CN105532617A - On-line real-time pesticide mixing and spraying system and control method thereof - Google Patents
On-line real-time pesticide mixing and spraying system and control method thereof Download PDFInfo
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- CN105532617A CN105532617A CN201610018323.2A CN201610018323A CN105532617A CN 105532617 A CN105532617 A CN 105532617A CN 201610018323 A CN201610018323 A CN 201610018323A CN 105532617 A CN105532617 A CN 105532617A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
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Abstract
The invention relates to an on-line real-time pesticide mixing and spraying system. The on-line real-time pesticide mixing and spraying system comprises a water tank (1) for storing water, a pesticide box (2) for storing pesticide, a pesticide mixing part (3) comprising a pesticide mixer and a pesticide mixing box for receiving mixed liquid flowing out from the pesticide mixer, a water level detecting part (4) for detecting the water level of the water tank (1) and the liquid level of the pesticide mixing box (3), a flow control part (5) for controlling the flow of the water entering the pesticide mixer and the flow of the pesticide entering the pesticide mixer and a spraying part (6) for spraying the mixed liquid of the pesticide mixing box. The invention further relates to a control method of the on-line real-time pesticide mixing and spraying system. By means of the on-line real-time pesticide mixing and spraying system and the control method, the requirements for water-pesticide on-line mixing and water-pesticide even spraying are met, waste of chemical agents is reduced, the pesticide mixing times are reduced, spraying efficiency is improved, and the on-line real-time pesticide mixing and spraying system and the control method belong to the field of intelligent agricultural machines.
Description
Technical field
The invention belongs to Intelligent agricultural machinery field, specifically, relate to a kind of online mixed medicine spraying system and control method thereof in real time.
Background technology
In traditional spraying mechanical, generally adopt premix prescription formula.This mode is comparatively large to operating personnel's harm, and exist more, the mixed medicine of residue of pesticide than unstable, disease pest and weed control efficiency is not good, mix medicine often and the problem such as process is complicated.In order to improve the safety of mixed medicine technology, environmental protection, accurately and confidence level, and obtain well stable disease pest and weed control efficiency, modern spraying mechanical starts to adopt online blending explosive system.The feature of online mixed medicine is that water and medicine are mixed according to certain concentration ratio in real time by online medicament-mixing device.Some online medicament-mixing device can regulate concentration ratio and spray amount in real time, correspondingly sprays according to disease pest and weed situation.
Consider that the adaptability that the control of sprayer to multiple kinds of crops and Different growth phases thereof requires, online medicament-mixing device ensure that the uniform and stable key of spray concentration is detection of dynamic and the stability contorting of liquid medicine mixing ratio and has the larger liquid medicine mixing ratio of scope.And the high precision test of agricultural chemicals formulation rate is the difficult point that online medicament-mixing device is applied in actual job process, mostly be flow detection at present, but low discharge detecting sensor price is too high, therefore low cost low discharge is detected as primary goal.The liquid medicine mixing ratio scope of general online medicament-mixing device is less, limits its extensive use, therefore needs the medicament-mixing device that can adapt to most mixed medicine ratio, to expand its scope of application; At present, medicament-mixing device is mostly jet medicine mixer, and its version mainly empirically designs, and general structure is fixed, and is difficult to the adjustment in a big way realizing mixed medicine ratio, and mixed medicine uniformity and control accuracy poor.
Application number is " a kind of variable-rate spraying device of automatic medicine-mixing " of 201320285621.X, can spray in process, separately storage of water and medicine need automatically to regulate according to spraying and inhale dose and change spray concentration, reach online mixed uniformly object, but due to the restriction of medicine mixer structure, mixed medicine ratio is difficult to reach in a big way.Application number be 200510041334.4 " a kind of method that humidifier medicine is separated with water " disclose a kind of online medicament-mixing device, by carrying out precise metering to reach the effect of accurately mixing medicine with graduated water tank and medicine-chest to water and medicine.Application number is " a kind of agricultural chemicals mixer with variable atomization " of 200820047346.7, and this device can realize the real-time adjustment that Multiple Pesticides mixes medicine and mixed medicine ratio individually or simultaneously.Application number is " a kind of automatic medicine-mixing device " of 201010132393.3, after jet medicine mixer, install helical structure additional, increases mixed medicine uniformity, but cannot realize the precise metering of water medicine and accurately control.Application number is " medicament-mixing device of a kind of paddy field pesticide applicator and the method " of 201510083577.8, can fetch water from paddy field in real time, and separate storage of water and medicament, re-use mechanical agitator by water and the mixing of medicament Quick uniform, reduce medicine-chest volume and weight, effectively improve liquid mixture homogeneity, structure is simple, convenient and practical.
