volume control valve is connected between the water tank and the preliminary mixing cavity, and the water volume control valve is in communication connection with the controller. The medicine quantity control valve is connected between the medicine tank and the initial mixing cavity, and the medicine quantity control valve is in communication connection with the controller.

In some embodiments, the medicine mixing device has a highest liquid level alarm, and when the highest liquid level alarm gives an alarm, the dispensing machine stops dispensing medicine.

In some embodiments, the medicine mixing device has a minimum liquid level alarm, and when the minimum liquid level alarm gives an alarm, the medicine dispensing machine is activated and starts to dispense medicine.

In some embodiments, the atomization device has a particle size control component for adjusting the size of the atomized particle size, and the particle size control component is communicatively connected with the controller.

In some embodiments, the atomization device has a range control component for controlling the range of the atomized particles, and the range control component is communicatively connected with the controller.

In some embodiments, the spraying system further includes a surveying and mapping device, and the surveying and mapping device is in communication connection with the controller.

In some embodiments, the spraying system further includes a second mobile device, and the surveying and mapping device is provided in the second mobile device.

In some embodiments, the second mobile device is an aircraft.

In some embodiments, the first mobile device is an aircraft, a mobile boat, or a mobile vehicle.

In some embodiments, the spray system further includes a medication feedback device, and the medication feedback device is communicatively connected with the controller.

According to the control method of the spraying system of the embodiment of the present application, the spraying system includes the spraying system described in any one of the above; the control method includes: acquiring surveying and mapping information, and formulating the travel route and the location of the first mobile device. The atomization particle size of the atomization device, and the spray range of the atomization device.

According to the spraying system control method of the embodiment of the present application, by communicating the controller and the first mobile device, the first mobile device drives the spraying device to move, and the atomizing device sprays the liquid medicine prepared by the dispensing device to the spraying area, As a result, automated spraying operations can be realized, thereby saving labor, and preventing the liquid medicine from causing harm to the human body.

In some embodiments, the control method of the spray system further includes: a drug application feedback device, which adjusts the spray direction and spray range of the atomization device according to the information of the drug feedback device.

In some embodiments, the controller controls the dispensing amount of the dispensing device according to the real-time travel route.

The additional aspects and advantages of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the present application.

Description of the drawings

The above and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Fig. 1 is a schematic structural diagram of a spraying system according to an embodiment of the present application;

Figure 2 is a schematic structural diagram of a spraying system according to an embodiment of the present application;

Fig. 3 is a structural block diagram of a spraying system according to an embodiment of the present application;

Fig. 4 is a flowchart of a control method of a spray system according to an embodiment of the present application.

Reference signs:

Spraying system 100,

The first mobile device 110,

Spraying device 120,

Dispensing device 121, water tank 1211, medicine tank 1212, dispensing machine 1213,

Mixing device 122, atomizing device 123,

Yuntai 130.

Detailed ways

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are only used to explain the present application, and should not be construed as a limitation to the present application.

The following describes the spray system 100 and the control method of the spray system according to the embodiments of the present application with reference to FIGS. 1 to 4.

As shown in Figs. 1-2, the spraying system 100 according to the embodiment of the present application includes a first moving device 110, a spraying device 120 and a controller. It should be noted that the first mobile device 110 may be a carrier platform for loading the spraying device 120 and the controller. During the spraying process, the spraying device 120 and the controller move with the first mobile device 110 to spray the spraying area. operation.

Specifically, the first mobile device 110 may be a carrier platform on which the spraying device 120 and the controller are loaded. The first mobile device 110 includes a mobile body and a power component, and the power component is provided on the mobile body to drive the mobile body to move. The spraying device 120 is provided in the first mobile device 110. The spraying device 120 includes a dispensing device 121 and an atomizing device 123, and the dispensing device 121 and the atomizing device 123 are in communication. The controller communicates with the first mobile device 110. During the spraying operation, the controller receives the signal and drives the first moving device 110 to move, the first moving device 110 drives the spraying device 120 to move, and the atomizing device 123 sprays the liquid prepared by the dispensing device 121 to the spraying area.

According to the spraying system 100 of the embodiment of the present application, by communicating the controller with the first mobile device 110, the first mobile device 110 drives the spraying device 120 to move, and the atomizing device 123 sprays the liquid medicine prepared by the dispensing device 121 on Spraying area, which can realize automatic spraying operation, thereby saving labor, and also avoiding the harm of liquid medicine to human body.

