CN103766171B - A kind of for green house turn across automatic spraying arrangement - Google Patents
A kind of for green house turn across automatic spraying arrangement Download PDFInfo
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- CN103766171B CN103766171B CN201410017450.1A CN201410017450A CN103766171B CN 103766171 B CN103766171 B CN 103766171B CN 201410017450 A CN201410017450 A CN 201410017450A CN 103766171 B CN103766171 B CN 103766171B
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- 238000005507 spraying Methods 0.000 title claims abstract description 54
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 49
- 239000003814 drug Substances 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 239000007921 spray Substances 0.000 claims description 25
- 238000003032 molecular docking Methods 0.000 claims description 5
- 239000000575 pesticide Substances 0.000 claims description 5
- 230000001681 protective effect Effects 0.000 claims 2
- 230000002262 irrigation Effects 0.000 abstract description 16
- 238000003973 irrigation Methods 0.000 abstract description 16
- 238000010276 construction Methods 0.000 abstract description 4
- 239000000463 material Substances 0.000 abstract description 4
- 239000000725 suspension Substances 0.000 description 5
- 229940079593 drug Drugs 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/25—Greenhouse technology, e.g. cooling systems therefor
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Abstract
本发明公开一种用于温室大棚的可转跨的自动喷灌装置，包括喷药小车和集药转跨小车，喷药小车位于所述集药转跨小车顶部；集药转跨小车包括集药车体，所述集药车体顶部设有升降系统机构，所述升降系统机构顶部固定有轨道支撑架，所述轨道支撑架上设有水管轨道和转跨轨道，所述转跨轨道包括第一轨道和第二轨道，所述第一轨道与第二轨道平行，所述第一轨道与所述水管轨道光滑连接；所述喷药小车包括喷药车体，所述喷药车体顶部设有至少四个滑块，所述滑块分为两组对称设置且可滑动的放置在所述转跨轨道上。本发明能够利用一套设备实现对多个大棚的无死角喷灌功能，减少了人力和物力成本，降低了施工难度，提高了设备的利用率和工作效率。
The invention discloses a turnable automatic sprinkler irrigation device for greenhouses, which comprises a medicine spraying trolley and a medicine collecting and turning trolley, the medicine spraying trolley is located on the top of the medicine collecting and turning trolley; The car body, the top of the drug-collecting car body is provided with a lifting system mechanism, the top of the lifting system mechanism is fixed with a track support frame, and the track support frame is provided with a water pipe track and a turn-span track. A track and a second track, the first track is parallel to the second track, the first track is smoothly connected to the water pipe track; the spraying trolley includes a spraying car body, and the top of the spraying car body is provided There are at least four sliders, and the sliders are divided into two groups, arranged symmetrically and slidably placed on the turn-span track. The invention can utilize a set of equipment to realize the function of sprinkling and irrigating a plurality of greenhouses without dead ends, reduces the cost of manpower and material resources, reduces the difficulty of construction, and improves the utilization rate and work efficiency of the equipment.
Description
技术领域 technical field
本发明涉及一种用于温室大棚的可转跨的自动喷灌装置。 The invention relates to a switchable automatic sprinkler irrigation device for greenhouses.
背景技术 Background technique
现阶段，特别是十二五以来，农村耕地问题和粮食问题逐步受到国家重视，为了增加粮食产量和提高生产效率，国家大力扶持农业自动化设备，农业设备自动化水平有了大幅的提升。然而，一般的农业自动化设备主要是针对露天耕地，针对温室大棚耕地的农业自动化设备较少，很多农林公司的温室大棚在喷灌，特别是喷药方面的装备设施比较陈旧、落后，自动化程度比较低，效率低下，人力成本较高，而且工作环境比较恶劣。 At this stage, especially since the 12th Five-Year Plan, the country has gradually paid attention to rural farmland issues and food issues. In order to increase food production and improve production efficiency, the country has vigorously supported agricultural automation equipment, and the automation level of agricultural equipment has been greatly improved. However, the general agricultural automation equipment is mainly for open-air cultivated land, and there are few agricultural automation equipment for greenhouse cultivated land. Many agricultural and forestry companies' greenhouses are used for sprinkler irrigation, especially the equipment and facilities for spraying pesticides. The equipment and facilities are relatively old and backward, and the degree of automation is relatively low , inefficiency, high labor costs, and relatively poor working environment.
