CN111543416B - Method for precisely fertilizing or spraying pesticide - Google Patents
Method for precisely fertilizing or spraying pesticide Download PDFInfo
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- CN111543416B CN111543416B CN202010548666.6A CN202010548666A CN111543416B CN 111543416 B CN111543416 B CN 111543416B CN 202010548666 A CN202010548666 A CN 202010548666A CN 111543416 B CN111543416 B CN 111543416B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/09—Watering arrangements making use of movable installations on wheels or the like
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
- A01C23/042—Adding fertiliser to watering systems
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G25/00—Watering gardens, fields, sports grounds or the like
- A01G25/16—Control of watering
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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
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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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- 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
- Y02A40/22—Improving land use; Improving water use or availability; Controlling erosion
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Water Supply & Treatment (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Fertilizing (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a method for accurately fertilizing or spraying pesticides, which specifically comprises the following steps: a. sprinkling irrigation and synchronous accurate fertilization or pesticide spraying preparation; b. discharging by a spray head vehicle; c. mixing the liquid medicine; d. synchronously and accurately fertilizing or spraying pesticides by sprinkling irrigation; e. synchronous and accurate fertilization or pesticide spraying control; and f, controlling the recovered PE pipe. The method for accurately fertilizing or spraying the pesticide can realize accurate fertilization or pesticide spraying while conveniently performing spray irrigation according to instruction requirements, and further realize efficient fertilization or pesticide spraying while realizing efficient spray irrigation; the PE pipe fertilizes or spills the medicine in the farmland that the sprinkling irrigation was gone up when retrieving, and then guarantees that fertilizer or medicine are absorbed by the farmland better, can prevent simultaneously that the farmland earth's surface from persisting too much fertilizer or medicine, and then prevent the polluted environment, the accurate fertilization or the pesticide that spray of specially adapted large tracts of land crops.
Description
Technical Field
The invention relates to a method for accurately fertilizing or spraying pesticides, in particular to a method for synchronously and accurately fertilizing or spraying pesticides while sprinkling irrigation crops, and belongs to the technical field of sprinkling irrigation equipment.
Background
The spray irrigation is an irrigation method that the pressure water is sprayed into the air by using special equipment such as a spray nozzle and the like to form water drops which fall on the ground spray irrigation surface and the crop surface.
The reel formula sprinkling irrigation machine is the more common one in the sprinkling irrigation machine, it is on the capstan winch to draw the PE pipe winding, it is rotatory to utilize sprinkling irrigation pressure water drive gearbox, and draw the irrigation machinery of shower nozzle car automatic movement and spraying, the reel formula sprinkling irrigation machine can irrigate the farmland of large tracts of land, also can be according to the size of shower nozzle control water spray, in order to satisfy the different requirements of user to the sprinkling irrigation water yield, be the sprinkling irrigation equipment that farmland water-saving irrigation chooseed for use usually, the reel formula sprinkling irrigation machine mainly includes the chassis usually, the reel, the PE pipe, gearbox and shower nozzle car, it produces great moment of torsion power drive capstan winch to drive chain drive after the gearbox slows down and rotates, thereby realize the automatic recovery of PE pipe.
The precise fertilization is one of the core contents of the precise agriculture, the precise agriculture is to utilize a GPS to carry out farmland information positioning acquisition, including yield monitoring, soil sample acquisition and the like, a computer system carries out analysis and processing on data to decide management measures of farmland plots, and the yield and soil state information are loaded into a sprayer with a GPS device, so that the farmland plots are precisely fertilized and sprayed; the accurate fertilization is also called as an automatic variable fertilization technology, so that comprehensive balanced fertilization can be realized on each operation unit due to soil and crops, the fertilizer utilization rate and the fertilization economic benefit are greatly improved, the adverse effect on the environment is reduced, namely, the fertilizer requirement rule of the crops is analyzed according to the soil characteristics of the crop growth, the fertilizer input (including the fertilizing amount, the proportion and the period) is adjusted, the soil productivity is fully utilized, the higher income is achieved with the minimum fertilizer input, the fertilizer utilization rate is improved, the farmland environment is improved, and the agricultural planting benefit is increased.
