CN108935419A - Inversion type pesticide spraying machine people and method - Google Patents
Inversion type pesticide spraying machine people and method Download PDFInfo
- Publication number
- CN108935419A CN108935419A CN201811093444.9A CN201811093444A CN108935419A CN 108935419 A CN108935419 A CN 108935419A CN 201811093444 A CN201811093444 A CN 201811093444A CN 108935419 A CN108935419 A CN 108935419A
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- walking
- wheel
- machine people
- pesticide spraying
- spraying machine
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Classifications
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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
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- 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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention provides a kind of inversion type pesticide spraying machine people, including the double walking track above greenhouse bosom is arranged in, the length direction of walking track is identical as the length direction of greenhouse, walking mechanism is provided with above walking walking track, spraying mechanism is provided with below walking mechanism, walking mechanism includes dolly plate, wheel is provided with below dolly plate, wheel is matched with walking track, wheel is connect with driving device, spraying mechanism includes the medicine storing pot above dolly plate, and medicine storing pot is connected to the spray unit below dolly plate.The invention is high compared to man efficiency, and it is more time saving accurate to work, and in the long term, greatly reduces cost of labor and pesticide loses, considerable economic results in society are obtained with lower cost.
Description
Technical field
The invention belongs to pesticide dispersal equipment field, more particularly, to a kind of inversion type pesticide spraying machine people and side
Method.
Background technique
The one kind of pesticide spraying machine Genus Homo in plant protection mechanism is a kind of based on the integrated agricultural production of agricultural machinery
Equipment, main function be using robot is automatic or remote control in the way of to crops progress pesticide spraying, can both reach
To the effect sterilized to crop insecticide, and can be to avoid the injury during pesticide spraying to human body itself.Relatively closed
Greenhouse space in, to improve efficiency and reducing the injury to human body, pesticide spraying machine people has been current research
Hot spot.
The type of pesticide spraying machine people is broadly divided into trackless pesticide spraying machine people and rail pesticide spraying machine people two
Kind.Trackless pesticide spraying machine people's common type has self-propelled spray robot, vehicular spray robot and aviation spraying machine
Device people.And rail pesticide spraying machine people then refers to that robot motion track is in always on track, arranges generally according to track
Classify: track is arranged on ground, there are certain requirements to ground flat degree by ground rail robot；Frame rail machine
Device people is constructing row's bearing frame with vegetation equal-height position, and robot is moved on bearing frame, can be to vegetation blade
It is accurately sprayed part；Inversion type pesticide spraying machine people, is usually used in greenhouse, and track is arranged at the top of greenhouse, can
To carry out the cover type sprinkling under upper.
China's Agricultural Intelligent System equipment development is later, and domestic agricultural robot operation generally between ridge, vehicle-mounted sprayer
Device people mainly relies on unmanned plane, and the platforms such as AGV trolley are inverted very rare.Equipment is partial to mechanization, less intelligence more
Change running.With the development of robot technology after the proposition and 863 Program of high-efficiency agriculture industrialized agriculture, more and more scholars are thrown
The research for entering pesticide spraying machine people incorporates mechanization, automation in pesticide spraying work.
Summary of the invention
In view of this, the invention is directed to a kind of inversion type pesticide spraying machine people, asked with solving above-mentioned technology
Topic.
In order to achieve the above objectives, the technical solution of the invention is achieved in that
A kind of inversion type pesticide spraying machine people, including the double walking track above greenhouse bosom is arranged in, row
The length direction for walking track is identical as the length direction of greenhouse, is provided with walking mechanism, vehicle with walking machine above walking walking track
Spraying mechanism is provided with below structure, walking mechanism includes dolly plate, and wheel, wheel and walking rail are provided with below dolly plate
Road matches, and wheel is connect with driving device, and spraying mechanism includes the medicine storing pot above dolly plate, medicine storing pot and dolly plate lower section
Spray unit connection.
Further, walking parallel track is provided with two, and the both ends for track of walking are separately fixed at perpendicular branch
On column, pillar is fixed on the inner upper of greenhouse.
Further, connection frame is provided with below dolly plate, transmission shaft passes through connection frame and passes through bearing with connection frame
Connection, transmission shaft are distributed in the rear and front end of the lower section of dolly plate, and wheel is arranged in the both ends of transmission shaft, and driving device includes trolley
The output shaft of motor on plate, motor is affixed by the input shaft of shaft coupling and reduction gearbox, and the output shaft of reduction gearbox passes through
Shaft coupling and a transmission axis connection, motor are connect with controller.
