CN102487921B - Automatic pesticide spraying machine and pesticide spraying method - Google Patents
Automatic pesticide spraying machine and pesticide spraying method Download PDFInfo
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- CN102487921B CN102487921B CN201110359889.9A CN201110359889A CN102487921B CN 102487921 B CN102487921 B CN 102487921B CN 201110359889 A CN201110359889 A CN 201110359889A CN 102487921 B CN102487921 B CN 102487921B
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Abstract
The invention relates to the technical field of pesticide spraying, and discloses an automatic pesticide spraying machine and a pesticide spraying method. The automatic pesticide spraying machine comprises a chassis, a pesticide box, a pressure unit, a seal enclosure, a core control unit, a power source, a wheel mechanism, a nozzle, an electromagnetic valve and a terminal controller, wherein the pesticide box, the pressure unit, the seal enclosure, the core control unit, the power source and the wheel mechanism are fixed on the chassis, the nozzle is connected with a high-pressure pesticide discharge pipe of the pressure unit, and an electromagnetic valve is disposed on the nozzle and used for sending control signals to the core control unit. The terminal controller, the core control unit and the wheel mechanism are used to achieve remotely controlled travelling, automatic travelling and automatic pesticide spraying for the pesticide spraying machine, pesticide spraying efficiency is high, operation is simple, no pesticide directly contacts with a human body so that harm of operators by the pesticide can be avoided. In addition, by means of swing-pitching pneumatic pesticide spraying, the spraying amplitude of the nozzle is enlarged, and by means of a nozzle targeting mechanism, the targeted spraying and intermittent service of the nozzle are achieved.
Description
Technical field
The present invention relates to a kind of medicine liquid spray technical field, particularly relate to a kind of automatic medicine sprayer and spray method.
Background technology
Along with the growing and scientific and technical continuous progress of agricultural mechanization, people are also more and more higher to the specification requirement of farm implements.In agricultural production, to crops, spray agricultural chemicals and prevent that insect from being one of important step, for spraying the spraying machine of medicine, become the requisite utensil of agricultural production.
Domesticly generally adopt at present manually-operated spraying machine, its spray drug effect rate is low, and labour intensity is large, and only applicable small size agricultural land prevents, and often meeting and the Pesticide Exposure such as operator's mouth and nose skin, easily causes operating personnel's pesticide poisoning event.
Summary of the invention
(1) technical problem that will solve
The technical problem to be solved in the present invention be how to solve that spraying machine sprays that drug effect rate is low in process of production, labour intensity is large, to problems such as human body easily work the mischief, a kind of automatic medicine sprayer and spray method are provided.
(2) technical scheme
In order to solve the problems of the technologies described above, the invention provides a kind of automatic medicine sprayer, comprising: chassis; Be fixed on medicine-chest, seal closure, power supply, key control unit, pressure unit and wheel mechanism on chassis, described power supply is key control unit power supply, described wheel mechanism is controlled by key control unit, it is for realizing spraying machine walking, described pressure unit is used for generating high pressure spray medicine, and its feeding opening is connected with the drug discharging tube of medicine-chest, and its medicine outlet is connected with high-voltage tube, the end of described high-voltage tube is provided with shower nozzle, and described power supply and key control unit are placed in described seal closure; Be arranged on the magnetic valve on shower nozzle, by described key control unit, control its folding; Terminal control unit, for sending control signal to described key control unit.
Wherein, described terminal control unit comprises: walking power switch, for the control signal of sending spraying machine walking to described key control unit or stopping; Spray medicine switch, for sending spray medicine signal to described key control unit; From walking modes switch, for send the automatic walk signal of spraying machine to described key control unit; Direction control switch, for sending out spraying machine rotation direction signal to described key control unit; Display module, for duty and the relevant parameter information that shows that described key control unit is performed.
Wherein, described wheel mechanism has at least two groups walkings unit, and every group of walking unit comprises: be fixed on motor on chassis and the reductor being connected with motor, with the fixing supporting baffle of tray bottom and be arranged on the wheel in supporting baffle; Described supporting baffle has at least two rotation shaft of wheel, described every rotation shaft of wheel is provided with wheel, between described wheel, all adopt link chain mechanism to be connected between wheel and reductor, described motor is controlled by key control unit, and described motor and speed reducer is positioned at described seal closure.