Most of the existing reel type sprinkling irrigation machines are only suitable for sprinkling irrigation crops, and when large-area crops need to be fertilized or pesticide is sprayed, fertilizers or medicines are generally needed to be manually sprayed for many times, so that labor cost is too high, labor intensity is too high, and the condition of uneven spraying exists in manual fertilization or pesticide spraying, so that the absorption and healthy growth of the crops are influenced; the fertilizer or pesticide solution feeder that the PE union coupling of direct and reel formula sprinkling irrigation machine has appeared among the prior art, but what this kind of feeder directly provided is the fertilizer or pesticide solution that disposes in advance, then need carry the good fertilizer or pesticide solution of sufficient tonnage to large tracts of land crops, not only carry inconveniently, consume the resource, easily pollute simultaneously and corrode the PE pipe wall, difficult clearance is washd, more can't realize because of the comprehensive balanced accurate fertilization of crop of soil.
Disclosure of Invention
Aiming at the problems, the invention provides a method for precisely fertilizing or spraying pesticides, which can save resources, reduce labor cost, simultaneously facilitate synchronous precise fertilization or pesticide spraying according to instruction requirements, further realize efficient sprinkling irrigation and efficient fertilization or pesticide spraying, and is particularly suitable for precisely fertilizing or pesticide spraying of large-area crops.
In order to achieve the purpose, the sprinkling irrigation all-in-one machine used by the method for precisely fertilizing or spraying the pesticide comprises a bottom frame, a walking device, a sprinkling irrigation device, a fertilizing or pesticide spraying device and an electric control device; the underframe comprises an auxiliary frame and a telescopic front support, and the auxiliary frame is connected with the underframe through a rotary support and positioning connecting mechanism; the travelling device is arranged below the underframe, and the sprinkling irrigation device, the fertilizing or pesticide spraying device and the electric control device are all arranged on the auxiliary frame;
the sprinkling irrigation device comprises a sprinkling irrigation reel, a sprinkling irrigation PE pipe, a gear box and a sprinkling irrigation sprinkler head vehicle; the sprinkling irrigation reel is erected and installed on the auxiliary frame through the supporting frame; the spray irrigation PE pipe is wound on the spray irrigation reel, and a pressure water stop valve is arranged at the input end position of the spray irrigation PE pipe; the input end of the gearbox is connected with a gearbox driving motor, the output end of the gearbox is provided with a clutch control mechanism, and the output end of the gearbox is connected with the sprinkling irrigation reel through a transmission mechanism; the sprinkling irrigation spray head vehicle comprises a sprinkling irrigation truss and a plurality of sprinkling irrigation spray heads which are mutually communicated and arranged on the sprinkling irrigation truss, and the output end of the sprinkling irrigation PE pipe is communicated and connected with the sprinkling irrigation spray heads;
the fertilizing or pesticide spraying device comprises a fertilizing or pesticide spraying reel, a fertilizing or pesticide spraying PE pipe, a fertilizer dissolving or pesticide dissolving supply mechanism and a fertilizing or pesticide spraying head vehicle; the fertilizing or pesticide spraying reel is erected on the auxiliary frame through the supporting frame and is connected with the output end of the gearbox through the transmission mechanism; the fertilizing or pesticide spraying PE pipe is wound on the fertilizing or pesticide spraying reel; the dissolved fertilizer or dissolved pesticide supply mechanism comprises a water inlet pipeline, a solution mixing tank, a fertilizer or pesticide adding mechanism, a stirring mechanism, a solution output pipeline, a solution output pump, a solution overflow valve, a solution pump-out pipeline, a solution return pipeline, a solution output flow regulating valve and a solution output flowmeter; one end of the water inlet pipeline is connected with the pressure water stop valve at the input end of the spray irrigation PE pipe through a water inlet stop valve and a three-way connecting valve in sequence, and the other end of the water inlet pipeline is communicated with the solution mixing tank; a liquid level control mechanism and a solution concentration detector are arranged on the solution mixing tank, and a detection head of the solution concentration detector extends into the solution mixing tank; the fertilizer or pesticide adding mechanism is arranged at the upper part of the solution mixing tank and is communicated with the solution mixing tank, and the fertilizer or pesticide adding mechanism comprises a stock bin and a rated capacity automatic adding mechanism; the stirring mechanism is fixedly