温室大棚（特别是钢结构的温室大棚）一般都是有数跨，为了达到大棚应有的结构强度，跨与跨之间都有立柱用来支撑大棚的梁，然而立柱却形成了自动化设备运行的障碍。有些喷灌设备虽然具备自动行走的功能，但是不能实现跨与跨之间的转换，仅仅实现了对单跨的喷灌功能。 Greenhouses (especially steel-structured greenhouses) generally have several spans. In order to achieve the structural strength of the greenhouse, there are columns between the spans to support the beams of the greenhouse. However, the columns form a framework for the operation of automation equipment. obstacle. Although some sprinkler irrigation equipment has the function of automatic walking, it cannot realize the conversion between spans and only realizes the sprinkler irrigation function for a single span.
为了解决这一问题，一般通过架设轨道的方式来解决转跨的问题，但是这样一套喷灌装置只能在一个大棚的轨道上使用，而农林公司往往都有多个大棚，这样就需要多套装置。此外，在每个棚里安装转跨轨道不但施工难度相对来说比较大而且会造成大量的人力和财力的耗费，因此造成了现有的针对温室大棚喷灌的自动化设备成本高，自动化程度较低。 In order to solve this problem, the problem of spanning is usually solved by erecting rails, but such a sprinkler irrigation device can only be used on the rails of one greenhouse, and agricultural and forestry companies often have multiple greenhouses, so multiple sets are needed device. In addition, installing the turn-span track in each shed is not only relatively difficult to construct, but also causes a lot of manpower and financial resources. Therefore, the existing automation equipment for greenhouse sprinkler irrigation has a high cost and a low degree of automation. .
发明内容 Contents of the invention
本发明主要解决的技术问题是提供一种用于温室大棚的可转跨的自动喷灌装置，能够利用一套设备实现对多个大棚的无死角喷灌功能，减少了人力和物力成本，降低了施工难度，提高了设备的利用率和工作效率。 The technical problem mainly solved by the present invention is to provide a switchable automatic sprinkler irrigation device for greenhouses, which can use a set of equipment to realize the function of sprinkler irrigation for multiple greenhouses without dead ends, reducing manpower and material costs, and reducing construction costs. Difficulty, improve equipment utilization and work efficiency.
为解决上述技术问题，本发明采用的一个技术方案是：提供一种用于温室大棚的可转跨的自动喷灌装置，包括喷药小车和集药转跨小车，所述喷药小车位于所述集药转跨小车顶部；所述集药转跨小车包括集药车体，所述集药车体顶部设有升降系统机构，所述升降系统机构顶部固定有轨道支撑架，所述轨道支撑架上设有水管轨道和转跨轨道，所述转跨轨道包括第一轨道和第二轨道，所述第一轨道与第二轨道平行，所述第一轨道与所述水管轨道光滑连接；所述喷药小车包括喷药车体，所述喷药车体顶部设有至少四个滑块，所述滑块分为两组对称设置且可滑动的放置在所述转跨轨道上。 In order to solve the above-mentioned technical problems, a technical solution adopted by the present invention is to provide a swivel automatic sprinkler irrigation device for greenhouses, including a spraying trolley and a medicine-collecting swivel trolley, the spraying trolley is located at the The top of the medicine-collecting and spanning trolley; the medicine-collecting and spanning trolley includes a medicine-collecting car body, and the top of the medicine-collecting car body is provided with a lifting system mechanism, and a track support frame is fixed on the top of the lifting system mechanism, and the track support frame A water pipe track and a turn-span track are arranged on it, the turn-span track includes a first track and a second track, the first track is parallel to the second track, and the first track is smoothly connected with the water pipe track; The spraying trolley includes a spraying car body, and at least four slide blocks are arranged on the top of the spraying car body, and the slide blocks are divided into two groups, arranged symmetrically and slidably placed on the turn-span rail.
在本发明一个较佳实施例中，所述转跨轨道在远离所述水管轨道的一端设有对接销。 In a preferred embodiment of the present invention, the transition track is provided with a butt pin at the end away from the water pipe track.
在本发明一个较佳实施例中，所述升降系统机构包括升降调节手轮。 In a preferred embodiment of the present invention, the lifting system mechanism includes a lifting adjustment handwheel.
在本发明一个较佳实施例中，所述集药车体上进一步设有移动扶手。 In a preferred embodiment of the present invention, the medicine collecting vehicle body is further provided with a moving handrail.
在本发明一个较佳实施例中，所述集药车体底部设有车轮，内部设有集药箱和泵电气控制箱，所述集药箱内设有水泵，所述泵电气控制箱与所述水泵连接以控制所述水泵工作。 In a preferred embodiment of the present invention, wheels are provided at the bottom of the drug-collecting car body, and a drug-collecting box and a pump electrical control box are arranged inside, and a water pump is arranged in the drug-collecting box. The water pump is connected to control the operation of the water pump.