Further, spray unit includes the injection pipe being arranged in below dolly plate, and medicine storing pot passes through pipeline and injection pipe
Connection, injection pipe are cylindrical long tube, and long tube side offers several holes, spray head is housed on hole.
Further, two rows of spray heads, axle center of the spray head relative to injection pipe are symmetrically set in the bottom side of the wall of injection pipe
Line is symmetrical arranged, and spray head is evenly spaced on along the length direction of injection pipe, and the spout of the spray head of same row is directed away from spray
The obliquely downward inclination of tube axis line is penetrated, the obliquely downward that the spout direction of the spray head of another row is also directed away from injection tube axis line is inclined
Tiltedly.
Further, there is overlapping region in the sprinkling region of adjacent spray head.
Further, the length direction of injection pipe is identical as the left and right width direction of trolley.
Further, ultrasonic wave stirring medicine-chest is arranged on dolly plate, and ultrasonic wave stirs medicine-chest and passes through increasing pump and drug storage
Tank is connected to, and pressurization switch is provided on booster pump, is provided with corresponding nozzle switch, booster pump, increasing on the spray head of spray unit
Compress switch, nozzle switch is connect with controller respectively, controller control booster pump, pressurization switch, nozzle switch unlatching and close
It closes.
The spray method of inversion type pesticide spraying machine people, comprising the following steps:
S1: the forwarding button on starting controller, motor rotate forward, and motor drives vehicle wheel rotation, and wheel drives walking
Mechanism kinematic；
S2: during walking mechanism is walked, controller controls booster pump and nozzle switch is opened, and walks in walking mechanism
While, spray unit is sprayed；
S3: after walking mechanism goes to end, start the backspace button on controller, motor reversion, motor band motor-car
Wheel rotation, wheel drive walking mechanism movement；
S4: it after sprayed, disconnect forwarding button or backspace button, the brake operation of motor, wheel is decelerated to
Stop, walking mechanism stop motion.
Compared with the existing technology, inversion type pesticide spraying machine people and method described in the invention have following excellent
Gesture:
(1) due to airtight space in greenhouse, atmosphere draught-free, the agricultural chemical insecticide sprayed is to human body especially lung tissue
Harm it is bigger, the use of pesticide spraying machine people reduces contact of the people to high temperature, high humidity, toxic chemical, and pesticide spraying is
The task of cumbersome time-consuming, will also touch the dangerous place of treetop equal-height position sometimes, and the use of pesticide spraying machine people reduces fatigue
Operation and the possible danger of high altitude operation；
(2) the invention is high compared to man efficiency, and it is more time saving accurate to work, and in the long term, greatly reduces artificial
Cost and pesticide lose, and considerable economic results in society are obtained with lower cost；
(3) the invention introduces modularization thinking, only needs to change part body for different size greenhouse, adjustment is wherein
Size can come into operation；
(4) the invention uses more sprinkler designs, can greatly improve working efficiency；
(5) the invention uses double guide rail structures, reinforces the stability of walking mechanism operation；
(6) the unidirectional back and forth movement of the invention, the spraying range of spray head can cover transverse area, reduce volume the car design
While difficulty and cost, high reliablity.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide to further understand the invention, present invention wound
The illustrative embodiments and their description made are used to explain the present invention creation, do not constitute the improper restriction to the invention.?
In attached drawing:
Fig. 1 is the schematic diagram of walking track described in the invention embodiment；
Fig. 2 is the structural schematic diagram of walking mechanism described in the invention embodiment；
Fig. 3 is the structural schematic diagram of injection pipe and spray head described in the invention embodiment；
Fig. 4 is the structural schematic diagram of the spray regime of spray head described in the invention embodiment；
Fig. 5 is the control flow chart of walking mechanism described in the invention embodiment；
Fig. 6 is the control flow chart of the invention embodiment；
Fig. 7 is the control flow chart of spraying mechanism described in the invention embodiment.
Description of symbols:
1, walking track；101, pillar；2, walking mechanism；201, dolly plate；202, connection frame；203, transmission shaft；204,
Wheel；205, reduction gearbox；206, medicine storing pot；207, guardrail；3, injection pipe；301, spray head.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the invention can
To be combined with each other.
In the description of the invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description the invention and simplifies description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For the limitation to the invention.In addition, term " first ", " second " etc. are used for description purposes only, and should not be understood as indicating
Or it implies relative importance or implicitly indicates the quantity of indicated technical characteristic." first ", " second " etc. are defined as a result,
Feature can explicitly or implicitly include one or more of the features.In the description of the invention, unless separately
It is described, the meaning of " plurality " is two or more.