arranged on the solution mixing tank and comprises a stirring motor and a stirring rod, one end of the stirring rod extends into the solution mixing tank, and the other end of the stirring rod is fixedly connected with an output shaft of the stirring motor; one end of the solution output pipeline is arranged at the lower part of the solution mixing tank and is communicated with the solution mixing tank, the other end of the solution output pipeline is communicated with the input end of a solution output pump, the solution output pump is driven by a solution output motor, the output end of the solution output pump is connected with the input end of a solution overflow valve, the output end of the solution overflow valve is communicated with a solution pump-out pipeline, the overflow end of the solution overflow valve is communicated with one end of a solution return pipeline, and the other end of the solution return pipeline extends upwards to the upper part of the solution mixing tank and is communicated with the solution mixing tank; the solution output flow regulating valve and the solution output flowmeter are both arranged on the solution pump outlet pipeline, and the other end of the solution pump outlet pipeline is communicated with the input end of the fertilizing or pesticide spraying PE pipe; the fertilizing or pesticide spraying head vehicle and the sprinkling irrigation spraying head vehicle are in the same traction direction, the fertilizing or pesticide spraying head vehicle is positioned in front of the sprinkling irrigation spraying head vehicle and comprises a fertilizing or pesticide spraying truss and a plurality of mutually communicated fertilizing or pesticide spraying heads arranged on the fertilizing or pesticide spraying truss, and the output end of a fertilizing or pesticide spraying PE pipe is communicated and connected with the fertilizing or pesticide spraying heads;
the electric control device comprises a control panel, a controller, a power supply loop, a data analysis loop, a fertilizer dissolving or pesticide dissolving control loop, a fertilizer applying or pesticide spraying control loop and a sprinkling irrigation control loop; the control panel is provided with a control button and a data input/output port; the controller is respectively and electrically connected with a pressure water stop valve of the sprinkling irrigation device, a gearbox driving motor of the gearbox and a clutch control mechanism of the gearbox, and the controller is respectively and electrically connected with a water inlet stop valve of the fertilizing or pesticide spraying device, a liquid level control mechanism, a solution concentration detector, a rated capacity automatic adding mechanism of a pesticide adding mechanism, a stirring motor, a solution output flow regulating valve and a solution output flowmeter;
the method for precisely fertilizing or spraying the pesticide specifically comprises the following steps:
a. sprinkling irrigation and synchronous accurate fertilization or pesticide spraying preparation: after the sprinkling irrigation integrated machine capable of synchronously and accurately fertilizing or spraying pesticide is dragged to a farmland ground, firstly, the auxiliary frame is rotated to ensure that the sprinkling irrigation spray head vehicle and the fertilizing or pesticide spraying spray head vehicle are opposite to the farmland needing sprinkling irrigation, accurate fertilization or pesticide spraying, and then the auxiliary frame is positioned, the telescopic front support is controlled to extend out and stretch to be stably supported on the ground, and then the inlet end of a pressure water stop valve at the input end position of a sprinkling irrigation PE pipe is communicated and connected with a water supply plug of a pressure water source through a pressure water pipeline and the water supply plug is opened;
b. discharging the spray head vehicle: firstly discharging a fertilizing or pesticide spraying head vehicle, moving the fertilizing or pesticide spraying head vehicle forwards to a set distance of 5-10 m, then discharging a spray irrigation head vehicle, and then synchronously pulling the fertilizing or pesticide spraying head vehicle and the spray irrigation head vehicle to move to a spray irrigation place to synchronously discharge a fertilizing or pesticide spraying PE pipe and a spray irrigation PE pipe;
c. mixing liquid medicine: receiving an operation instruction through a data input/output port on a control panel of the electric control device, starting a data analysis loop, controlling a fertilizer dissolving or pesticide dissolving control loop to work by a controller of the electric control device according to specific indexes, controlling a water inlet stop valve to be opened by the controller, enabling pressure water to enter a solution mixing tank through a water inlet pipeline, controlling a rated capacity automatic adding mechanism of a pesticide adding mechanism to put fertilizer or pesticide with rated dosage into the solution mixing tank, controlling a stirring motor to be started by the controller, stirring a stirring rod of the stirring mechanism to stir and mix the fertilizer or pesticide and water, and closing the water inlet stop valve when the liquid level of a mixed solution is fed back to a set position through a liquid level control mechanism;