在本发明一个较佳实施例中，所述集药转跨小车进一步包括水管，所述水管的第一端与所述水泵连接。 In a preferred embodiment of the present invention, the medicine-collecting transfer trolley further includes a water pipe, and the first end of the water pipe is connected to the water pump.
在本发明一个较佳实施例中，所述水管轨道上设有水管悬挂移动机构，所述水管固定在所述水管悬挂移动机构上。 In a preferred embodiment of the present invention, the water pipe track is provided with a water pipe suspension moving mechanism, and the water pipe is fixed on the water pipe suspension movement mechanism.
在本发明一个较佳实施例中，所述喷药车体上固定有可折叠式喷杆，所述喷杆上设有若干个喷头。 In a preferred embodiment of the present invention, a foldable spray boom is fixed on the spraying vehicle body, and several spray heads are arranged on the spray boom.
在本发明一个较佳实施例中，所述喷头与所述水管的第二端连接。 In a preferred embodiment of the present invention, the spray head is connected to the second end of the water pipe.
在本发明一个较佳实施例中，所述喷药小车进一步包括控制装置、驱动装置和保护装置，所述驱动装置和保护装置分别与所述控制装置连接，所述驱动装置包括电机。 In a preferred embodiment of the present invention, the spraying trolley further includes a control device, a driving device and a protection device, the driving device and the protection device are respectively connected to the control device, and the driving device includes a motor.
本发明的有益效果是：本发明能够利用一套设备实现对多个大棚的无死角喷灌功能，减少了人力和物力成本，降低了施工难度，提高了设备的利用率和工作效率。 The beneficial effects of the present invention are: the present invention can use a set of equipment to realize the function of sprinkling and irrigating multiple greenhouses without dead ends, reducing the cost of manpower and material resources, reducing the difficulty of construction, and improving the utilization rate and work efficiency of the equipment.
附图说明 Description of drawings
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图，其中： In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work, wherein:
图1是本发明自动喷灌装置的主视图； Fig. 1 is the front view of automatic sprinkler irrigation device of the present invention;
图2是本发明自动喷灌装置的左视图； Fig. 2 is the left view of automatic sprinkler irrigation device of the present invention;
图3是本发明自动喷灌装置的俯视图。 Fig. 3 is a top view of the automatic sprinkler irrigation device of the present invention.
附图中各部件的标记如下：1、集药车体；2、升降系统机构；3、轨道支撑架；4、水管轨道；5、转跨轨道；6、喷药车体；7、滑块；8、对接销；9、升降调节手轮；10、移动扶手；11、车轮；12、集药箱；13、泵电气控制箱；14、水泵；15、水管悬挂移动机构；16、喷杆。 The marks of the components in the attached drawings are as follows: 1. Drug collecting vehicle body; 2. Lifting system mechanism; 3. Track support frame; 4. Water pipe track; 5. Transition track; 6. Chemical spraying vehicle body; ; 8. Docking pin; 9. Lifting and adjusting hand wheel; 10. Mobile armrest; 11. Wheel; 12. Drug collection box; 13. Pump electrical control box; 14. Water pump; 15. Water pipe suspension moving mechanism; 16. Spray bar .
具体实施方式 Detailed ways
下面将对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。 The following will clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
请参阅图1至图3，本发明实施例包括： Please refer to Fig. 1 to Fig. 3, the embodiment of the present invention comprises:
一种用于温室大棚的可转跨的自动喷灌装置，包括喷药小车和集药转跨小车，所述喷药小车位于所述集药转跨小车顶部；所述集药转跨小车包括集药车体1，所述集药车体1顶部设有升降系统机构2，所述升降系统机构2顶部固定有轨道支撑架3，所述轨道支撑架3上设有水管轨道4和转跨轨道5，所述转跨轨道5包括第一轨道和第二轨道，所述第一轨道与第二轨道平行，所述第一轨道与所述水管轨道4光滑连接，所述转跨轨道5在远离所述水管轨道4的一端设有对接销8。 A switchable automatic sprinkler irrigation device for greenhouses, comprising a spraying trolley and a medicine-collecting trolley, the medicine spraying trolley is located on the top of the medicine-collecting trolley; the medicine-collecting trolley includes a collection Medicine car body 1, the top of the drug collecting car body 1 is provided with a lifting system mechanism 2, and the top of the lifting system mechanism 2 is fixed with a track support frame 3, and the track support frame 3 is provided with a water pipe track 4 and a turn-over track 5. The transfer track 5 includes a first track and a second track, the first track is parallel to the second track, the first track is smoothly connected to the water pipe track 4, and the transfer track 5 is away from One end of the water pipe track 4 is provided with a docking pin 8 .
