CN109221069B - Intelligent ultrasonic pneumatic spraying and pesticide applying robot - Google Patents
Intelligent ultrasonic pneumatic spraying and pesticide applying robot Download PDFInfo
- Publication number
- CN109221069B CN109221069B CN201811310313.1A CN201811310313A CN109221069B CN 109221069 B CN109221069 B CN 109221069B CN 201811310313 A CN201811310313 A CN 201811310313A CN 109221069 B CN109221069 B CN 109221069B
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- liquid
- pesticide
- travelling mechanism
- spray
- motor
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- 239000000575 pesticide Substances 0.000 title claims abstract description 52
- 238000005507 spraying Methods 0.000 title claims abstract description 38
- 239000007788 liquid Substances 0.000 claims abstract description 92
- 239000007921 spray Substances 0.000 claims abstract description 64
- 239000003814 drug Substances 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000003756 stirring Methods 0.000 claims description 26
- 230000001276 controlling effect Effects 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000033228 biological regulation Effects 0.000 claims description 2
- 239000000523 sample Substances 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 241000607479 Yersinia pestis Species 0.000 description 2
- 230000008021 deposition Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 231100000572 poisoning Toxicity 0.000 description 2
- 230000000607 poisoning effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- 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
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
-
- 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
Abstract
The invention discloses an intelligent ultrasonic pneumatic spraying and pesticide applying robot which comprises a travelling mechanism, a power management module, a pesticide box, a liquid pump, an atomizing device, a spraying device and a control unit, wherein the travelling mechanism is connected with the power management module; the power management module is used for providing power for the travelling mechanism, the atomizing device and the liquid pump; the spraying device comprises a spray rod and a spray head; the control unit is used for controlling the running mechanism, the liquid pump and the working control unit of the atomizing device and comprises a wireless communication module and a signal processing module; the wireless communication module receives a remote driving signal and a working signal; the signal processing module is used for controlling the on-off of circuits of the travelling mechanism, the liquid pump and the atomizing device; the medicine box is provided with a liquid outlet and a liquid return port; the liquid outlet and the liquid return port are connected with the liquid pump; the liquid pump is connected with the collision nozzle, pesticide in the pesticide box is conveyed to the nozzle through the liquid pump through the liquid outlet, and flows back to the pesticide box through the liquid return port when the liquid pressure is too high; the atomizing device atomizes pesticide liquid in the spray head and then sprays the pesticide liquid through the spray head; the invention can realize uniform and wide-range application of crops.
Description
Technical Field
The invention belongs to the field of intelligent robots, and particularly relates to an intelligent ultrasonic pneumatic spraying and pesticide application robot.
Background
At present, greenhouse pesticide application is an agricultural production activity with large workload and high labor intensity. Since the manual spraying efficiency is low, the spraying is uneven and the human body is hurt during operation, a plurality of greenhouse spraying devices are currently developed and researched. However, the existing greenhouse pesticide application equipment cannot ensure the uniformity and precision of pesticide application to crops with more and larger branches and leaves and hedge frame type crops, the deposition effect is poor, and the back surfaces of the leaves cannot be effectively operated. Therefore, a novel intelligent spray application robot for a greenhouse is required to perform efficient and accurate spray application operation.
Disclosure of Invention
The invention aims to provide an intelligent ultrasonic pneumatic spraying and applying robot so as to realize uniform and large-scale application to crops with more branches and leaves and hedge frame type crops.