Wherein, the front end on described chassis, rear end and side are installed with respectively the ultrasonic sensor that advances, retreat ultrasonic sensor, skew ultrasonic sensor, described in advance ultrasonic sensor, retreat ultrasonic sensor, skew ultrasonic sensor is connected with described key control unit by signal cable.
Wherein, also comprise, be fixed on the fan at described pressure unit top, for blowing when described shower nozzle sprays medicine.
Wherein, the bottom of described fan is provided with waves luffing mechanism, described in wave luffing mechanism and controlled by key control unit.
Wherein, also comprise that the shower nozzle that is fixedly installed on chassis is to target drone structure.
Wherein, described shower nozzle comprises target drone structure: supported rod erecting, the elevating screw being fixedly connected with supported rod erecting and the ultrasonic sensor that is separately fixed at supported rod erecting upper and lower end; Described shower nozzle is arranged on elevating screw, and described ultrasonic sensor is connected with described key control unit by signal cable, and described key control unit provides power to drive shower nozzle to move up and down to elevating screw.
Wherein, adopt radio to carry out signal transmission between described terminal control unit and key control unit, described terminal control unit is provided with wireless transmission antenna; Described seal box is provided with wireless receiving antenna, is connected, for receiving the transmitted signal of wireless transmission antenna and being transferred to key control unit by cable with described key control unit.
A spray method, comprising:
Step 1, medicine-chest is filled it up with to liquid, liquid is drawn into pressure unit, is filtered unnecessary insoluble impurities, forms high pressure liquid and offer shower nozzle under the driving of motor;
Step 2, power-on walking switch, spraying machine switches on power, and regulates direction control switch to control spraying machine and arrives the position of formulating;
Medicine switch is sprayed in step 3, unlatching, starts to detect the position of crop, regulates the spray angle of shower nozzle, opens magnetic valve and starts to spray medicine, realizes target is sprayed, and opens fan simultaneously shower nozzle is blown;
Step 4, unlatching are from walking modes switch, automatic walking that spraying machine is unattended, automatically detect the position of crop and send detection signal to key control unit, key control unit sends corresponding control signal, and control spraying machine moves and automatically complete spray medicine process to the growth position of target crop;
Step 5, when liquid runs low, key control unit is controlled spraying machine and is stopped spraying medicine and air-supply, and controls spraying machine and return to initial point position, restarts to spray medicine until spray medicine completes after adding liquid.
(3) beneficial effect
The automatic medicine sprayer that technique scheme provides and spray method, adopt terminal control unit, key control unit and wheel mechanism to realize spraying machine remote-controlled walking, walking and automatically spray medicine automatically, spraying machine operating efficiency is high, simple to operate, liquid does not directly contact and can avoid the harm of liquid to operating personnel with human body; Further, adopt and wave pitching wind spraying aid type spray prescription formula, strengthened the spray medicine amplitude of shower nozzle; Moreover, adopt shower nozzle to target drone structure, realize the discontinuous operation to target injection and shower nozzle.
Accompanying drawing explanation
Fig. 1 is the structural representation of spraying machine of the present invention;
Fig. 2 is the structural representation of terminal control unit of the present invention.
Wherein, 1, chassis; 2, medicine-chest; 3, pressure unit; 4, seal closure; 5, key control unit; 6, power supply; 7, supported rod erecting; 8, shower nozzle; 9, shower nozzle magnetic valve; 10, terminal control unit; 11, charge port; 12, walking power switch; 13, spray medicine switch; 14, from walking modes switch; 15, direction control switch; 16, display module; 17, elevating screw; 18, slide block; 19, ultrasonic sensor; 20, ultrasonic sensor; 21, fan; 22, wave luffing mechanism; 23, wireless transmission antenna; 24, wireless receiving antenna; 25, alarm lamp; 101, motor; 102, reductor; 103, supporting baffle; 104, rotation shaft of wheel; 105, the first wheel; 106, the second wheel; 107, the 3rd wheel; 108, duplex chain wheel; 109, sprocket wheel; 110, the first chain; 111, the second chain.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
With reference to Fig. 1,2, a kind of automatic medicine sprayer, comprising: chassis 1; Be fixed on the One On The Chassis medicine-chest 2, pressure unit 3, seal closure 4, key control unit 5, power supply 6 and wheel mechanism; Pressure unit 3 is connected with shower nozzle 8; Be arranged on the magnetic valve 9 on shower nozzle 8, by described key control unit 5, control its folding; Terminal control unit 10, for sending control signal to described key control unit 5.Described wheel mechanism is controlled by key control unit, for realizing spraying machine walking.Described power supply 6 and key control unit 5 are placed in described seal closure 4, and described seal closure 4, for water proof type designs, can effectively prevent that water smoke from entering in seal closure 4, avoids covering interior circuit and is short-circuited.