In the description of the invention, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments creates.
As shown in Figure 1, 2, a kind of inversion type pesticide spraying machine people, it is double above greenhouse bosom including being arranged in
The length direction of walking track 1, track 1 of walking is identical as the length direction of greenhouse, in the length covering greenhouse of walking track 1
The length in planting region, walking track 1 are arranged in parallel with two, and the both ends of walking track 1 are separately fixed at perpendicular
Pillar 101 on, pillar 101 is fixed on the inner upper of greenhouse.The top of walking track 1 is provided with walking mechanism 2, vehicle with walking machine
The lower section of structure 2 is provided with spraying mechanism.
It can guarantee the stress balance during the motion of walking mechanism 2 by the way of the double walking track 1 of intermediate arrangement
The case where being not in centre offset.Two walking tracks 1 are supported the middle part for building the span in greenhouse by pillar 101
Position, can determine the distance of two walking tracks 1 according to the actual size of greenhouse, the centers of preferred two walking tracks 1 away from
For 2m, track 1 of walking is 3m apart from ground level, and walking track 1 is reserved with the highest point of ceiling and is used for subsequent rows at a distance from 2m
Walk the installation of mechanism 2.Walking 1 length approximation of track is equal to the movable distance in front and back of walking mechanism 2.
As shown in Fig. 2, walking mechanism 2 is moved using four-wheel, walking mechanism 2 includes dolly plate 201, under dolly plate 201
Side is provided with connection frame 202, and transmission shaft 203 passes through connection frame 202 and connect with connection frame 202 by bearing, and transmission shaft 203 divides
For cloth in the rear and front end of the lower section of dolly plate 201, the both ends of transmission shaft 203 are provided with wheel 204, wheel 204 and walking track 1
It matches.Motor is connected on dolly plate 201, the output shaft of motor is solid by the input shaft of shaft coupling and reduction gearbox 205
It connects, the output shaft of reduction gearbox 205 is connect by shaft coupling with a transmission shaft 203.Motor is the power source of transmission shaft 203.Electricity
Motivation can also be connect by the cooperation of driving gear and driven gear with transmission shaft 203, and the output shaft of motor is concentric solid
Driving gear is connect, the opening passed through convenient for driving gear, concentric affixed and active on transmission shaft 203 are provided on dolly plate 201
The driven gear that gear matches.Motor is connect with controller, and controller controls the rotating forward or reversion of motor.Dolly plate
201 rear and front end is welded with guardrail 207.
As shown in Figure 3,4, spraying mechanism includes the medicine storing pot 206 for being fixed on the top of dolly plate 201, under dolly plate 201
Side is welded with injection pipe 3, and medicine storing pot 206 is connected to by hose with injection pipe 3.Hose is rubber hose, and hose is for conveying spray
Required liquid pesticide is spilt to injection pipe 3.Injection pipe 3 is a round metal cylindricality long tube, and long tube side offers several holes, hole
It is upper that spray head 301 is housed.Medicament each spray head 301 from injection pipe 3 is spouting, and spray head 301 can determine injection direction.
Two rows of spray heads 301, axial line of the spray head 301 relative to injection pipe 3 are symmetrically set in the bottom side of the wall of injection pipe 3
It is symmetrical arranged, spray head 301 is evenly spaced on along the length direction of injection pipe 3, and the spout of the spray head 301 of same row is towards far
Obliquely downward inclination from 3 axial line of injection pipe, the spout direction of the spray head 301 of another row is also directed away from 3 axial line of injection pipe
Obliquely downward inclination.In order to guarantee spray head 301 spray uniformity and as far as possible cover greenhouse in crop, adjacent spray head
There is overlapping region in 301 sprinkling region.Preferably, in order to which the spraying range for guaranteeing spray head 301 is big as far as possible, injection pipe 3
Length direction is identical as the width direction of trolley.For convenience of the replacement of spray line, every section spray line pass through between each other three-dimensional or
To being attached, the vertical joint of three-dimensional connector is connected the level two of twin adapter with walking mechanism 2 and transport pipeline.
Forward-reverse of the walking mechanism 2 on walking track 1 drives the movement of spraying mechanism, so that the crop in greenhouse
It can be covered in the longitudinal direction.