The technical solution for realizing the purpose of the invention is as follows:
an intelligent ultrasonic pneumatic spraying and pesticide applying robot comprises a travelling mechanism, a power management module, a pesticide box, a liquid pump, an atomizing device, a spraying device and a control unit, wherein the power management module, the pesticide box, the liquid pump, the atomizing device, the spraying device and the control unit are arranged on the travelling mechanism; the power management module is used for providing power for the travelling mechanism, the atomizing device and the liquid pump; the spraying device comprises a spray rod and a plurality of spray heads arranged on the spray rod;
the control unit is used for controlling the running mechanism, the liquid pump and the atomizing device to work; the control unit comprises a wireless communication module and a signal processing module; the wireless communication module receives a remote driving signal and a working signal; the signal processing module judges a driving signal to control the direction and the speed of the travelling mechanism so as to control the travelling and the stop of the travelling mechanism, and judges an operation signal to control the on-off of circuits of the liquid pump and the atomizing device; the medicine box is provided with a liquid outlet and a liquid return port; the liquid outlet and the liquid return port are respectively connected with the liquid pump through pipelines; the liquid pump is connected with the collision nozzle through a pipeline, pesticide in the pesticide box is conveyed to the nozzle through the liquid pump through a liquid outlet, and the pesticide returns to the pesticide box through a liquid return port when the liquid pressure is too high; the atomizing device is connected with the spray head through a pipeline, and atomizes pesticide liquid in the spray head, and the atomized pesticide is sprayed out through the spray head.
Compared with the prior art, the invention has the remarkable advantages that:
(1) The intelligent ultrasonic pneumatic spraying and applying robot provided by the invention adopts wireless signals to realize intelligent control, is simple to operate, and can effectively avoid operator poisoning.
(2) The intelligent ultrasonic pneumatic spraying and applying robot provided by the invention has the advantages that the walking mechanism adopts the crawler type, and the robot can stably run on muddy land with uneven surface.
(3) The intelligent ultrasonic pneumatic spraying and applying robot provided by the invention uses ultrasonic and pneumatic to atomize liquid drops at the same time, and has the advantages of fine fog drops, good uniformity and excellent deposition performance.
(4) According to the intelligent ultrasonic pneumatic spraying and pesticide applying robot, the spray bars can be horizontally placed to realize large-scale spraying operation on low crops, and can be vertically placed to realize higher spraying operation, meanwhile, the spray bars adopt telescopic rods, the transverse area or vertical height of spraying can be adjusted, the spray heads can be adjusted in angle, and effective pesticide application can be carried out on the positions, such as leaf backs, where the operation is difficult; the application range is wide.
The invention is described in further detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a power management module according to the present invention;
FIG. 3 is a schematic diagram of the structure of the medicine box of the present invention;
FIG. 4 is a schematic view of an atomizer according to the present invention;
FIG. 5 is a block diagram of a sprinkler according to the present invention;
Detailed Description
For the purpose of illustrating the technical scheme and technical purposes of the present invention, the present invention is further described below with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, the intelligent ultrasonic pneumatic spraying and pesticide applying robot comprises a travelling mechanism 1, a power management module 2, a pesticide box 3, a liquid pump 22, an atomizing device 4, a spraying device and a control unit, wherein the power management module 2, the pesticide box 3, the liquid pump 22, the atomizing device 4 and the spraying device are arranged on the travelling mechanism 1;
the power management module 2 is used for providing power for the travelling mechanism 1, the atomizing device 4 and the liquid pump 22; the spraying device comprises a spray rod 5 and a plurality of spray heads 6 arranged on the spray rod 5;
the control unit is used for controlling the running mechanism 1, the liquid pump 22 and the atomizing device 4 to work; the control unit comprises a wireless communication module and a signal processing module; the wireless communication module receives a remote driving signal and a working signal; the signal processing module judges the driving signal to control the direction and speed of the travelling mechanism 1 so as to control the travelling and stopping of the travelling mechanism 1, and judges the operation signal to control the on-off of the circuits of the liquid pump 22 and the atomizing device 4; the on-off is controlled by the high and low levels of a MAX350 pin of the multi-way switch control chip; the medicine chest 3 is provided with a liquid outlet 20 and a liquid return port 21; the liquid outlet 20 and the liquid return 21 are respectively connected with a liquid pump 22 through pipelines; the liquid pump 22 is connected with the collision nozzle 6 through a pipeline, pesticide in the pesticide box 3 is conveyed to the nozzle 6 through the liquid pump 22 through the liquid outlet 20, the liquid pump 22 comprises a pressure control valve, and the pesticide box 3 is refluxed through the liquid return port 21 when the liquid pressure is too high so as to control the pipeline pressure; the atomizing device 4 is connected with the spray head 6 through a pipeline, so that pesticide liquid in the spray head 6 is atomized, and the atomized pesticide is sprayed out through the spray head 6.