For guaranteeing that spraying machine works long hours, described power supply 6 adopts jumbo accumulator, and its output is connected with the power input of key control unit 5 by cable, is that key control unit 5 is powered, and its charge port 11 is 1 bottom on chassis, to facilitate charging; For preventing charge port 11 water inlets, be also provided with the bucker matching with charge port 11, under the state not charging, be used for sealing charge port 11.Pressure unit 3 for spraying machine comprises motor, water pump, filter, feeding opening, medicine outlet and associated pipe, motor shaft is connected with pump shaft, feeding opening is connected with the drug discharging tube of medicine-chest 2, its medicine outlet is connected with high-voltage tube, the end of the high-voltage tube of described medicine outlet is connected with shower nozzle 8, liquid is filtered unnecessary insoluble impurities by water pump suction, generates high pressure liquid for shower nozzle 8 under the interaction of motor and water pump.
Described terminal control unit 10 comprises: walking power switch 12, for the control signal of sending spraying machine walking to described key control unit 5 or stopping; Spray medicine switch 13, for sending spray medicine signal to described key control unit 5; From walking modes switch 14, for sending the automatic walk signal of spraying machine to described key control unit 5; Direction control switch 15, for sending spraying machine rotation direction signal to described key control unit 5, described direction control switch 15 has the button of orthogonal four direction, can send to key control unit 5 control signal of four direction; Display module 16, for duty and the relevant parameter information that shows that described key control unit 5 is performed.
Described wheel mechanism has at least two group walking unit, be preferably two groups, every group of walking unit comprises: be fixed on the One On The Chassis motor 101, the reductor 102 being connected with motor 101, with the fixing supporting baffle 103 in 1 bottom, chassis be arranged on the wheel in supporting baffle 103.Described supporting baffle 103 has at least two rotation shaft of wheel 104, and described every rotation shaft of wheel 104 is provided with wheel.Be preferably: the first wheel 105, the second wheel 106 and the 3rd wheel 107 that are provided with three rotation shaft of wheel 104 and match with it.Described the first wheel 105, the second wheel 106 and the 3rd wheel 107 are inflated wheel, three has the duplex chain wheel 108 of the identical number of teeth, adopt the first chain 110 and link chain mechanism that described three duplex chain wheels 108 are connected with each other, this kind of syndeton has good climbing and obstacle climbing ability.Described the first wheel 105 is also provided with sprocket wheel 109, is connected by the second chain 111 with described reductor 102, and wherein, described motor 101 is controlled by key control unit 5, and described motor 101 and reductor 102 are positioned at described seal closure 4.
At the front end on described chassis 1, rear end and side, be installed with respectively the ultrasonic sensor that advances, retreat ultrasonic sensor, skew ultrasonic sensor and coherent signal cable, described in advance ultrasonic sensor, retreat ultrasonic sensor, skew ultrasonic sensor is connected with described key control unit 5 by signal cable.Unlatching is when walking modes switch 14, advance ultrasonic sensor, retreat ultrasonic sensor, skew ultrasonic sensor by cable, send the signal of collection to key control unit 5, key control unit 5 is differentiated algorithm after computing by inner attitude, the motor 101 of adjusting described two groups of walking unit starts to rotate with different speed, key control unit 5 is adjusted the left and right directions of spraying machine by the speed difference of two motors 101, with two motors 101, rotate and reverse to control moving forward and backward of spraying machine.