With reference to Figure 1, in some embodiments of the present application, the spraying system 100 further includes a pan/tilt 130, the pan/tilt 130 is set on the first mobile device 110, the atomization device 123 is located on the pan/tilt 130, and the pan/tilt 130 drives the atomization device 123 moves to change the spray direction of the atomization device 123. Therefore, the movement of the first mobile device 110 can drive the movement of the pan-tilt 130, and the pan-tilt 130 can drive the atomization device 123 to move to change the spray direction of the atomization device 123, thereby expanding the spraying range of the atomization device 123, which is beneficial to Improve the spraying efficiency of the spraying system 100.

According to some embodiments of the present application, referring to FIG. 1, the controller is in communication connection with the pan-tilt 130. In this way, the controller can control the automatic work of the pan-tilt 130, thereby improving the degree of automation of the spraying system 100.

As shown in FIG. 1, in some embodiments of the present application, the atomization device 123 can swing relative to the pan-tilt 130 in a first direction (the direction shown by the arrow F1 in FIG. 1), and the pan-tilt 130 can also be relatively Since the first mobile device 110 swings in a second direction (the direction shown by the arrow F2 in FIG. 1), the first direction and the second direction are perpendicular. The swing of the pan/tilt 130 can drive the swing of the atomization device 123.

As shown in FIG. 1, in some embodiments of the present application, the atomization device 123 can swing in a first direction (the direction shown by the arrow F1 in FIG. 1) relative to the pan/tilt 130, and the pan/tilt 130 is relative to the first direction. A mobile device 110 can swing in a second direction (the direction shown by arrow F2 in FIG. 1). Thus, through the coordinated movement of the pan-tilt 130 and the first moving device 110, the spraying range of the atomizing device 123 is enlarged, and spraying in three dimensions is achieved.

According to some embodiments of the present application, referring to FIG. 1, the controller is in communication connection with the spraying device 120. The spraying device 120 further includes a drug mixing device 122, and the drug mixing device 122 is connected between the dispensing device 121 and the atomizing device 123. For example, the spraying device 120 can be used to realize the spraying function of the spraying system 100: the dispensing device 121 preliminarily mixes the pesticide formulation and water in a certain proportion; the mixing device 122 receives the preliminarily mixed liquid medicine of the dispensing device 121, and the liquid medicine is being mixed. The medicine device 122 mixes more fully and evenly, and the medicine mixing device 122 stores the configured medicine liquid; the atomizing device 123 draws the medicine liquid from the medicine mixing device 122 to atomize it, and sprays the spraying area. In the final stage of the spraying operation, the dispensing device 121 allocates a certain amount of liquid medicine to the mixing device 122 for storage. When the storage amount is exactly equal to the remaining amount of medicine required for the operation, the dispensing device 121 stops working, thereby ensuring that After the spraying operation is completed, there is no redundant liquid medicine in the mixing device 122.

1, according to some embodiments of the present application, the dispensing device 121 includes a water tank 1211, a medicine tank 1212, a dispensing machine 1213, a water volume control valve, and a medicine volume control valve. It is understandable that the water tank 1211 can be used to store the clean water required for the preparation of the liquid medicine; the medicine tank 1212 can be used to store the pesticide preparations required for the preparation of the liquid medicine; the dispensing machine 1213 can be used to extract the water in the water tank 1211 according to a set ratio. The clear water and the pesticide preparation in the medicine box 1212 and mix the two; the water volume control valve is used to control the pumping volume; the chemical volume control valve is used to control the pumping volume.

As shown in FIGS. 1 to 2, the dispensing machine 1213 has an initial mixing cavity, and the initial mixing cavity is in communication with the medicine mixing device 122. The water volume control valve is connected between the water tank 1211 and the initial mixing cavity, and the water volume control valve is in communication with the controller. The water volume control valve can communicate or disconnect between the water tank 1211 and the initial mixing cavity according to the control signal of the controller. Control; the medicine volume control valve is connected between the medicine tank 1212 and the initial mixing cavity, and the medicine volume control valve is in communication with the controller. The medicine volume control valve can be based on the control signal of the controller between the medicine tank 1212 and the initial mixing cavity Connect or disconnect to control.

The following examples illustrate the working process of the water tank 1211, the medicine tank 1212, the medicine dispenser 1213, the water volume control valve and the medicine volume control valve. The water tank 1211 and the medicine tank 1212 respectively store the clean water and pesticide preparations required for the preparation of the liquid medicine, and the controller controls the dispensing machine 1213 to draw the clean water and pesticide preparations into the initial mixing cavity according to a set ratio. The amount of water and pesticide preparations is controlled by the water volume control valve and the drug volume control valve. The liquid medicine can be mixed initially in the initial mixing cavity or fully mixed. When the liquid medicine is initially mixed in the initial mixing cavity, the mixing of the liquid medicine is not uniform and sufficient, and the mixing device 122 receives the dispensing device 121 for initial mixing The finished medicinal liquid, the medicinal liquid is more fully and evenly mixed in the medicine mixing device 122, the medicine mixing device 122 stores the configured liquid medicine; when the medicine liquid is fully mixed in the initial mixing cavity, the medicine mixing device 122 receives the dispensing The device 121 configures the completed liquid medicine and stores the prepared liquid medicine. As a result, the medicinal solution preparation process becomes mechanized and automated, and the phased manual dosing process during the operation of the spraying system 100 can be eliminated, making the dispensing process simpler and safer.