Show from above-mentioned patent, online medicament-mixing device is limited to low cost low discharge and detects and regulate mixed medicine than control technology in a big way in real time, cannot complete the higher mixed medicine uniformity and the accurate control overflow of liquid medicine mixing ratio.
Summary of the invention
For the technical problem existed in prior art, the object of the invention is: provide a kind of online mixed medicine spraying system and control method thereof in real time, be applicable to Modern Agricultural Machine, and structure is simple, can ensure to spray the Homogeneous phase mixing that machinery completes water medicine in operation process, there is not the test problems of low discharge, and can realize in a big way, higher mixed medicine ratio.
In order to achieve the above object, the present invention adopts following technical scheme:
A kind of online mixed medicine spraying system in real time, comprise: 1. the water tank of water storage, 2. the medicine-chest of drug storage, 3. mixed medicine part, the mixed medicine-chest comprising medicine mixer and the mixed liquor that medicine mixer flows out is caught, 4. detect the water level detection part of water tank and mixed medicine-chest liquid level, 5. control the flow-rate control section entering the water of medicine mixer and the flow of medicine, what 6. sprayed by the mixed liquor of mixed medicine-chest sprays part.Water and medicine Homogeneous phase mixing in medicine mixer is mixed liquor.
Water level detection part comprises the pressure sensor detecting cistern water level, the liquid-level switch I detecting the mixed the highest liquid level of medicine-chest, detects the liquid-level switch II mixing medicine-chest minimum liquid level.
Flow-rate control section comprises controller, electromagnetic switch valve, pump II; Water tank, pressure sensor, electromagnetic switch valve, medicine mixer are connected by pipeline successively, and medicine-chest, pump II, medicine mixer are connected by pipeline successively; Controller is electrically connected respectively with electromagnetic switch valve, pump II, pressure sensor, liquid-level switch I, liquid-level switch II.Controller controls electromagnetic switch valve, and then controls discharge; Controller control pump II, and then control medicine flow.The signal that pressure sensor, liquid-level switch I, liquid-level switch II export all is gathered by controller and processes.
Medicine mixer comprises water inlet, medicine entrance, mixture export; Water inlet is positioned at the front end of medicine mixer, and mixture export is positioned at the rear end of medicine mixer, and medicine entrance is positioned at the leading portion upper end of medicine mixer.The injection direction of medicine mixer Chinese medicine is vertical with water (flow) direction, and water and medicine can Homogeneous phase mixing in medicine mixer.
Spray part to comprise pump I, the pressure regulating part of the ejection pressure of the jet head sets of mixed liquor ejection, adjustment mixed liquor is divided; Mixed medicine-chest, pump I, pressure regulating part divide, jet head sets is connected by pipeline successively.Mixed liquor is extracted out by pump I from mixed medicine-chest; Pressure regulating part divides for regulating spouting pressure, to adapt to different job requirements.
The mixture export of mixed medicine-chest is positioned at the bottom of mixed medicine-chest.
Jet head sets comprises many spray booms parallel with one another and multiple shower nozzle, and a shower nozzle is connected on the end of a spray boom.
Pressure regulating part is divided and mixes medicine-chest and connected by return duct, by unnecessary mixed-liquor return to mixed medicine-chest.