The control unit adopts a singlechip and comprises a wireless signal receiving function and a signal processing function; the travelling mechanism 1 is driven by a motor, the motor is controlled by an L298 driving chip, and forward and reverse rotation of the travelling mechanism 1 can be realized through chip control; rectangular waves are formed by programming on-off motor power supplies, PWM speed regulation is achieved in a mode of regulating and controlling the duty ratio of the rectangular waves, and the direction control of the travelling mechanism 1 is regulated through different motor speeds at two sides, so that a steering function is achieved. The average power of the motor is related to the signal pulse width as follows:
wherein P is the average power of the motor, T is the signal period, T is the signal duration, and P max The maximum operating power of the motor is represented by A, and the pulse width of the signal is represented by A. The direction control of the travelling mechanism 1 is regulated by motors on two sides, so that the steering function is realized.
Further, referring to fig. 3, a stirring device is further disposed on the medicine box 3 to uniformly stir the pesticide in the medicine box 3.
As an embodiment, the stirring device comprises a stirring motor 18 and a stirring rod 19; the stirring motor 18 is arranged at the upper end of the medicine box 3, the rotating shaft of the stirring motor 18 is connected with the stirring rod 19, the stirring rod 19 stretches into the medicine box 3, and a plurality of stirring blades are arranged on the stirring rod 18.
Further, the lower end in the medicine chest 3 is also provided with a liquid level sensor 14, the upper end of the medicine chest 3 is provided with a warning device 16, and in the spraying process, when the liquid level of the pesticide in the medicine chest 3 is lower than the liquid level sensor 14, the warning device 16 gives an alarm to prompt the addition of the pesticide. The warning device 16 may be a warning light or a buzzer.
Furthermore, a water outlet tap 17 is arranged at the lower end of the medicine box 3 so as to clean the medicine box 3.
Further, referring to fig. 2, the power management module 1 includes a low-voltage power supply 10 disposed in a power supply box 11, a voltage converter 12, and a switch 7 disposed outside the power supply box 11; the low-voltage power supply is one of 12V, 24V or 36V and other voltages; the voltage converter is used for converting the voltage of the low-voltage power supply 10 into 220V alternating current and providing power for the travelling mechanism 1, the driving liquid pump 22, the atomizing device 4 and the stirring motor 18. The switch 7 is a physical key and comprises a first switch for controlling the driving motor 13 of the travelling mechanism 1, a second switch for emergency braking and a third switch for controlling the atomizing device 4.
Further, referring to fig. 4, the atomizing device 4 includes an ultrasonic generator 23 and an air pump 24; the air pump 24 is connected with the spray head 6 through an air pipe, the probe of the ultrasonic generator 23 is arranged in the spray head 6, and the liquid medicine is atomized into tiny liquid drops to be sprayed out under the action of the ultrasonic generator 23 and the air pump 24.
Further, referring to fig. 5, the spray bars 5 are multi-stage telescopic bars, and at least one spray head 6 is arranged on each stage of telescopic bar; the telescopic rod 5 is driven by a hydraulic pump 26 in a telescopic way, the hydraulic pump 26 controls operation through an electric cabinet 25, and the electric cabinet 25 is powered by the power management module 2.
The motion speed of the telescopic rod is as follows:
wherein v is the movement speed of the telescopic rod, c q Is the flow coefficient, ρ is the hydraulic oil density, A T For telescopic rod inlet area, P y Is rated pressure, F is hydraulic thrust, A 1 Is the cross-sectional area of the rod. The telescopic rod moves under the pressure of hydraulic oil, and the speed of the rod decreases from top to bottom due to the decreasing cross-sectional area of the three-stage hydraulic rod.