d. synchronous accurate fertilization of sprinkling irrigation or spray insecticide: the controller controls the pressure water stop valve to open and starts the solution output motor, pressure water is uniformly sprayed out from a spray nozzle on a spray nozzle vehicle spray irrigation truss through a spray PE pipe for spray irrigation, meanwhile, a mixed solution which is uniformly stirred and mixed in the solution mixing tank is pumped out by a solution output pump, and is self-fertilized or sprayed by a solution pump-out pipeline and a pesticide spraying PE pipe or a pesticide spraying nozzle vehicle for fertilization or a pesticide spraying truss or is uniformly sprayed out by a pesticide spraying nozzle for synchronous and accurate fertilization or pesticide spraying; the controller starts a gearbox driving motor, and the gearbox synchronously drives the sprinkling irrigation reel and the fertilizing or pesticide spraying reel to rotate so as to synchronously recycle the sprinkling irrigation PE pipe and the fertilizing or pesticide spraying PE pipe;
e. synchronous accurate fertilization or pesticide spraying control: during sprinkling irrigation, the controller adjusts the output quantity of the solution output flow control valve according to the operation instruction and the solution flow information fed back by the solution output flowmeter to control the solution output quantity, redundant solution flows back to the solution mixing tank through the solution return pipeline, and meanwhile, the controller controls the water inlet stop valve and the rated capacity automatic adding mechanism of the fertilizer or pesticide adding mechanism to act in real time according to the setting program of the required solution concentration required by the real-time received operation instruction and the liquid level feedback of the liquid level control mechanism to continuously prepare the mixed solution with the solution concentration automatically adjusted;
controlling the recovered PE pipe: the controller closes the pressure water stop valve after the PE pipe to be sprayed is completely recycled, and simultaneously controls the clutch control mechanism of the gearbox to enable the spray reel to be separated from the output end of the gearbox in a gear-shifting way, the gearbox continues to drive the fertilization or pesticide spraying reel to rotate, the controller closes the solution output motor after the PE pipe to be fertilized or pesticide spraying is completely recycled, and simultaneously controls the clutch control mechanism of the gearbox to enable the fertilization or pesticide spraying reel to be separated from the output end of the gearbox in a gear-shifting way and then close the gearbox driving motor, so that the spray irrigation and synchronous accurate fertilization or pesticide spraying of the farmland are completed.
As a further improvement of the invention, the controller in step e controls the water inlet stop valve to feed water and the fertilizer or pesticide adding mechanism to feed water for continuously preparing the mixed solution according to the liquid level feedback of the liquid level control mechanism, wherein when the liquid level in the liquid level control mechanism feedback solution mixing tank is lower than the low level, the controller controls the water inlet stop valve to feed water and the fertilizer or pesticide adding mechanism to prepare the mixed solution, and simultaneously controls the stirring motor to start, and when the liquid level in the liquid level control mechanism feedback solution mixing tank is at the high level, the controller controls the water inlet stop valve and the fertilizer or pesticide adding mechanism to close.
As a further improvement scheme of the invention, a solution concentration detector is also arranged on a solution mixing tank of the used sprinkling irrigation all-in-one machine, a detection head of the solution concentration detector extends into the solution mixing tank, and the solution concentration detector is electrically connected with a controller of the electric control device; and e, the controller controls the water inlet of the water inlet stop valve and the feed of the fertilizer or pesticide adding mechanism to continuously prepare the mixed solution according to the operation instruction, namely controls the action of the rated capacity automatic adding mechanism of the water inlet stop valve or the pesticide adding mechanism to automatically adjust the concentration of the solution in real time according to a set program of the required concentration of the solution required by the operation instruction received in real time.
As a further improvement scheme of the invention, the set distance between the fertilizing or pesticide spraying nozzle vehicle and the sprinkling irrigation nozzle vehicle in the step b is 5-10 meters.