A control method for online mixed medicine spraying system in real time, comprise the steps: that the water in water tank and the medicine in medicine-chest are all mixed into mixed liquor by the medicine mixer that enters that flow-rate control section flow is controlled, mixed liquor flows into mixed medicine-chest, then through spraying part ejection; When the minimum liquid level signal of mixed medicine-chest being detected, water and medicine flow into medicine mixer, when the highest liquid level signal of mixed medicine-chest being detected, stop injecting water and medicine to medicine mixer.
A control method for online mixed medicine spraying system in real time, specifically comprises the steps:
The controller of S1, online mixed medicine spraying system in real time, by the water level information in pressure sensor Real-time Collection water tank, is calculated the flow of water when electromagnetic switch valve is opened by the relational model of flow and pressure;
S2, the liquid medicine mixing ratio set according to flow and the user of current Water in Water Tanks, and essence amount supplies the rotating speed of Teat pipette II and discharge relation model to calculate the driver output of pump II;
S3, the liquid level signal utilized in liquid-level switch I and the mixed medicine-chest of liquid-level switch II detection;
S4, when in mixed medicine-chest, liquid-level switch II detects minimum liquid level signal, controller opens electromagnetic switch valve and pump II simultaneously, injects water and medicine to medicine mixer, and mixed medicine-chest liquid level rises;
S5, when liquid-level switch I in mixed medicine-chest detect the highest liquid level signal time, controller cuts out electromagnetic switch valve and pump II simultaneously, stops injecting water and medicine to medicine mixer;
In S6, operation process, pump I extracts the liquid medicine mixed liquor mixed all the time from mixed medicine-chest, sprays by spraying part.
Generally speaking, tool of the present invention has the following advantages:
1, online mixed medicine spraying system in real time of the present invention, utilizes pressure sensor to set up artesian water discharge model, extracts liquid mix with artesian water by essence amount, accurate in scale.
2, water and medicine realize Homogeneous phase mixing in medicine mixer, and therefore mixed capacity needed for medicine-chest is very little and without the need to dynamic medicament-mixing device in mixed medicine-chest, mixed medicine is less than change hysteresis, is conducive to realizing accurate Variable Composition and sprays.
3, the present invention is according to the feature of online blending explosive system, devise the accurate blending explosive system that a kind of liquid essence amount extracts, water flows automatically, have good adaptability to changes in flow rate and liquid medicine mixing ratio, the mixed medicine uniformity is high, system architecture is simple, few to the change of former sprayer.
4, the present invention realizes water medicine on-line mixing and evenly sprays requirement, reduces chemical agent waste, reduces mixed medicine number of times, improves and spray efficiency.
Accompanying drawing explanation
Fig. 1 is the structural representation of online mixed medicine spraying system in real time of the present invention.
Fig. 2 is the control principle block diagram of online mixed medicine spraying system in real time of the present invention.
Fig. 3 is control algolithm flow chart of the present invention.
Fig. 4 is the simplified model of mixed medicine part of the present invention.
Wherein, 1 be water tank, 2 be medicine-chest, 3 be controller, 4 for liquid-level switch I, 5 for liquid-level switch II, 6 for pressure regulating part divide, 7 be jet head sets, 8 for pump I, 9 be belt wheel, 10 for mixed medicine-chest, 11 be medicine mixer, 12 be electromagnetic switch valve, 13 for pump II, 14 be pressure sensor, 15 is man-machine interaction unit.
Embodiment
Come that the present invention will be further described in detail below.Online mixed medicine spraying system is in real time applied on high-clearance sprayer by the present embodiment, forms the online spraying system of high-clearance.
A kind of online mixed medicine spraying system in real time, comprises water tank, medicine-chest, mixed medicine part, water level detection part, flow-rate control section, sprays part.Wherein, part is sprayed for the original parts of high-clearance sprayer.
Mixed medicine part comprises medicine mixer and mixed medicine-chest.Medicine mixer comprises water inlet, medicine entrance, mixture export, and water out is positioned at medicine mixer front end, and mixture export is positioned at medicine mixer rear end, and medicine entrance is positioned at medicine mixer leading portion upper end.The mixture export of mixed medicine-chest is positioned at the bottom of mixed medicine-chest, and mixed-liquor return mouth is positioned at the bottom of mixed medicine-chest.