In some embodiments of the present application, in conjunction with FIG. 2, the medicine mixing device 122 has a maximum liquid level alarm, and when the maximum liquid level alarm alarms, the dispensing machine 1213 stops dispensing the medicine. For example, when the spraying system 100 starts spraying operations, it can automatically plan the speed and travel route of the first mobile device 110 in real time. Starting from the starting point, the dispensing machine 1213 starts to draw clean water from the water tank 1211 and from the medicine tank 1212 in a certain proportion. Pesticide preparations are dispensed. The medicine mixing device 122 stores the prepared liquid medicine and feeds back its capacity in real time. During the working process, the medicine mixing device 122 reaches the maximum liquid level and the signal is fed back to the controller, and the controller controls the maximum liquid level alarm. , The dispensing machine 1213 stops dispensing. The medicine mixing device 122 with the highest liquid level alarm can be configured to quantitatively configure the liquid medicine, so as to prevent the configured liquid medicine amount from exceeding the maximum capacity of the medicine mixing device.

As shown in FIG. 2, in some embodiments of the present application, the medicine mixing device 122 has a minimum liquid level alarm. When the minimum liquid level alarm alarms, the dispensing machine 1213 is activated and starts dispensing. Specifically, during the spraying operation of the spraying system 100, the liquid medicine is continuously consumed. When the storage amount of the liquid medicine in the medicine mixing device 122 is lower than the minimum liquid level, a signal is fed back to the controller, and the controller controls the minimum liquid level alarm. Alarm, the dispensing machine 1213 is activated, and the dispensing starts. The medicine mixing device 122 with the lowest liquid level alarm can feed back the liquid medicine storage amount in the medicine mixing device 122 in time, so that when the liquid medicine storage amount in the medicine mixing device 122 is lower than the minimum liquid level, the medicine dispensing machine 1213 dispenses medicine in time, Furthermore, it is possible to reduce downtime due to lack of liquid medicine.

According to some embodiments of the present application, in conjunction with FIGS. 1 to 2, the atomization device 123 has a particle size control component for adjusting the size of the atomized particle size, and the particle size control component is communicatively connected with the controller. It is understandable that the particle size control component may include: a fan, a fan, an air duct, a liquid storage cylinder, and a spray head. After the controller gives the signal of the particle size required by the particle size control component, the particle size control component controls the wind speed and air volume of the fan by adjusting the speed of its own fan. The liquid medicine enters the liquid storage from the mixing device 122 through the connecting pipe. Then, it enters the nozzle from the liquid storage tube, and the wind of the fan blows through the air duct to the connection between the liquid storage tube and the nozzle, and hits the liquid medicine into atomized particles.

When the amount of liquid medicine entering the nozzle from the liquid storage cylinder is constant, the larger the wind speed and air volume, the smaller the atomized particle size, and the smaller the wind speed and air volume, the larger the atomized particle size. When the wind speed and air volume are constant, the larger the amount of liquid medicine entering the nozzle from the liquid storage cylinder, the greater the atomization amount, and the smaller the amount of liquid medicine entering the nozzle from the liquid storage barrel, the smaller the atomization amount. In the atomization device 123 of the present application, the particle size and the atomization amount can be controlled by controlling the power of the motor and adjusting the flow rate of the liquid medicine in the liquid storage cylinder. Therefore, the atomization device 123 can meet the needs of different spraying operations, and then The automation level of the spray system 100 can be improved.

According to still other embodiments of the present application, referring to FIGS. 1 to 2, the atomization device 123 has a range control component for controlling the range of the atomized particles, and the range control component is communicatively connected with the controller. It should be noted that the range control component may include a pressure controller, a liquid storage cylinder and a spray head. The pressure controller acts on the liquid storage cylinder to apply pressure to the liquid medicine in the liquid storage cylinder to make the liquid medicine flow to the spray head and then spray out. After the controller gives the signal of the range of the atomized particles required by the range control component, the range control component controls the range of the atomized particles and the force of the pressure controller by adjusting the pressure of the pressure controller acting on the liquid medicine in the liquid tank. The larger the value, the farther the range of the atomized particles; the smaller the force of the pressure controller, the closer the range of the atomized particles. In addition, the range control component can also include a fan, a fan, an air duct, a liquid reservoir, a conveyor, and a nozzle. The range control component controls the wind speed and air volume of the fan by adjusting the speed of its own fan. The liquid medicine enters the liquid storage cylinder from the mixing device 122 through the connecting pipe, and then enters the nozzle from the liquid storage cylinder, and the air of the fan blows through the air duct. At the connection point between the liquid storage cylinder and the nozzle, the liquid medicine is hit into atomized particles. The atomized particles have a certain initial speed. When they enter the conveyor, the conveyor can accelerate them for a second time to increase the range. Finally, the fog The chemical particles are ejected from the nozzle. In this way, the atomization device 123 can meet the requirements of different spraying ranges, thereby improving the automation level of the spraying system 100 and making the spraying system 100 more convenient to use.