Furthermore, the spray head 6 is fixed on the spray boom 5 through the spherical hinge, so that the spray angle of the spray head 6 can be controlled, and effective pest and disease control and pesticide application can be carried out on the parts such as the leaf backs and the like which are difficult to operate, and the operation is simple and convenient.
Preferably, at least one spray rod 5 is respectively arranged at the left end and the right end of the travelling mechanism 1; the tail end of the spray boom 5 is fixedly connected with a rotating shaft, the rotating shaft is rotationally connected with a support at the upper end of the travelling mechanism 1, and the rotating shaft is driven by a rotating motor to rotate relative to the travelling mechanism 1 so as to realize horizontal placement and vertical placement; when the spray boom 5 rotates in a horizontal state, the spraying operation of low crops with large area can be realized; when the spray boom 5 rotates in a vertical state, the sprinkling operation of higher crops can be realized.
In some embodiments, the spray bars 5 are three-stage spray bars, including a first-stage spray bar 27, a second-stage spray bar 28 and a third-stage spray bar 29, and 8 spray heads are arranged on each spray bar 5.
In some embodiments, the running gear 1 is a wheeled running gear.
Preferably, the running mechanism 1 is a crawler running mechanism, adopts a cross independent suspension design, symmetrical bridge arms are connected to the driving wheels through springs, and two groups of load wheels on the bottom surface are connected through the cross bridge arms through springs, so that the crawler running mechanism can effectively absorb shock and can stably run on muddy and uneven lands. The front and the back of the single-side crawler belt are respectively provided with a driving wheel and a tensioning wheel, and each driving wheel is respectively provided with a driving motor 13 for driving, so that four-wheel driving is formed.
The rotation speed of the driving wheel driven by the motor is as follows: n=9550P/M
Where n is the rotational speed, P is the rated power, and M is the rated torque.
The crawler speed is: v=n×r
Wherein v is the speed of the tracked vehicle, and R is the circumference of the driving wheel. The crawler belt running mechanism is directly driven by the motor connected with the driving wheel, and the energy of the motor can be transmitted to the crawler belt with maximum efficiency.
When in use, the switch 7 is turned on, the pesticide and the water are poured into the pesticide box 3 according to the proportion, and the stirring motor 18 controls the stirrer rod 19 to stir the pesticide uniformly. The remote control is utilized to send out a signal, the wireless signal is received by the robot wireless communication module, the robot is controlled to enter the operation area, the remote control is utilized to control and adjust operation parameters, and the atomizing device 4 is started. The evenly stirred liquid medicine enters the liquid pump 22 from the liquid outlet 20, and when the liquid pressure of the liquid pump 22 is too high, the excessive liquid medicine returns to the medicine box 3 through the liquid return port 21. The liquid pump 22 supplies the chemical solution to the spray head 6 along a pipe line on the spray boom 5. In the head 6, the air pressure generated by the air pump 24 and the ultrasonic wave generated by the ultrasonic generator 23 operate on the chemical liquid, and atomize the chemical liquid into minute droplets to be ejected. The pressure of the liquid pump 22 is 10-100MPa, the power of the ultrasonic generator 23 is 20-250Hz, and the pressure of the air pump 24 is 5-150kPa. An operator uses wireless signals to control the actions of the robot at a distance, and uses a front-back driving module to realize various actions such as forward, backward, acceleration, deceleration, turning and the like. When the liquid level is lower than the liquid level sensor 14, the alarm 16 gives an alarm to remind an operator to add the liquid medicine. And turning off the power supply after the operation is completed.
The intelligent ultrasonic pneumatic spraying and applying robot provided by the invention adopts wireless signals to realize intelligent control, is simple to operate, and can effectively avoid operator poisoning. The spray boom can be horizontally placed to realize large-scale spraying operation on low crops, can also be vertically placed to realize spraying operation on higher crops, and meanwhile, the spray boom adopts a telescopic rod, so that the transverse area or vertical height of spraying can be adjusted, the spray head can be adjusted in angle, and effective pest and disease control and pesticide application can be carried out on the parts such as leaf backs and the like which are difficult to operate; the application range is wide.