Water level detection part comprises the pressure sensor detecting cistern water level, the liquid-level switch I detecting the mixed the highest liquid level of medicine-chest, detects the liquid-level switch II mixing medicine-chest minimum liquid level.
Flow-rate control section comprises controller, electromagnetic switch valve, pump II.Pump II adopts plunger pump.
Spray part to comprise pump I, the pressure regulating part of the ejection pressure of the jet head sets of mixed liquor ejection, adjustment mixed liquor is divided.Jet head sets comprises the many spray booms parallel with one another shower nozzle identical with spray boom with quantity, and a shower nozzle is connected on the end of a spray boom.Belt wheel is by the transmission of power of engine to pump I, and V belt translation has overload protective function to pump I.Pressure regulating part is divided into commercially available equipment, the ejection pressure of nozzle adjustable.
Annexation is: the water inlet of water tank, pressure sensor, electromagnetic switch valve, medicine mixer is connected by pipeline successively.The medicine entrance of medicine-chest, pump II, medicine mixer is connected by pipeline successively.The mixture export of medicine mixer connects a horizontal straight tube road, and the end of this pipeline is positioned at directly over mixed medicine-chest.The mixture export of mixed medicine-chest, pump I, pressure regulating part divide, jet head sets is connected by pipeline successively, and pressure regulating part is divided and mixes medicine-chest and connected by return duct, by unnecessary mixed-liquor return to mixed medicine-chest.Controller is electrically connected respectively with electromagnetic switch valve, pump II, pressure sensor, liquid-level switch I, liquid-level switch II.
A control method for online mixed medicine spraying system in real time, specifically comprises the steps:
The controller of S1, online mixed medicine spraying system in real time, by the water level information in pressure sensor Real-time Collection water tank, is calculated the flow of water when electromagnetic switch valve is opened by the relational model of flow and pressure; The relational model of this flow and pressure is prior art.
S2, the liquid medicine mixing ratio set according to flow and the user of current Water in Water Tanks, and essence amount supplies the rotating speed of Teat pipette II and discharge relation model to calculate the driver output of pump II; Rotating speed and the discharge relation model of this pump II are prior aries.
S3, the liquid level signal utilized in liquid-level switch I and the mixed medicine-chest of liquid-level switch II detection.
S4, when in mixed medicine-chest, liquid-level switch II detects minimum liquid level signal, controller opens electromagnetic switch valve and pump II simultaneously, injects water and medicine to medicine mixer, and mixed medicine-chest liquid level rises.
S5, when liquid-level switch I in mixed medicine-chest detect the highest liquid level signal time, controller cuts out electromagnetic switch valve and pump II simultaneously, stops injecting water and medicine to medicine mixer.
In S6, operation process, pump I extracts the liquid medicine mixed liquor mixed all the time from mixed medicine-chest, sprays by spraying part.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (10)
1. an online mixed medicine spraying system in real time, is characterized in that: comprise
The water tank of-water storage,
The medicine-chest of-drug storage,
-mixed medicine part, the mixed medicine-chest comprising medicine mixer and the mixed liquor that medicine mixer flows out is caught,
The water level detection part of-detection water tank and mixed medicine-chest liquid level,
-control the flow-rate control section entering the water of medicine mixer and the flow of medicine,
-by the mixed liquor of mixed medicine-chest spray spray part.
2. mix medicine spraying system in real time online according to one according to claim 1, it is characterized in that: described water level detection part comprises the pressure sensor detecting cistern water level, the liquid-level switch I detecting the mixed the highest liquid level of medicine-chest, detects the liquid-level switch II mixing medicine-chest minimum liquid level.
3. mix medicine spraying system in real time online according to one according to claim 2, it is characterized in that: described flow-rate control section comprises controller, electromagnetic switch valve, pump II; Water tank, pressure sensor, electromagnetic switch valve, medicine mixer are connected by pipeline successively, and medicine-chest, pump II, medicine mixer are connected by pipeline successively; Controller is electrically connected respectively with electromagnetic switch valve, pump II, pressure sensor, liquid-level switch I, liquid-level switch II.