Compared with the prior art, the electric control device of the sprinkling irrigation all-in-one machine capable of synchronously and accurately fertilizing or spraying pesticide is provided with the data input and output port, so that the sprinkling irrigation of a farmland plot and specific index instructions of accurate fertilization or pesticide spraying can be determined by the accurate agricultural computer control system through analysis and processing of farmland soil sample data in real time, and accurate fertilization or pesticide spraying can be realized while sprinkling irrigation is realized; because the fertilizing or pesticide spraying nozzle vehicle is positioned in front of the sprinkling nozzle vehicle and a set distance exists between the fertilizing or pesticide spraying nozzle vehicle and the sprinkling nozzle vehicle, the fertilizing or pesticide spraying is carried out on the irrigated farmland when the PE pipe is recycled, so that the fertilizer or pesticide is better absorbed by the farmland, and meanwhile, excessive fertilizer or pesticide can be prevented from being left on the surface of the farmland, so that the environment pollution is prevented; the fertilizer or pesticide spraying device comprises a fertilizer or pesticide spraying reel, a fertilizer or pesticide spraying PE pipe, a fertilizer or pesticide dissolving supply mechanism and a fertilizer or pesticide spraying nozzle vehicle, wherein the fertilizer or pesticide spraying reel is a reel structure synchronously connected with the sprinkling irrigation device through a gearbox, so that synchronous pipe placing and pipe collecting can be realized, and different distances can be set between the fertilizer or pesticide spraying nozzle vehicle and the sprinkling irrigation nozzle vehicle according to needs during use, so that the absorption effect of sprinkling irrigation can be ensured, and the absorption effect of fertilizer or pesticide spraying can be ensured; because be provided with solution output flow control valve and solution output flowmeter, consequently conveniently adjust the output flow of fertilizer or medicine according to the operation instruction at any time and realize accurate fertilization or spray insecticide, and then realize high-efficient fertilization or high-efficient spray insecticide when realizing high-efficient sprinkling irrigation, the accurate fertilization or the spray insecticide of specially adapted large tracts of land crops.
Drawings
FIG. 1 is a schematic view of the PE pipe of the integrated sprinkling irrigation machine in a fully recovered state;
FIG. 2 is a schematic structural diagram of a fertilizer dissolving or pesticide dissolving supply mechanism of the sprinkling irrigation all-in-one machine;
FIG. 3 is a schematic structural view of the sprinkling irrigation machine in an operating state;
fig. 4 is a view from direction a of fig. 3.
In the figure: 1. chassis, 2, sprinkling irrigation equipment, 21, sprinkling irrigation reel, 22, gearbox, 23, sprinkling irrigation shower nozzle car, 3, fertilization or spill medicine device, 31, fertilization or spill medicine reel, 32, dissolve fertile or dissolve medicine supply mechanism, 321, solution blending tank, 322, fertilizer or pesticide adding mechanism, 323, rabbling mechanism, 324, solution output pump, 325, solution output flow control valve, 326, solution output flowmeter, 33, fertilization or spill medicine shower nozzle car, 4, electric control unit.
Detailed Description
The present invention will be further explained with reference to the drawings (hereinafter, the direction in which the sprinkler PE pipe is pulled out by the sprinkler head cart 23 will be described as the front).
As shown in fig. 1 and fig. 3, the sprinkling irrigation all-in-one machine used in the method for precisely fertilizing or sprinkling pesticides comprises a base frame 1, a walking device, a sprinkling irrigation device 2, a fertilizing or sprinkling device 3 and an electric control device 4; the underframe 1 comprises an auxiliary frame and a telescopic front support, and the auxiliary frame is connected with the underframe 1 through a rotary support and positioning connecting mechanism; the walking device is arranged below the underframe 1, and the sprinkling irrigation device 2, the fertilizing or pesticide sprinkling device 3 and the electric control device 4 are all arranged on the auxiliary frame.