According to some embodiments of the present application, the spraying system 100 further includes a surveying and mapping device, and the surveying and mapping device is in communication connection with the controller. It is understandable that the surveying and mapping device can be used to survey and map the basic information of the spraying area to feed back to the controller, for example, the area and outline of the spraying area, and the type, area and severity of pests and diseases in the spraying area. After the controller obtains the area and outline of the spraying area, the type, area and severity of the pests and diseases in the spraying area, it controls the first mobile device 110, the spraying device 120 and the pan/tilt 130 to perform their respective functions, so as to be efficient according to the actual situation. Complete the spraying operation.

In some embodiments of the present application, the spraying system 100 further includes a second mobile device, and the surveying and mapping device is provided in the second mobile device. It should be noted that the second mobile device can be a movable carrier device that can be equipped with a surveying and mapping device. The second mobile device can drive the surveying and mapping device to perform surveying and mapping according to a specified route, so that the surveying and mapping device can complete the surveying and mapping of the area and contour of the spray area. And mapping of the types, areas and severity of pests and diseases in the spraying area.

According to some embodiments of the present application, the second mobile device may be an aircraft. The aircraft has the advantages of fast flying speed, wide movable range and good versatility. Using the aircraft as the second mobile device with the surveying and mapping device can expand the surveying and mapping range. The carrier device can also reduce the interference of road obstacles and improve the efficiency and accuracy of surveying and mapping.

According to still other embodiments of the present application, the first mobile device 110 is an aircraft, a mobile boat, or a mobile vehicle. The first mobile device 110 can be a carrier platform for loading the spraying device 120, the pan/tilt 130 and the controller. During the spraying process, the aircraft, mobile boat or mobile vehicle can be equipped with the spraying device 120, the pan/tilt 130 and the controller pair. Perform spraying operations in the spraying area.

According to other embodiments of the present application, the spraying system 100 further includes a medication feedback device, which is in communication with the controller. As a result, the controller can control the medication feedback device to achieve automation, thereby improving the spraying system 100. The degree of automation.

In still other embodiments of the present application, the medication feedback device is provided in the first mobile device 110. During the spraying operation, the first mobile device 110 drives the medicine feedback device to move. The medicine feedback device monitors the application rate and application area of the spray area in real time, and then feeds back the monitoring information to the controller, which is based on the medicine feedback The application rate and application area fed back by the device change the travel route of the first mobile device 110 in a timely manner, thereby improving the working efficiency of the spraying operation and the spraying quality of the spraying operation.

In still other embodiments of the present application, the medication feedback device may be provided in the second mobile device. The second mobile device can be equipped with a drug feedback device to complete the monitoring of the spraying area and the spraying area, and can provide feedback information to the controller, which is beneficial to improve the efficiency of the spraying operation and the spraying quality of the spraying operation.

In some other embodiments of the present application, the application feedback device can also be provided in the spray area to complete the monitoring of the application rate and area of the spray area, thereby providing feedback information to the controller, which is beneficial to improve The efficiency of the spraying operation and the spraying quality of the spraying operation.

As shown in Figures 1-2, according to some embodiments of the present application, the spraying system 100 may further include a pan-tilt 130 and a medication feedback device. During the spraying process, the first mobile device 110 can carry the spraying device 120, the pan-tilt 130 and the controller to move. The spraying device 120, the pan-tilt 130 and the controller move with the first mobile device 110 to spray the spraying area operation.

Specifically, with reference to FIGS. 1 to 2, the spraying device 120 further includes a mixing device 122, and the mixing device 122 is in communication with the dispensing device 121 and the atomizing device 123 respectively. For example, the spraying device 120 can be used to realize the spraying function of the spraying system 100: the dispensing device 121 preliminarily mixes the pesticide formulation and water in a certain proportion; the mixing device 122 receives the preliminarily mixed liquid medicine of the dispensing device 121, and the liquid medicine is being mixed. The medicine device 122 mixes more fully and evenly, and the medicine mixing device 122 stores the configured medicine liquid; the atomizing device 123 draws the medicine liquid from the medicine mixing device 122 to atomize it, and sprays the spraying area. In the final stage of the spraying operation, the dispensing device 121 allocates a certain amount of liquid medicine to the mixing device 122 for storage. When the storage amount is exactly equal to the remaining amount of medicine required for the operation, the dispensing device 121 stops working, thereby ensuring that After the spraying operation is completed, there is no redundant liquid medicine in the medicine mixing device 122.