4. mix medicine spraying system in real time online according to one according to claim 3, it is characterized in that: described medicine mixer comprises water inlet, medicine entrance, mixture export; Water inlet is positioned at the front end of medicine mixer, and medicine entrance is positioned at the leading portion upper end of medicine mixer, and mixture export is positioned at the rear end of medicine mixer.
5., according to one according to claim 1 mixed medicine spraying system in real time online, it is characterized in that: described in spray part comprise pump I, the jet head sets that mixed liquor is sprayed, adjustment mixed liquor the pressure regulating part of ejection pressure divide; Mixed medicine-chest, pump I, pressure regulating part divide, jet head sets is connected by pipeline successively.
6. mix medicine spraying system in real time online according to one according to claim 5, it is characterized in that: the mixture export of described mixed medicine-chest is positioned at the bottom of mixed medicine-chest.
7. according to one according to claim 5 mixed medicine spraying system in real time online, it is characterized in that: described jet head sets comprises many spray booms parallel with one another and multiple shower nozzle, and a shower nozzle is connected on the end of a spray boom.
8. according to one according to claim 5 mixed medicine spraying system in real time online, it is characterized in that: described pressure regulating part is divided and mixes medicine-chest and connected by return duct, by unnecessary mixed-liquor return to mixed medicine-chest.
9. according to the control method of a kind of online mixed medicine spraying system in real time according to any one of claim 1 to 8, it is characterized in that: comprise the steps: that the water in water tank and the medicine in medicine-chest are all mixed into mixed liquor by the medicine mixer that enters that flow-rate control section flow is controlled, mixed liquor flows into mixed medicine-chest, then through spraying part ejection; When the minimum liquid level signal of mixed medicine-chest being detected, water and medicine flow into medicine mixer, when the highest liquid level signal of mixed medicine-chest being detected, stop injecting water and medicine to medicine mixer.
10., according to the control method of a kind of online mixed medicine spraying system in real time according to claim 9, it is characterized in that: specifically comprise the steps:
The controller of S1, online mixed medicine spraying system in real time, by the water level information in pressure sensor Real-time Collection water tank, is calculated the flow of water when electromagnetic switch valve is opened by the relational model of flow and pressure;
S2, the liquid medicine mixing ratio set according to flow and the user of current Water in Water Tanks, and essence amount supplies the rotating speed of Teat pipette II and discharge relation model to calculate the driver output of pump II;
S3, the liquid level signal utilized in liquid-level switch I and the mixed medicine-chest of liquid-level switch II detection;
S4, when in mixed medicine-chest, liquid-level switch II detects minimum liquid level signal, controller opens electromagnetic switch valve and pump II simultaneously, injects water and medicine to medicine mixer, and mixed medicine-chest liquid level rises;
S5, when liquid-level switch I in mixed medicine-chest detect the highest liquid level signal time, controller cuts out electromagnetic switch valve and pump II simultaneously, stops injecting water and medicine to medicine mixer;
In S6, operation process, pump I extracts the liquid medicine mixed liquor mixed all the time from mixed medicine-chest, sprays by spraying part.