In order to realize spraying machine shower nozzle, target is sprayed, the present embodiment also comprises that the shower nozzle being fixedly installed on chassis is to target drone structure, described shower nozzle comprises supported rod erecting 7 to target drone structure, the elevating screw 17 being fixedly connected with supported rod erecting 7, and the ultrasonic sensor 19,20 that is separately fixed at supported rod erecting 7 upper and lower ends.Described supported rod erecting 7 is fixed on chassis 1, and elevating screw 17 has slide block 18, and described shower nozzle 8 is fixed on slide block 18, and described ultrasonic sensor 19,20 is connected with described key control unit 5 by signal cable respectively.Described key control unit 5 provides power to drive slide block 18 to move up and down to elevating screw 17, and drives shower nozzle 8 to move up and down simultaneously.When ultrasonic sensor 19, when there is plant growth 20 positions that shower nozzle 8 detected, to key control unit 5 transmitted signals, key control unit 5 receives after signal, controlling the magnetic valve 6 of shower nozzle 8 opens, realization is sprayed target, its key is the upper of described supported rod erecting 7, the ultrasonic sensor 19 that install respectively lower end, 20, crop can accurately be detected with respect to the position of shower nozzle 8, the signal detecting is sent to key control unit 5, key control unit 5 carries out logic judgement and sets the concrete angle of departure of shower nozzle 8 by core algorithm, and realized the discontinuous operation of spraying machine shower nozzle 8, guarantee that shower nozzle 8 does not spray medicine when there is no target crop, saved agricultural chemicals, improved agricultural chemicals availability.
Further, in order to strengthen shower nozzle 8 spray medicine amplitudes, the present embodiment is also provided with, and is fixed on the fan 21 at described pressure unit 3 tops, for blowing when described shower nozzle 8 sprays medicine; The bottom of described fan 21 is provided with waves luffing mechanism 22, described in wave luffing mechanism 22 and controlled by key control unit 5.Open spray medicine switch 13, in the time of shower nozzle 8 spray medicine, fan 21 putting in blasts, and wave and pitching according to default angle.
Described in the present embodiment, between terminal control unit 10 and key control unit 5, adopt radio to carry out signal transmission, described terminal control unit 10 is provided with wireless transmission antenna 23, described seal box 4 is provided with wireless receiving antenna 24, it is connected with described key control unit 5 by signal cable, for receiving the transmitted signal of wireless transmission antenna 23, is transferred to described key control unit 5.
At spraying machine, carry out under operatorless automatic mode, in order to point out the situation of personnel's operation around, described seal closure 4 tops are provided with alarm lamp 25, described alarm lamp 25 sounds the alarm in spraying machine work, and the warning light that glimmering, at the spraying machine alarm sound that quits work, stop warning lights simultaneously.
The bottom of described medicine-chest 2 is provided with liquid level detecting sensor, and described liquid level sensor is connected with key control unit 5 by signal cable.At liquid during lower than described liquid level detecting sensor, this liquid level detecting sensor sends liquid shortage signals to key control unit 5, key control unit 5 is controlled spraying machine and is stopped the work of shower nozzle 8 and fan 21, and controls spraying machine correcting action, re-starts spray pharmaceutical worker and do after interpolation liquid.When retreating ultrasonic sensor and initial point position detected, send a signal to key control unit 5, key control unit 5 receives after signal, send cue to terminal control unit 10, relevant information is presented on display module 16, stop alarm lamp 25 work simultaneously, spraying machine quits work and cuts off the electricity supply 6.
A spray method, comprising:
Step 1, medicine-chest is filled it up with to liquid, liquid is drawn into pressure unit, is filtered unnecessary insoluble impurities, forms high pressure liquid and offer shower nozzle under the driving of motor;
Step 2, power-on walking switch, spraying machine switches on power, and regulates direction control switch to control spraying machine and arrives the position of formulating;
Medicine switch is sprayed in step 3, unlatching, starts to detect the position of crop, regulates the spray angle of shower nozzle, opens magnetic valve and starts to spray medicine, realizes target is sprayed, and opens fan simultaneously shower nozzle is blown;
Step 4, unlatching are from walking modes switch, automatic walking that spraying machine is unattended, automatically detect the position of crop and send detection signal to key control unit, key control unit sends corresponding control signal, and control spraying machine moves and automatically complete spray medicine process to the growth position of target crop;
Step 5, when liquid runs low, key control unit is controlled spraying machine and is stopped spraying medicine and air-supply, and controls spraying machine and return to initial point position, restarts to spray medicine until spray medicine completes after adding liquid.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvement and replacement, these improvement and replacement also should be considered as protection scope of the present invention.