The sprinkling irrigation device 2 comprises a sprinkling irrigation reel 21, a sprinkling irrigation PE pipe, a gear box 22 and a sprinkling irrigation nozzle vehicle 23; the sprinkling irrigation reel 21 is erected and installed on the auxiliary frame through a support frame; the sprinkling irrigation PE pipe is wound on the sprinkling irrigation reel 21, and a pressure water stop valve is arranged at the input end position of the sprinkling irrigation PE pipe; the input end of the gearbox 22 is connected with a gearbox driving motor, the output end of the gearbox 22 is provided with a clutch control mechanism, the output end of the gearbox 22 is connected with the sprinkling irrigation reel 21 through a transmission mechanism, and the gearbox driving motor can control the gearbox 22 to drive the sprinkling irrigation reel 21 to rotate to realize the recycling of the sprinkling irrigation PE pipe; the sprinkling irrigation spray head vehicle 23 comprises a sprinkling irrigation truss and a plurality of mutually communicated sprinkling irrigation spray heads arranged on the sprinkling irrigation truss, and the output end of the sprinkling irrigation PE pipe is communicated and connected with the sprinkling irrigation spray heads.
The fertilizing or pesticide spraying device 3 comprises a fertilizing or pesticide spraying reel 31, a fertilizing or pesticide spraying PE pipe, a fertilizer dissolving or pesticide dissolving supply mechanism 32 and a fertilizing or pesticide spraying head vehicle 33; the fertilizing or pesticide spraying reel 31 is erected on the auxiliary frame through a support frame, and the fertilizing or pesticide spraying reel 31 is connected with the output end of the gearbox 22 through a transmission mechanism; the fertilizing or pesticide spraying PE pipe is wound on the fertilizing or pesticide spraying reel 31;
as shown in fig. 2, the dissolved fertilizer or dissolved pesticide supply mechanism 32 includes a water inlet pipeline, a solution mixing tank 321, a fertilizer or pesticide adding mechanism 322, a stirring mechanism 323, a solution output pipeline, a solution output pump 324, a solution overflow valve, a solution pump-out pipeline, a solution return pipeline, a solution output flow regulating valve 325 and a solution output flow meter 326; one end of the water inlet pipeline is connected with the pressure water stop valve at the input end of the spray irrigation PE pipe through a water inlet stop valve and a three-way connecting valve in sequence, and the other end of the water inlet pipeline is communicated with the solution mixing tank 321; a liquid level control mechanism is arranged on the solution mixing tank 321; the fertilizer or pesticide adding mechanism 322 is arranged at the upper part of the solution mixing tank 321 and is communicated with the solution mixing tank 321, and the fertilizer or pesticide adding mechanism 322 comprises a stock bin and a rated capacity automatic adding mechanism; the stirring mechanism 323 is fixedly arranged on the solution mixing tank 321 and comprises a stirring motor and a stirring rod, one end of the stirring rod extends into the solution mixing tank 321, and the other end of the stirring rod is fixedly connected with an output shaft of the stirring motor; one end of the solution output pipeline is arranged at the lower part of the solution mixing tank 321 and is communicated with the solution mixing tank 321, the other end of the solution output pipeline is communicated with the input end of the solution output pump 324, the solution output pump 324 is driven by a solution output motor, the output end of the solution output pump 324 is connected with the input end of a solution overflow valve, the output end of the solution overflow valve is communicated with a solution pump output pipeline, the overflow end of the solution overflow valve is communicated with one end of a solution return pipeline, and the other end of the solution return pipeline extends upwards to the upper part of the solution mixing tank 321 and is communicated with the solution mixing tank 321; the solution output flow regulating valve 325 and the solution output flowmeter 326 are both arranged on the solution pump outlet pipeline, and the other end of the solution pump outlet pipeline is communicated with the input end of the fertilizing or pesticide spraying PE pipe;
as shown in fig. 3 and 4, the fertilizing or pesticide spraying vehicle 33 has the same traction direction as the sprinkling irrigation spraying vehicle 23, and the fertilizing or pesticide spraying vehicle 33 is located in front of the sprinkling irrigation spraying vehicle 23, and includes a fertilizing or pesticide spraying truss and a plurality of mutually communicated fertilizing or pesticide spraying nozzles mounted on the fertilizing or pesticide spraying truss, and the output end of the fertilizing or pesticide spraying PE pipe is communicated with the fertilizing or pesticide spraying nozzles.