The drug application feedback device can be used to monitor the application rate and application area of the sprayed drugs, and then feedback the monitoring information to the controller. As shown in FIG. 1, the pan-tilt 130 is provided in the first mobile device 110, and the atomizing device 123 is provided in the pan-tilt 130, and the pan-tilt 130 drives the atomizing device 123 to move to change the spray direction of the atomizing device 123. The controller is in communication with the first mobile device 110, the spraying device 120, the pan-tilt 130, and the medication feedback device. The controller can be used to control the first mobile device 110, the spraying device 120, and the pan-tilt 130 to achieve automation.

In the related art, the control device of the spraying system can only control the movement of the drone or the unmanned vehicle body, the dispensing machine of the drone or the unmanned vehicle dispenses the medicine according to the set ratio of water and medicine, and whether the spraying device performs spraying operation. The above-mentioned spraying system has a low degree of automation, and the actual spraying area and the spraying area are prone to errors.

Therefore, by communicating the controller with the first mobile device 110, the spraying device 120, the pan-tilt 130, and the drug application feedback device, the integration degree of the spraying system 100 can be improved, and the function of the spraying system 100 can be improved. The automatic control of the spraying device 120 by the controller can enable the spraying device 120 to perform real-time automatic dispensing and automatic spraying, thereby making the operation more efficient. At the same time, the controller controls the operation of the spray device 120 to mechanize and automate the liquid medicine preparation process, which can eliminate the phased manual dosing process during the operation of the spray system 100, making the dispensing process simpler and safer. Further, the controller can automatically select the spraying point according to the feedback information of the drug application feedback device, and accurately spray at the designated point, which saves resources and improves the utilization rate of pesticides.

As shown in FIGS. 1 to 4, the method for controlling a spray system according to an embodiment of the present application includes the spray system 100 as described above.

As shown in FIG. 4, the following specifically describes the control method of the spray system: acquiring surveying and mapping information; and formulating the travel route of the first mobile device 110, the atomizing particle size of the atomizing device 123, and the spraying range of the atomizing device 123. It is understandable that the way to obtain surveying and mapping information can be for the surveying and mapping device to complete the surveying and mapping in real time and communicate and feed it back to the controller, or the existing surveying and mapping information can be sent to the controller by copying. After receiving the surveying and mapping information, the controller controls the dispensing machine 1213 to select pesticide formulations according to actual needs and configures the liquid medicine in proportion, and formulates the travel route of the first mobile device 110, the atomization particle size of the atomization device 123, and the atomization device 123 The jet range.

As shown in FIG. 3, according to some embodiments of the present application, the control method of the spray system further includes a medication feedback device. According to the information of the medication feedback device, the spray system adjusts the spray direction and spray range of the atomization device 123. During the operation of the spraying system 100, the application feedback device monitors the application rate and application area of the spray area in real time, and feeds back the monitoring information to the controller. The controller can then formulate the first based on the feedback information from the application feedback device. The travel route of the mobile device 110, the swing direction of the pan/tilt 130, the atomization particle size of the atomization device 123, and the spray range of the atomization device 123.

In some embodiments of the present application, referring to FIG. 3, the surveying and mapping device obtains surveying and mapping information in real time, and draws the real-time travel route of the first mobile device 110. It is understandable that the surveying and mapping device can be used to survey and map the basic information of the spraying area to feed back to the controller, for example, the area and outline of the spraying area, and the type, area and severity of pests and diseases in the spraying area. After the controller obtains the area and contour of the spraying area, and the type, area and severity of the pests and diseases in the spraying area, it formulates the real-time travel route of the first mobile device 110, and the first mobile device 110 drives the spraying device 120 and the drug feedback device Give full play to their respective functions, and then can efficiently complete the spraying operation according to the actual situation.

With reference to FIG. 3, according to some embodiments of the present application, the controller controls the dispensing amount of the dispensing device 121 according to the real-time travel route. Specifically, the surveying and mapping device monitors the area to be sprayed in real time, surveys the area of the area to be sprayed, and draws the real-time travel route of the first mobile device 110 in real time, and then feeds back the area of the area to be sprayed and the real-time travel route of the first mobile device 110 to the controller . The controller calculates the amount of sprayed medicine according to the feedback information, and then controls the dispensing machine 1213 to start to configure the required amount of medicine. In addition, in the final stage of the spraying operation, the dispensing machine 1213 allocates a certain amount of liquid medicine to the mixing device 122 for storage. When the stored amount of medicine is exactly equal to the remaining amount of medicine required for the operation, the dispensing machine 1213 stops working, thus, It can be ensured that there is no redundant liquid medicine in the medicine mixing device 122 after the spraying operation is completed.