Claims (7)
1. The intelligent ultrasonic pneumatic spraying and pesticide applying robot is characterized by comprising a travelling mechanism (1), a power management module (2), a pesticide box (3), a liquid pump (22), an atomizing device (4), a spraying device and a control unit, wherein the power management module (2), the pesticide box (3), the liquid pump (22), the atomizing device (4) and the control unit are arranged on the travelling mechanism (1); the power management module (2) is used for providing power for the travelling mechanism (1), the atomizing device (4) and the liquid pump (22); the spraying device comprises a spray rod (5) and a plurality of spray heads (6) arranged on the spray rod (5);
the control unit is used for controlling the running mechanism (1), the liquid pump (22) and the atomizing device (4) to work; the control unit comprises a wireless communication module and a signal processing module; the wireless communication module receives a remote driving signal and a working signal; the signal processing module judges a driving signal to control the direction and the speed of the travelling mechanism (1) so as to control the travelling and the stopping of the travelling mechanism (1), and judges an operation signal to control the on-off of circuits of the liquid pump (22) and the atomizing device (4); the medicine box (3) is provided with a liquid outlet (20) and a liquid return port (21); the liquid outlet (20) and the liquid return port (21) are respectively connected with the liquid pump (22) through pipelines; the liquid pump (22) is connected with the spray head (6) through a pipeline, pesticide in the pesticide box (3) is conveyed to the spray head (6) through the liquid pump (22) through the liquid outlet (20), and the pesticide returns to the pesticide box (3) through the liquid return port (21) when the liquid pressure is too high; the atomizing device (4) is connected with the spray head (6) through a pipeline, so that pesticide liquid in the spray head (6) is atomized, and the atomized pesticide is sprayed out through the spray head (6);
the control unit adopts a singlechip, the travelling mechanism (1) is driven by a motor, the motor is controlled by an L298 driving chip, and the forward and reverse rotation of the travelling mechanism (1) can be realized through chip control; rectangular waves are formed by programming on-off motor power supplies, PWM speed regulation is realized in a mode of regulating and controlling the duty ratio of the rectangular waves, and the direction control of the travelling mechanism (1) is regulated by different motor speeds at two sides, so that a steering function is realized;
the average power of the motor is related to the pulse width of the signal as follows:
wherein P is the average power of the motor, T is the signal period, T is the signal duration, and P max The maximum running power of the motor is set, and A is the signal pulse width;
the atomizing device (4) comprises an ultrasonic generator (23) and an air pump (24); the air pump (24) is connected with the spray head (6) through an air pipe, a probe of the ultrasonic generator (23) is arranged in the spray head (6), and the liquid medicine is atomized into tiny liquid drops to be sprayed out under the action of the ultrasonic generator (23) and the air pump (24);
the spray bars (5) are multi-stage telescopic bars, and each stage of telescopic bar is provided with at least one spray head (6); the telescopic rod is driven by a hydraulic pump (26), the hydraulic pump (26) controls operation through an electric cabinet (25), and the electric cabinet (25) is powered by the power management module (2); the motion speed of the telescopic rod is as follows:
wherein v is the movement speed of the telescopic rod, c q Is the flow coefficient, ρ is the hydraulic oil density, A T For telescopic rod inlet area, P y Is rated pressure, F is hydraulic thrust, A 1 Is the cross-sectional area of the rod.
2. The intelligent ultrasonic pneumatic spraying and dispensing robot according to claim 1, wherein the pesticide box (3) is further provided with a stirring device for stirring pesticide, and the stirring device comprises a stirring motor (18) and a stirring rod (19); the stirring motor (18) is arranged at the upper end of the medicine box (3), the rotating shaft of the stirring motor (18) is connected with the stirring rod (19), the stirring rod (19) stretches into the medicine box (3), and a plurality of stirring blades are arranged on the stirring rod (19).