Claims (9)
1. an automatic medicine sprayer, is characterized in that, comprising:
Chassis;
Be fixed on medicine-chest, seal closure, power supply, key control unit, pressure unit and wheel mechanism on chassis, described power supply is key control unit power supply, described wheel mechanism is controlled by key control unit, be used for realizing spraying machine walking, described pressure unit is used for generating high pressure spray medicine, and its feeding opening is connected with the drug discharging tube of medicine-chest, and its medicine outlet is connected with high-voltage tube, the end of described high-voltage tube is provided with shower nozzle, and described power supply and key control unit are placed in described seal closure; Described wheel mechanism has at least two group walking unit, every group of walking unit comprises: be fixed on motor on chassis and the reductor being connected with motor, with the fixing supporting baffle of tray bottom and be arranged on the wheel in supporting baffle, described motor is controlled by key control unit, and described key control unit is adjusted the left and right directions of spraying machine by the walk speed difference of motor of unit of difference;
Be arranged on the magnetic valve on shower nozzle, by described key control unit, control its folding;
Terminal control unit, for sending control signal to described key control unit;
The front end on described chassis, rear end and side are installed with respectively the ultrasonic sensor that advances, retreat ultrasonic sensor, skew ultrasonic sensor, described in advance ultrasonic sensor, retreat ultrasonic sensor, skew ultrasonic sensor is connected with described key control unit by signal cable.
2. automatic medicine sprayer according to claim 1, is characterized in that, described terminal control unit comprises:
Walking power switch, for the control signal of sending spraying machine walking to described key control unit or stopping;
Spray medicine switch, for sending spray medicine signal to described key control unit;
From walking modes switch, for send the automatic walk signal of spraying machine to described key control unit;
Direction control switch, for sending out spraying machine rotation direction signal to described key control unit;
Display module, for duty and the relevant parameter information that shows that described key control unit is performed.
3. automatic medicine sprayer according to claim 1, is characterized in that,
Described supporting baffle has at least two rotation shaft of wheel, and described every rotation shaft of wheel is provided with wheel, and between described wheel, all adopt link chain mechanism to be connected between wheel and reductor, described motor and speed reducer is positioned at described seal closure.
4. according to the automatic medicine sprayer described in claim 1-3 any one, it is characterized in that, also comprise, be fixed on the fan at described pressure unit top, for blowing when described shower nozzle sprays medicine.
5. automatic medicine sprayer according to claim 4, is characterized in that, the bottom of described fan is provided with waves luffing mechanism, described in wave luffing mechanism and controlled by key control unit.
6. according to the automatic medicine sprayer described in claim 1-3 any one, it is characterized in that, also comprise that the shower nozzle being fixedly installed on chassis is to target drone structure.
7. automatic medicine sprayer according to claim 6, is characterized in that, described shower nozzle comprises target drone structure: supported rod erecting, the elevating screw being fixedly connected with supported rod erecting and the ultrasonic sensor that is separately fixed at supported rod erecting upper and lower end; Described shower nozzle is arranged on elevating screw, and described ultrasonic sensor is connected with described key control unit by signal cable, and described key control unit provides power to drive shower nozzle to move up and down to elevating screw.
8. according to the automatic medicine sprayer described in claim 1-3 any one, it is characterized in that, between described terminal control unit and key control unit, adopt radio to carry out signal transmission, described terminal control unit is provided with wireless transmission antenna; Described seal box is provided with wireless receiving antenna, is connected, for receiving the transmitted signal of wireless transmission antenna and being transferred to key control unit by cable with described key control unit.