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| CN106614473A (en) * | 2016-11-21 | 2017-05-10 | 华南农业大学 | Direct injection type real-time concentration variation on-line pesticidesmixing spraying device and control method thereof |
| CN106922640A (en) * | 2017-04-05 | 2017-07-07 | 华南农业大学 | Online medicament-mixing device based on Pipe spraying |
| CN107094737A (en) * | 2017-03-23 | 2017-08-29 | 江苏大学 | The online accurate medicament-mixing device and method of a kind of paddy field pesticide applicator |
| CN107897159A (en) * | 2017-12-12 | 2018-04-13 | 吉林省农业机械研究院 | A kind of recyclable pesticide spraying device and its control method |
| CN108450443A (en) * | 2018-03-06 | 2018-08-28 | 山东省农业科学院玉米研究所（山东省农业科学院玉米工程技术研究中心） | Device with the uniform spray structure of pesticide |
| CN109261012A (en) * | 2018-10-17 | 2019-01-25 | 华南农业大学 | Pesticide automatic blending device and control method |
| CN109261060A (en) * | 2018-10-17 | 2019-01-25 | 华南农业大学 | Pesticide automatic blending control system and control method |
| CN110859172A (en) * | 2019-12-19 | 2020-03-06 | 广州极飞科技有限公司 | Spraying system and control method of spraying system |
| CN111149787A (en) * | 2020-01-15 | 2020-05-15 | 广州翼鲲生物科技有限公司 | Pesticide spraying system and control method thereof |
| CN113331166A (en) * | 2021-07-09 | 2021-09-03 | 东莞市八谷生物技术有限公司 | Intelligent atomization system and working method thereof |
| CN114667984A (en) * | 2022-04-07 | 2022-06-28 | 浙江理工大学 | Accurate-proportioning small-flow online medicine mixing method based on piezoelectric drive |
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| CN106614473B (en) * | 2016-11-21 | 2019-08-13 | 华南农业大学 | A kind of real-time Variable Composition of direct injection mixes medicine spraying device and its control method online |
| CN106614473A (en) * | 2016-11-21 | 2017-05-10 | 华南农业大学 | Direct injection type real-time concentration variation on-line pesticidesmixing spraying device and control method thereof |
| CN107094737A (en) * | 2017-03-23 | 2017-08-29 | 江苏大学 | The online accurate medicament-mixing device and method of a kind of paddy field pesticide applicator |
| CN106922640A (en) * | 2017-04-05 | 2017-07-07 | 华南农业大学 | Online medicament-mixing device based on Pipe spraying |
| CN107897159A (en) * | 2017-12-12 | 2018-04-13 | 吉林省农业机械研究院 | A kind of recyclable pesticide spraying device and its control method |
| CN107897159B (en) * | 2017-12-12 | 2024-02-06 | 吉林省农业机械研究院 | Recoverable pesticide spraying device and control method thereof |
| CN108450443B (en) * | 2018-03-06 | 2023-11-24 | 山东省农业科学院玉米研究所（山东省农业科学院玉米工程技术研究中心） | Device with pesticide evenly sprays structure |
| CN108450443A (en) * | 2018-03-06 | 2018-08-28 | 山东省农业科学院玉米研究所（山东省农业科学院玉米工程技术研究中心） | Device with the uniform spray structure of pesticide |
| CN109261012A (en) * | 2018-10-17 | 2019-01-25 | 华南农业大学 | Pesticide automatic blending device and control method |
| CN109261060A (en) * | 2018-10-17 | 2019-01-25 | 华南农业大学 | Pesticide automatic blending control system and control method |
| CN109261060B (en) * | 2018-10-17 | 2024-01-26 | 华南农业大学 | Automatic pesticide mixing control system and control method |
| CN110859172A (en) * | 2019-12-19 | 2020-03-06 | 广州极飞科技有限公司 | Spraying system and control method of spraying system |
| CN110859172B (en) * | 2019-12-19 | 2024-04-09 | 广州极飞科技股份有限公司 | Spray system and control method of spray system |
| CN111149787B (en) * | 2020-01-15 | 2022-05-10 | 广州翼鲲生物科技有限公司 | Pesticide spraying system and control method thereof |
| CN111149787A (en) * | 2020-01-15 | 2020-05-15 | 广州翼鲲生物科技有限公司 | Pesticide spraying system and control method thereof |
| CN113331166A (en) * | 2021-07-09 | 2021-09-03 | 东莞市八谷生物技术有限公司 | Intelligent atomization system and working method thereof |
| CN114667984A (en) * | 2022-04-07 | 2022-06-28 | 浙江理工大学 | Accurate-proportioning small-flow online medicine mixing method based on piezoelectric drive |
| CN114667984B (en) * | 2022-04-07 | 2023-03-14 | 浙江理工大学 | Accurate-proportioning small-flow online medicine mixing method based on piezoelectric drive |
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