3. The intelligent ultrasonic pneumatic spraying and dispensing robot according to claim 1, wherein a liquid level sensor (14) is further arranged at the inner lower end of the medicine chest (3), an alarm (16) is arranged at the upper end of the medicine chest (3), and the alarm (16) gives an alarm when the liquid level of the pesticide in the medicine chest (3) is lower than the liquid level sensor (14).
4. The intelligent ultrasonic pneumatic spray application robot according to claim 2, wherein the power management module (2) comprises a low-voltage power supply (10) arranged in a power supply box (11), a voltage converter (12) and a switch (7) arranged outside the power supply box (11); the voltage converter is used for converting the voltage of the low-voltage power supply (10) into 220V alternating current and providing power for the travelling mechanism (1), the liquid pump (22), the atomizing device (4) and the stirring motor (18); the switch (7) comprises a first switch for controlling the driving motor (13) of the travelling mechanism (1), a second switch for emergency braking and a third switch for controlling the atomizing device (4).
5. The intelligent ultrasonic pneumatic spraying and dispensing robot according to claim 1, wherein at least one spray boom (5) is arranged at the left end and the right end of the travelling mechanism (1); the tail end of the spray boom (5) is fixedly connected with a rotating shaft, the rotating shaft is rotationally connected with a support at the upper end of the travelling mechanism (1), and the rotating shaft is driven by a rotating motor and can rotate relative to the travelling mechanism (1) to realize horizontal placement and vertical placement.
6. The intelligent ultrasonic pneumatic spray application robot according to claim 5, wherein the spray head (6) is fixed on the spray rod (5) through a spherical hinge.
7. The intelligent ultrasonic pneumatic spraying and dispensing robot according to claim 1, wherein the travelling mechanism (1) is a crawler-type travelling mechanism, a driving wheel and a tensioning wheel are respectively arranged at the front and the rear of the single-side crawler, and each driving wheel is respectively provided with a driving motor (13) for driving, so that four-wheel driving is formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811310313.1A CN109221069B (en) | 2018-11-06 | 2018-11-06 | Intelligent ultrasonic pneumatic spraying and pesticide applying robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811310313.1A CN109221069B (en) | 2018-11-06 | 2018-11-06 | Intelligent ultrasonic pneumatic spraying and pesticide applying robot |
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| CN109221069A CN109221069A (en) | 2019-01-18 |
| CN109221069B true CN109221069B (en) | 2024-03-26 |
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| CN201811310313.1A Active CN109221069B (en) | 2018-11-06 | 2018-11-06 | Intelligent ultrasonic pneumatic spraying and pesticide applying robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111838109A (en) * | 2020-06-28 | 2020-10-30 | 江苏大学 | Intelligent spraying device with adjustable spraying range and operation method thereof |
| CN111990375A (en) * | 2020-08-04 | 2020-11-27 | 湖南飞鹰新能源科技有限公司 | Self-propelled sprayer |
| CN113247241A (en) * | 2021-06-29 | 2021-08-13 | 扬州大学 | Unmanned aerial vehicle target-aiming accurate pesticide applying system and pesticide applying method thereof |
| CN114731998A (en) * | 2022-04-09 | 2022-07-12 | 青海卡约初禾生态农业科技有限公司 | Intelligent facility agriculture laxative machine of thing networking |
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| CN105532623A (en) * | 2016-02-18 | 2016-05-04 | 江苏大学 | Intelligent self-propelled and air-supply electrostatic toward-target sprayer |
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| CN102440231A (en) * | 2011-09-08 | 2012-05-09 | 中国农业大学 | Automatic spraying machine |
| CN105532623A (en) * | 2016-02-18 | 2016-05-04 | 江苏大学 | Intelligent self-propelled and air-supply electrostatic toward-target sprayer |
| CN207870169U (en) * | 2018-01-19 | 2018-09-18 | 刘海锋 | A kind of pesticide stirring flusher |
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