Walking mechanism 2, design height h1 are 1450mm, are less than reserved space 2000mm above reserved track.Consider electronic
The shell size of machine, the left and right maximum distance of walking mechanism 2 are 2750mm.Walking mechanism 2 is moved using four-wheel, and two of them are
Adhesion wheel group, other two is driven wheel group.The center of wheel 204 on the same transmission shaft 203 away from walking track 1
Center away from identical, i.e. 2000mm.
The working principle of the invention:
As shown in Fig. 5,6,7, motor starts turning after power supply connection, by shaft coupling by power transmission to reduction gearbox
205 input shaft is connected by output shaft with shaft coupling after carrying out deceleration torque increase in reduction gearbox 205, and will by shaft coupling
At power transmission transmission shaft 203, transmission shaft 203 is connected with wheel 204, transmits power and is rotated with motor car wheel 204, thus
Realize the movement of walking mechanism 2.
By the forwarding button on movement controller, motor is rotated forward, and motor band motor car wheel 204 rotates, and wheel 204 drives row
Walk the movement of mechanism 2.By the backspace button on movement controller, motor reversion, motor band motor car wheel 204 is rotated, 204 band of wheel
Dynamic walking mechanism 2 moves.After unclamping forwarding button or backspace button, the brake operation of motor, wheel 204, which is decelerated to, to stop
Only, 2 stop motion of walking mechanism.
Ultrasonic wave stirs medicine-chest and is arranged on dolly plate 201, and ultrasonic wave stirs medicine-chest and connected by increasing pump and medicine storing pot 206
It is logical, it is provided with pressurization switch on booster pump, corresponding nozzle switch, booster pump, pressurization switch, spray head are provided on spray head 301
Switch is connect with controller respectively, and controller controls the unlatching and closure of booster pump, pressurization switch, nozzle switch.
In recent years, greenhouse plantation development is more more and more universal.With the development of greenhouse planting technology, may be used
To realize that crops are uninterruptedly planted throughout the year.In a relatively closed greenhouse environment, pass through what is be manually arranged
Illumination and moisture can make plant constantly be grown, but greenhouse, the closed and moist increasing for also necessarily bringing bacterium, pest
It is long, so pesticide spraying is indispensable.Using the design feature of greenhouse, design an inversion type pesticide spraying machine people into
Row pesticide spraying operation, not only can be improved the efficiency of greenhouse gardening, what the person that also can effectively solve spraying operation was encroached on by pesticide
Problem.The major function of inversion type pesticide spraying machine people's spraying mechanism is will to be passed through by the medical fluid that ultrasonic stirrer is stirred
It is transmitted to injection pipe 3 after crossing pressurization, is sprayed in each spray head 301 by being mounted on spray line.
The foregoing is merely the preferred embodiments of the invention, are not intended to limit the invention creation, all at this
Within the spirit and principle of innovation and creation, any modification, equivalent replacement, improvement and so on should be included in the invention
Protection scope within.
Claims (9)
1. a kind of inversion type pesticide spraying machine people, it is characterised in that: including the double row above greenhouse bosom is arranged in
It walks track (1), the length direction of walking track (1) is identical as the length direction of greenhouse, is provided with row above walking track (1)
It walks mechanism (2), spraying mechanism is provided with below walking mechanism (2), walking mechanism (2) includes dolly plate (201), dolly plate
(201) it is provided with below wheel (204), wheel (204) is matched with walking track (1), and wheel (204) and driving device connect
It connects, spraying mechanism includes the medicine storing pot (206) above dolly plate (201), the spray below medicine storing pot (206) and dolly plate (201)
Spill unit connection.
2. inversion type pesticide spraying machine people according to claim 1, it is characterised in that: walking track (1) is arranged in parallel
There are two, the both ends of walking track (1) are separately fixed on perpendicular pillar (101), and pillar (101) is fixed on greenhouse
Inner upper.
3. inversion type pesticide spraying machine people according to claim 1, it is characterised in that: dolly plate is set below (201)
It is equipped with connection frame (202), transmission shaft (203) passes through connection frame (202) and connect with connection frame (202) by bearing, transmission shaft
(203) it is distributed in the rear and front end of the lower section of dolly plate (201), wheel (204) are arranged in the both ends of transmission shaft (203), driving dress
It sets including the motor on dolly plate (201), the output shaft of motor is solid by shaft coupling and the input shaft of reduction gearbox (205)
It connects, the output shaft of reduction gearbox (205) is connect by shaft coupling with a transmission shaft (203), and motor is connect with controller.