Hereinafter, the control method of the spray system according to the embodiment of the present application will be described in detail with reference to FIGS. 1 to 4. It should be understood that the following description is only an exemplary description, rather than a specific limitation to the application.

As shown in Figures 1 to 4, the spray system control method, the spray system 100 includes a first mobile device 110, a spray device 120, a pan-tilt 130, a drug application feedback device, a controller, a surveying and mapping device, and a second mobile device. It should be noted that the first mobile device 110 may be a carrier platform for loading the spraying device 120, the pan-tilt 130 and the controller. During the spraying process, the spraying device 120, the pan-tilt 130 and the controller follow the first mobile device 110 moves to spray the spraying area.

Specifically, with reference to Figures 1 to 2, the spraying device 120 is provided in the first mobile device 110. The spraying device 120 includes a dispensing device 121, a mixing device 122 and an atomizing device 123, the mixing device 122 and the dispensing device 121, The atomizing devices 123 are connected respectively. The spraying device 120 can be used to realize the spraying function of the spraying system 100. The dispensing device 121 includes a water tank 1211, a medicine tank 1212, a dispensing machine 1213, a water volume control valve, and a chemical volume control valve. It is understandable that the water tank 1211 can be used to store the clean water required for the preparation of the liquid medicine; the medicine tank 1212 can be used to store the pesticide preparations required for the preparation of the liquid medicine; the dispensing machine 1213 can be used to extract the water in the water tank 1211 according to a set ratio. The clear water and the pesticide preparation in the medicine box 1212 and mix the two; the water volume control valve is used to control the pumping volume; the chemical volume control valve is used to control the pumping volume.

The following examples illustrate the working process of the water tank 1211, the medicine tank 1212, the medicine dispenser 1213, the water volume control valve and the medicine volume control valve. The water tank 1211 and the medicine tank 1212 respectively store the clean water and pesticide preparations required for the preparation of the liquid medicine, and the controller controls the dispensing machine 1213 to draw the clean water and pesticide preparations into the initial mixing cavity according to a set ratio. The amount of water and pesticide preparations is controlled by the water volume control valve and the drug volume control valve. The liquid medicine can be mixed initially in the initial mixing cavity or fully mixed. When the liquid medicine is initially mixed in the initial mixing cavity, the mixing of the liquid medicine is not uniform and sufficient, and the mixing device 122 receives the dispensing device 121 for initial mixing The finished medicinal liquid, the medicinal liquid is more fully and evenly mixed in the medicine mixing device 122, the medicine mixing device 122 stores the configured liquid medicine; when the medicine liquid is fully mixed in the initial mixing cavity, the medicine mixing device 122 receives the dispensing The device 121 configures the completed liquid medicine and stores the prepared liquid medicine.

With reference to Figure 2, the medicine mixing device 122 has a maximum liquid level alarm. When the maximum liquid level alarm alarms, the dispensing machine 1213 stops dispensing. For example, when the spraying system 100 starts spraying operations, it can automatically plan the speed and travel route of the first mobile device 110 in real time. Starting from the starting point, the dispensing machine 1213 starts to draw clean water from the water tank 1211 and from the medicine tank 1212 in a certain proportion. Pesticide preparations are dispensed. The medicine mixing device 122 stores the prepared liquid medicine and feeds back its capacity in real time. During the working process, the medicine mixing device 122 reaches the maximum liquid level and the signal is fed back to the controller, and the controller controls the maximum liquid level alarm. , The dispensing machine 1213 stops dispensing. The medicine mixing device 122 with the highest liquid level alarm can be configured to quantitatively configure the liquid medicine, so as to prevent the configured liquid medicine amount from exceeding the maximum capacity of the medicine mixing device.

As shown in Figure 2, the medicine mixing device 122 also has a minimum liquid level alarm. When the minimum liquid level alarm alarms, the dispensing machine 1213 is activated and starts dispensing. Specifically, during the spraying operation of the spraying system 100, the liquid medicine is continuously consumed. When the storage amount of the liquid medicine in the medicine mixing device 122 is lower than the minimum liquid level, a signal is fed back to the controller, and the controller controls the minimum liquid level alarm. Alarm, the dispensing machine 1213 is activated, and the dispensing starts. The medicine mixing device 122 with the lowest liquid level alarm can feed back the liquid medicine storage amount in the medicine mixing device 122 in time, so that when the liquid medicine storage amount in the medicine mixing device 122 is lower than the minimum liquid level, the medicine dispensing machine 1213 dispenses medicine in time, Furthermore, it is possible to reduce downtime due to lack of liquid medicine.