所述喷药小车包括喷药车体6，所述喷药车体6顶部设有至少四个滑块7，所述滑块7分为两组对称设置且可滑动的放置在所述转跨轨道5上。 The spraying trolley includes a spraying car body 6, and at least four sliders 7 are arranged on the top of the spraying car body 6, and the sliders 7 are divided into two groups and arranged symmetrically and slidably placed on the swivel span. on track 5.
在本发明中，所述升降系统机构2包括升降调节手轮9，通过所述升降调节手轮9能够调节所述升降系统机构2的高度，从而调整所述喷药小车的高度。所述集药车体1上进一步设有移动扶手10，便于手动移动集药转跨小车的位置。 In the present invention, the lifting system mechanism 2 includes a lifting adjustment handwheel 9, through which the height of the lifting system mechanism 2 can be adjusted, thereby adjusting the height of the spraying trolley. The drug-collecting car body 1 is further provided with a moving handrail 10, which is convenient for manually moving the position of the drug-collecting trolley.
所述集药车体1底部设有车轮11，内部设有集药箱12和泵电气控制箱13，所述集药箱12内设有水泵14，所述泵电气控制箱13与所述水泵14连接以控制所述水泵14工作。 The bottom of the drug-collecting car body 1 is provided with wheels 11, and the inside is provided with a drug-collecting box 12 and a pump electrical control box 13. The drug-collecting box 12 is provided with a water pump 14. 14 is connected to control the work of the water pump 14.
所述集药转跨小车进一步包括水管，所述水管的第一端与所述水泵14连接。所述水管轨道4上设有水管悬挂移动机构15，所述水管固定在所述水管悬挂移动机构15上。所述喷药车体6上固定有可折叠式喷杆16，所述喷杆16上设有若干个喷头，所述喷头与所述水管的第二端连接。在具体应用时，所述喷杆16的长度根据一个跨的宽度设计，所述喷头的数量和大小根据作物的密度和所需的浇灌量设计，所述喷头的喷洒方向可设计为单方向喷洒和多方向喷洒。 The medicine-collecting transfer trolley further includes a water pipe, and the first end of the water pipe is connected to the water pump 14 . The water pipe track 4 is provided with a water pipe suspension moving mechanism 15 , and the water pipe is fixed on the water pipe suspension movement mechanism 15 . A foldable spray bar 16 is fixed on the spraying vehicle body 6, and several spray heads are arranged on the spray bar 16, and the spray heads are connected with the second end of the water pipe. In specific applications, the length of the spray bar 16 is designed according to the width of a span, the number and size of the sprinklers are designed according to the density of the crops and the required irrigation amount, and the spraying direction of the sprinklers can be designed as a single direction spraying and multi-directional spraying.
所述喷药小车进一步包括控制装置、驱动装置和保护装置，所述驱动装置和保护装置分别与所述控制装置连接，所述驱动装置包括电机。 The spraying trolley further includes a control device, a drive device and a protection device, the drive device and the protection device are respectively connected to the control device, and the drive device includes a motor.
本发明的工作原理为：本发明与大棚轨道配合工作，本发明通过所述升降系统机构2调整所述喷药小车的高度，利用移动扶手10调整所述集药转跨小车的位置，使所述转跨轨道5通过所述对接销8与大棚轨道对接，所述电机驱动所述喷药小车运动，使所述滑块7运动至大棚轨道，然后喷药小车与集药转跨小车分离，所述喷药小车沿着大棚轨道运动，同时所述泵电气控制箱13控制所述水泵14工作，使集药箱12中的药液经过水泵14、水管进入喷头，喷头喷洒药液。 The working principle of the present invention is: the present invention cooperates with the track of the greenhouse, the present invention adjusts the height of the spraying trolley through the lifting system mechanism 2, and uses the moving handrail 10 to adjust the position of the medicine-collecting and spanning trolley, so that the The swivel track 5 is docked with the greenhouse track through the docking pin 8, and the motor drives the spraying trolley to move the slider 7 to the greenhouse track, and then the spraying trolley is separated from the medicine-collecting swivel trolley. The spraying trolley moves along the track of the greenhouse, and at the same time, the pump electric control box 13 controls the operation of the water pump 14, so that the medicinal solution in the medicinal collection box 12 enters the nozzle through the water pump 14 and the water pipe, and the nozzle sprays the medicinal solution.