4. inversion type pesticide spraying machine people according to claim 1, it is characterised in that: spray unit includes being arranged small
Injection pipe (3) below sweep (201), medicine storing pot (206) are connected to by pipeline with injection pipe (3), and injection pipe (3) is cylinder
Long tube, long tube side offer several holes, spray head (301) are housed on hole.
5. inversion type pesticide spraying machine people according to claim 4, it is characterised in that: the bottom side of the wall of injection pipe (3)
The upper two rows of spray heads (301) of symmetrical setting, spray head (301) are symmetrical arranged relative to the axial line of injection pipe (3), spray head (301)
It is evenly spaced on along the length direction of injection pipe (3), the spout of the spray head (301) of same row is directed away from injection pipe (3)
The obliquely downward of axial line tilts, and the spout direction of the spray head (301) of another row is also directed away from injection pipe (3) axial line obliquely downward
Side's inclination.
6. inversion type pesticide spraying machine people according to claim 5, it is characterised in that: the spray of adjacent spray head (301)
Spilling region has overlapping region.
7. inversion type pesticide spraying machine people according to claim 5, it is characterised in that: the length direction of injection pipe (3)
It is identical as the left and right width direction of trolley.
8. inversion type pesticide spraying machine people according to claim 1, it is characterised in that: ultrasonic wave stirs medicine-chest setting and exists
On dolly plate (201), ultrasonic wave stirring medicine-chest is connected to by increasing pump with medicine storing pot (206), and pressurization is provided on booster pump and is opened
Close, be provided with corresponding nozzle switch on the spray head (301) of spray unit, booster pump, pressurization switch, nozzle switch respectively with control
Device connection processed, controller control the unlatching and closure of booster pump, pressurization switch, nozzle switch.
9. the spray method of inversion type pesticide spraying machine people, which comprises the following steps:
S1: the forwarding button on starting controller, motor rotate forward, and motor band motor car wheel (204) rotates, wheel (204) band
Dynamic walking mechanism (2) movement；
S2: during walking mechanism (2) is walked, controller controls booster pump and nozzle switch is opened, in walking mechanism (2) row
While walking, spray unit is sprayed；
S3: after walking mechanism (2) goes to end, start the backspace button on controller, motor reversion, motor band motor car wheel
(204) it rotates, wheel (204) drives walking mechanism (2) movement；
S4: it after sprayed, disconnect forwarding button or backspace button, the brake operation of motor, wheel (204) is decelerated to
Stop, walking mechanism (2) stop motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093444.9A CN108935419A (en) | 2018-09-19 | 2018-09-19 | Inversion type pesticide spraying machine people and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811093444.9A CN108935419A (en) | 2018-09-19 | 2018-09-19 | Inversion type pesticide spraying machine people and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108935419A true CN108935419A (en) | 2018-12-07 |
Family
ID=64471321
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811093444.9A Pending CN108935419A (en) | 2018-09-19 | 2018-09-19 | Inversion type pesticide spraying machine people and method |
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| Country | Link |
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| CN (1) | CN108935419A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109819958A (en) * | 2019-02-21 | 2019-05-31 | 山东理工大学 | A kind of high pressure ionization wind spraying aid type AGV system plant protection vehicle for adding water that pesticide is not added |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202224266U (en) * | 2011-05-20 | 2012-05-23 | 深圳富泰宏精密工业有限公司 | Shower head and sprinkling device provided with shower head |
| KR20150134904A (en) * | 2014-05-23 | 2015-12-02 | 석균용 | House for pharmaceutical duster spraying plastic pipe support device |
| CN207505557U (en) * | 2017-09-01 | 2018-06-19 | 东营市海大农业科技发展有限公司 | A kind of proportion of crop planting greenhouse |
-
2018
- 2018-09-19 CN CN201811093444.9A patent/CN108935419A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202224266U (en) * | 2011-05-20 | 2012-05-23 | 深圳富泰宏精密工业有限公司 | Shower head and sprinkling device provided with shower head |
| KR20150134904A (en) * | 2014-05-23 | 2015-12-02 | 석균용 | House for pharmaceutical duster spraying plastic pipe support device |
| CN207505557U (en) * | 2017-09-01 | 2018-06-19 | 东营市海大农业科技发展有限公司 | A kind of proportion of crop planting greenhouse |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109819958A (en) * | 2019-02-21 | 2019-05-31 | 山东理工大学 | A kind of high pressure ionization wind spraying aid type AGV system plant protection vehicle for adding water that pesticide is not added |
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Application publication date: 20181207 |
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| RJ01 | Rejection of invention patent application after publication |