As a result, the medicinal solution preparation process becomes mechanized and automated, and the phased manual dosing process during the operation of the spraying system 100 can be eliminated, making the dispensing process simpler and safer.

The surveying and mapping device communicates with the controller. It is understandable that the surveying and mapping device can be used to survey and map the basic information of the spraying area to feed back to the controller, for example, the area and outline of the spraying area, and the type, area and severity of pests and diseases in the spraying area. After the controller obtains the area and outline of the spraying area, the type, area and severity of the pests and diseases in the spraying area, it controls the first mobile device 110, the spraying device 120, the pan-tilt 130 and the drug application feedback device to perform their respective functions. According to the actual situation, the spraying operation can be completed efficiently.

The surveying and mapping device is arranged on the second mobile device. It should be noted that the second mobile device can be a movable carrier device that can be equipped with a surveying and mapping device. The second mobile device can drive the surveying and mapping device to perform surveying and mapping according to a specified route, so that the surveying and mapping device can complete the surveying and mapping of the area and contour of the spray area. And mapping of the types, areas and severity of pests and diseases in the spraying area.

As shown in Fig. 4, the following specifically describes the control method of the spray system: acquiring surveying and mapping information; and formulating the travel route of the first mobile device 110, the atomizing particle size of the atomizing device 123, the swing direction of the pan-tilt 130, and the atomizing device 123 jet range. It is understandable that the way to obtain surveying and mapping information can be for the surveying and mapping device to complete the surveying and mapping in real time and communicate it back to the controller, or it can send existing surveying and mapping information to the controller by copying. After the controller receives the surveying and mapping information, it controls the dispensing machine 1213 to select pesticide formulations according to actual needs and configures the medicinal solution in proportion, and formulates the travel route of the first mobile device 110, the swing direction of the pan/tilt 130, and the atomization of the atomization device 123 Particle size and spray range of the atomization device 123.

Further, the control method of the spraying system further includes a medication feedback device, and the spraying system adjusts the spray direction and spray range of the atomization device 123 according to the information of the medication feedback device. During the operation of the spraying system 100, the application feedback device monitors the application rate and application area of the spray area in real time, and feeds back the monitoring information to the controller. The controller can then formulate the first based on the feedback information from the application feedback device. The travel route of the mobile device 110, the swing direction of the pan/tilt 130, the atomization particle size of the atomization device 123, and the spray range of the atomization device 123.

With reference to FIGS. 1 and 2, the atomization device 123 has a particle size control component for adjusting the size of the atomized particle size, and the particle size control component is in communication with the controller. It is understandable that the particle size control component may include: a fan, a fan, an air duct, a liquid storage cylinder, and a spray head. After the controller gives the signal of the particle size required by the particle size control component, the particle size control component controls the wind speed and air volume of the fan by adjusting the speed of its own fan. The liquid medicine enters the liquid storage from the mixing device 122 through the connecting pipe. Then, it enters the spray head from the liquid storage tube, and the wind of the fan blows through the air duct to the connection between the liquid storage tube and the spray head, and beats the liquid medicine into atomized particles.

1 to 2, the atomization device 123 has a range control component for controlling the range of the atomized particles, and the range control component is communicatively connected with the controller. It should be noted that the range control component may include a pressure controller, a liquid storage cylinder and a spray head. The pressure controller acts on the liquid storage cylinder to apply pressure to the liquid medicine in the liquid storage cylinder to make the liquid medicine flow to the spray head and then spray out. After the controller gives the signal of the range of the atomized particles required by the range control component, the range control component controls the range of the atomized particles and the force of the pressure controller by adjusting the pressure of the pressure controller acting on the liquid medicine in the liquid tank. The larger the value, the farther the range of the atomized particles; the smaller the force of the pressure controller, the closer the range of the atomized particles.

In addition, the range control component can also include a fan, a fan, an air duct, a liquid reservoir, a conveyor, and a nozzle. The range control component controls the wind speed and air volume of the fan by adjusting the speed of its own fan. The liquid medicine enters the liquid storage cylinder from the mixing device 122 through the connecting pipe, and then enters the nozzle from the liquid storage cylinder, and the air of the fan blows through the air duct. At the connection point between the liquid storage cylinder and the nozzle, the liquid medicine is hit into atomized particles. The atomized particles have a certain initial speed. When they enter the conveyor, the conveyor can accelerate them for a second time to increase the range. Finally, the fog The chemical particles are ejected from the nozzle. In this way, the atomization device 123 can meet the requirements of different spraying ranges, thereby improving the automation level of the spraying system 100 and making the spraying system 100 more convenient to use.