当实施完一个跨的喷灌任务后，所述集药转跨小车调整所述升降系统机构2的高度，使滑块7进入所述转跨轨道5，集药转跨小车重复上述过程实现对下个跨或者下个大棚的喷灌任务。在需要跨大棚喷灌时，所述喷杆16可以折叠起来，以便于转移。 After the sprinkler irrigation task of one span is implemented, the medicine-collecting and spanning trolley adjusts the height of the lifting system mechanism 2, so that the slider 7 enters the spanning track 5, and the medicine-collecting and spanning trolley repeats the above process to realize the next step. Sprinkling tasks for a span or a greenhouse. When it is necessary to sprinkle across the greenhouse, the spray bar 16 can be folded to facilitate transfer.
在本实施例中，所述控制装置能够控制所述喷药小车沿着大棚轨道重复往返运动，实现来回重复喷洒，便于有效控制喷洒量。所述自动喷灌装置进一步设置报警装置和至少两个距离传感器，所述报警装置和距离传感器分别与所述控制装置电性连接，所述距离传感器设置在所述喷药车体6上，其中一个距离传感器的信号发射方向与喷药小车运动方向相同，另一个距离传感器的信号发射方向与喷药小车运动方向相反。 In this embodiment, the control device can control the spraying trolley to repeatedly move back and forth along the track of the greenhouse to realize repeated spraying back and forth, which facilitates effective control of the spraying amount. The automatic sprinkling device is further provided with an alarm device and at least two distance sensors, the alarm device and the distance sensors are respectively electrically connected to the control device, and the distance sensors are arranged on the spraying vehicle body 6, one of which is The signal emission direction of the distance sensor is the same as the movement direction of the spraying car, and the signal emission direction of the other distance sensor is opposite to the movement direction of the spraying car.
所述自动喷灌装置进一步设置有重复喷洒启动机构，所述重复喷洒启动机构与所述控制装置电性连接，启动所述重复喷洒启动机构后，当所述喷药小车与大棚轨道终点之间的距离小于第一设定值时，所述距离传感器将距离信号传送至所述控制装置，所述控制装置能够控制所述喷药小车返回，防止喷药小车继续前进而脱离大棚轨道或者撞到大棚支架；当所述喷药小车与大棚轨道终点之间的距离小于第二设定值时，所述报警装置自动报警，所述第二设定值小于所述第一设定值。 The automatic sprinkling device is further provided with a repeated spraying starting mechanism, the repeated spraying starting mechanism is electrically connected with the control device, after starting the repeated spraying starting mechanism, when the spraying trolley and the track end point of the greenhouse When the distance is less than the first set value, the distance sensor transmits a distance signal to the control device, and the control device can control the spraying trolley to return to prevent the spraying trolley from continuing to move away from the track of the greenhouse or hitting the greenhouse bracket; when the distance between the spraying trolley and the end point of the greenhouse track is less than a second set value, the alarm device will automatically alarm, and the second set value is less than the first set value.
进一步，本发明采用电能而不是传统的汽油发动机提供动力，所述集药转跨小车包括电源或者通电装置，电缆与水管一起跟随所述喷药小车运动，为喷药小车提供电能，使用更加环保方便。 Further, the present invention uses electric energy instead of a traditional gasoline engine to provide power. The medicine-collecting and spanning trolley includes a power supply or an electrification device, and cables and water pipes follow the movement of the medicine-spraying trolley to provide electric energy for the medicine-spraying trolley, which is more environmentally friendly. convenient.
本发明能够利用一套设备实现对多个大棚的无死角喷灌功能，减少了人力和物力成本，降低了施工难度，提高了设备的利用率和工作效率。 The invention can use a set of equipment to realize the function of sprinkling and irrigating a plurality of greenhouses without dead ends, reduces the cost of manpower and material resources, reduces the difficulty of construction, and improves the utilization rate and work efficiency of the equipment.
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书内容所作的等效结构或等效流程变换，或直接或间接运用在其它相关的技术领域，均同理包括在本发明的专利保护范围内。 The above descriptions are only examples of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the description of the present invention, or directly or indirectly used in other related technical fields, shall be The same reasoning is included in the patent protection scope of the present invention.
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| CN104834311B (en) * | 2015-05-15 | 2017-04-19 | 济南大学 | Greenhouse intelligent medicine spraying robot and method based on suspension chain conveyer |
| CN106171651B (en) * | 2016-07-10 | 2019-06-04 | 上海大学 | Robot automatic transfer system for agricultural greenhouse |
| CN109496799A (en) * | 2018-12-29 | 2019-03-22 | 江苏西顿科技有限公司 | Intelligent patrol detection sprinkling irrigation things system |
| CN115843584A (en) * | 2023-03-02 | 2023-03-28 | 潍坊工程职业学院 | Sprinkling irrigation equipment based on Internet of things control and implementation method thereof |
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