9. a spray method, is characterized in that, comprising:
Step 1, medicine-chest is filled it up with to liquid, liquid is drawn into pressure unit, is filtered unnecessary insoluble impurities, forms high pressure liquid and offer shower nozzle under the driving of motor;
Step 2, power-on walking switch, spraying machine switches on power, unlatching is from walking modes, regulate direction control switch to control spraying machine and arrive the position of formulating, be arranged on respectively front end, rear end and a side on chassis the ultrasonic sensor that advances, retreat ultrasonic sensor, skew ultrasonic sensor by cable, send the signal of collection to key control unit, key control unit is differentiated algorithm after computing by inner attitude, and the speed difference of the motor by walking unit different in running gear is adjusted the left and right directions of spraying machine;
Medicine switch is sprayed in step 3, unlatching, starts to detect the position of crop, regulates the spray angle of shower nozzle, opens magnetic valve and starts to spray medicine, realizes target is sprayed, and opens fan simultaneously shower nozzle is blown;
Step 4, unlatching are from walking modes switch, automatic walking that spraying machine is unattended, automatically detect the position of crop and send detection signal to key control unit, key control unit sends corresponding control signal, and control spraying machine moves and automatically complete spray medicine process to the growth position of target crop;
Step 5, when liquid runs low, key control unit is controlled spraying machine and is stopped spraying medicine and air-supply, and controls spraying machine and return to initial point position, restarts to spray medicine until spray medicine completes after adding liquid.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110359889.9A CN102487921B (en) | 2011-11-14 | 2011-11-14 | Automatic pesticide spraying machine and pesticide spraying method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110359889.9A CN102487921B (en) | 2011-11-14 | 2011-11-14 | Automatic pesticide spraying machine and pesticide spraying method |
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| CN102487921A CN102487921A (en) | 2012-06-13 |
| CN102487921B true CN102487921B (en) | 2014-07-30 |
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| CN201110359889.9A Active CN102487921B (en) | 2011-11-14 | 2011-11-14 | Automatic pesticide spraying machine and pesticide spraying method |
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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102771460A (en) * | 2012-08-14 | 2012-11-14 | 天津出入境检验检疫局动植物与食品检测中心 | Crawler-type surface creeping disinsector |
| CN104249036A (en) * | 2013-06-25 | 2014-12-31 | 苏州工业园区协诚精密五金有限公司 | Atomizing device |
| CN104247703A (en) * | 2013-06-25 | 2014-12-31 | 苏州工业园区协诚精密五金有限公司 | Spraying equipment |
| CN103535336B (en) * | 2013-10-18 | 2015-04-15 | 江苏大学 | Small onboard automatic-swinging double-spraying type atomizing pesticide-applying medicine-delivery system and control method |
| CN106106412A (en) * | 2016-07-19 | 2016-11-16 | 柳州六品科技有限公司 | A kind of portable agricultural automatic medicine sprayer |
| CN106259270A (en) * | 2016-08-19 | 2017-01-04 | 滁州新源农业科技有限公司 | A kind of portable scale insecticide sprayer automatically |
| CN106359351A (en) * | 2016-09-22 | 2017-02-01 | 重庆采山坪茶叶种植股份合作社 | Tea-garden insecticide spraying machine |
| CN106472469A (en) * | 2016-10-21 | 2017-03-08 | 柳州凡科技有限公司 | A kind of pesticide spraying device with liquid level prompting function |
| CN106857466A (en) * | 2017-02-28 | 2017-06-20 | 哈尔滨理工大学 | Field fertilization spray drug operation track drive snake-shaped robot |
| CN108157340A (en) * | 2018-02-27 | 2018-06-15 | 西北农林科技大学 | A kind of teaching and contest spray robot |
| CN109329257A (en) * | 2018-12-06 | 2019-02-15 | 西北农林科技大学 | A kind of self-propelled hilly and mountainous land potato spraying machine |
| CN110140655A (en) * | 2019-05-10 | 2019-08-20 | 江苏大学 | A kind of greenhouse wind spraying aid type automatic target detection pollination trolley and its operational method |
| CN111149667A (en) * | 2020-03-02 | 2020-05-15 | 中国热带农业科学院热带作物品种资源研究所 | Automatic sprinkling irrigation equipment of tropical fruit tree |
| CN114916524B (en) * | 2022-06-27 | 2023-06-13 | 华南农业大学 | Lifting target follow-up pneumatic spraying vehicle and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN200994362Y (en) * | 2006-12-31 | 2007-12-26 | 国家林业局哈尔滨林业机械研究所 | Automatic intelligent medicine sprayer for target wood |
| JP2008182972A (en) * | 2007-01-31 | 2008-08-14 | Iseki & Co Ltd | Working vehicle equipped with control device |
| CN201291177Y (en) * | 2008-10-16 | 2009-08-19 | 北京农业信息技术研究中心 | Variable pesticides spraying vehicle |
| CN101518223B (en) * | 2009-04-03 | 2011-03-23 | 西北农林科技大学 | Self-propelled remote control spraying machine |
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Application publication date: 20120613 Assignee: Handan Shenghua Machinery Manufacturing Co.,Ltd. Assignor: Beijing Research Center for Information Technology in Agriculture Contract record no.: 2015990000818 Denomination of invention: Automatic pesticide spraying machine and pesticide spraying method Granted publication date: 20140730 License type: Common License Record date: 20150924 |
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