With reference to Fig. 3, the controller controls the dispensing amount of the dispensing device 121 according to the real-time travel route. Specifically, the surveying and mapping device monitors the area to be sprayed in real time, surveys the area of the area to be sprayed, and draws the real-time travel route of the first mobile device 110 in real time, and then feeds back the area of the area to be sprayed and the real-time travel route of the first mobile device 110 to the controller . The controller calculates the amount of sprayed medicine according to the feedback information, and then controls the dispensing machine 1213 to start to configure the required amount of medicine. In addition, in the final stage of the spraying operation, the dispensing machine 1213 allocates a certain amount of liquid medicine to the mixing device 122 for storage. When the stored amount of medicine is exactly equal to the remaining amount of medicine required for the operation, the dispensing machine 1213 stops working, thus, It can be ensured that there is no redundant liquid medicine in the medicine mixing device 122 after the spraying operation is completed.

In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "exemplary embodiments", "examples", "specific examples", or "some examples" etc. means to incorporate the implementation The specific features, structures, materials or characteristics described by the examples or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and modifications can be made to these embodiments without departing from the principle and purpose of the present application. The scope of the application is defined by the claims and their equivalents.

Claims

A spraying system, characterized in that it comprises:

A first moving device, the first moving device includes a moving body and a power assembly, the power assembly being provided on the moving body to drive the moving body to move;

A spraying device, the spraying device is provided in the first moving device, the spraying device includes a dispensing device and an atomizing device, and the dispensing device is in communication with the atomizing device;

The controller is in communication connection with the first mobile device.
The spray system of claim 1, further comprising:

A pan/tilt, the pan/tilt is provided in the first mobile device, the atomization device is located in the pan/tilt, and the pan/tilt drives the atomization device to move to change the spray direction of the atomization device.
The spraying system according to claim 2, wherein the controller is in communication connection with the pan-tilt.
The spray system according to claim 2, wherein the pan/tilt head swings in a first direction relative to the first moving device, and the pan/tilt head moves in a second direction relative to the first moving device. When swinging, the first direction is perpendicular to the second direction.
The spraying system according to any one of claims 1 to 4, wherein the controller is in communication connection with the spraying device,

The spraying device also includes a mixing device, and the mixing device is connected between the dispensing device and the atomizing device.
The spray system of claim 5, wherein the dispensing device comprises:

Water tank

medicine chest;

A medicine dispensing machine, the medicine dispensing machine has an initial mixing cavity, and the initial mixing cavity is in communication with the medicine mixing device;

A water volume control valve for controlling water volume, the water volume control valve is connected between the water tank and the initial mixing cavity, and the water volume control valve is in communication connection with the controller;

A medicine quantity control valve for controlling the medicine quantity, the medicine quantity control valve is connected between the medicine tank and the initial mixing cavity, and the medicine quantity control valve is communicatively connected with the controller.
The spray system according to claim 6, wherein the medicine mixing device has a maximum liquid level alarm, and when the maximum liquid level alarm alarms, the dispensing machine stops dispensing medicine.
The spraying system according to claim 6, wherein the medicine mixing device has a minimum liquid level alarm, and when the minimum liquid level alarm alarms, the dispensing machine is activated and starts dispensing medicine.
The spray system according to any one of claims 1-8, wherein the atomization device has a particle size control component for adjusting the size of the atomized particle size, and the particle size control component and the control Device communication connection.
The spray system according to any one of claims 1-9, wherein the atomization device has a range control component for controlling the range of the atomized particles, and the range control component is communicatively connected with the controller.
The spray system according to any one of claims 1-10, further comprising a surveying and mapping device, and the surveying and mapping device is in communication connection with the controller.
11. The spray system according to claim 11, further comprising a second mobile device, and the surveying and mapping device is provided in the second mobile device.
The spraying system according to claim 12, wherein the second moving device is an aircraft.
The spraying system according to any one of claims 1-13, wherein the first mobile device is an aircraft, a mobile boat or a mobile vehicle.
The spray system according to any one of claims 1-14, further comprising a medication feedback device, and the medication feedback device is in communication connection with the controller.
A method for controlling a spray system, wherein the spray system is the spray system according to any one of claims 1-15;

The control method includes:

Obtain surveying and mapping information;

The travel route of the first mobile device, the atomization particle size of the atomization device, and the spray range of the atomization device are formulated according to the surveying and mapping information.
The control method of the spray system according to claim 16, further comprising: a medication feedback device, which adjusts the spray direction and spray range of the atomization device according to the information of the medication feedback device.
The control method of the spraying system according to claim 16, wherein the controller controls the dispensing amount of the dispensing device according to the real-time travel route.