The electric control device 4 comprises a control panel, a controller, a power supply loop, a data analysis loop, a fertilizer dissolving or pesticide dissolving control loop, a fertilizer applying or pesticide spraying control loop and a sprinkling irrigation control loop; the control panel is provided with a control button and a data input/output port; the controller is internally provided with a set program, is respectively and electrically connected with a pressure water stop valve of the sprinkling irrigation device 2, a gearbox driving motor of the gearbox 22 and a clutch control mechanism of the gearbox 22, and is respectively and electrically connected with a water inlet stop valve of the fertilizing or pesticide sprinkling device 3, a liquid level control mechanism, a rated capacity automatic adding mechanism of the pesticide adding mechanism 322, a stirring motor, a solution output flow regulating valve 325 and a solution output flow meter 326.
When the sprinkling irrigation integrated machine capable of synchronously and accurately fertilizing or spraying pesticides is dragged to a farmland to be used, firstly, the auxiliary frame is rotated to enable the sprinkling irrigation spray head vehicle 23 and the fertilizing or pesticide spraying spray head vehicle 33 to face a farmland post-positioning auxiliary frame needing sprinkling irrigation, accurate fertilization or pesticide spraying, then the auxiliary frame is controlled to extend out and stretch out and fix the front support to be stably supported on the ground, then the inlet end of a pressure water stop valve at the input end position of a sprinkling irrigation PE pipe is communicated and connected with a water supply plug of a pressure water source through a pressure water pipeline, the water supply plug is opened, and the pressure water stop valve and the pressure water pipeline outside the water inlet stop valve are filled with pressure water; firstly, the fertilizing or pesticide spraying head vehicle 33 is discharged and moves forwards to a set distance, then the sprinkling spray head vehicle 23 is discharged, and then the fertilizing or pesticide spraying head vehicle 33 and the sprinkling spray head vehicle 23 are synchronously pulled to move forwards so that a fertilizing or pesticide spraying PE pipe and a sprinkling spray PE pipe are synchronously discharged; while the fertilizer applying or pesticide spraying nozzle vehicle 33 and the sprinkling irrigation nozzle vehicle 23 are synchronously pulled to move forwards, the operation instruction is received through a data input/output port on a control panel of the electric control device 4, namely, a receiving precision agriculture computer control system decides a concrete index instruction of sprinkling irrigation and precision fertilizer application or pesticide spraying of the farmland plot through analysis and processing of soil sample data of the farmland soil; then the data analysis loop starts to work, a controller of the electric control device 4 controls the fertilizer dissolving or pesticide dissolving control loop to work according to specific indexes, the controller controls the water inlet stop valve to be opened, pressure water enters the solution mixing tank 321 through a water inlet pipeline, meanwhile, the controller controls the rated capacity automatic adding mechanism of the pesticide adding mechanism 322 to place fertilizer or pesticide with rated dosage into the solution mixing tank 321, the controller controls the stirring motor to be started, the stirring rod of the stirring mechanism 323 stirs and mixes the fertilizer or pesticide and water, and the water inlet stop valve is closed when the liquid level of the mixed solution is fed back to a set position through the liquid level control mechanism; after the fertilizing or pesticide spraying head vehicle 33 and the sprinkling spray head vehicle 23 move forward to the sprinkling irrigation position, the controller controls the pressure water stop valve to open and starts the solution output motor, pressure water is uniformly sprayed out from the sprinkling spray heads on the sprinkling truss of the sprinkling spray head vehicle 23 through the sprinkling PE pipe to realize sprinkling irrigation, and simultaneously, the mixed solution uniformly stirred and mixed in the solution mixing tank 321 is pumped out by the solution output pump 324, and is self-fertilized or pesticide spraying by the solution pump-out pipeline and the fertilizing or pesticide spraying PE pipe or the sprinkling spray head vehicle 33 or the fertilizing or pesticide spraying nozzles on the sprinkling truss to realize synchronous and accurate fertilization or pesticide spraying; the controller starts a gearbox driving motor, the gearbox 22 synchronously drives the sprinkling reel 21 and the fertilizing or pesticide spraying reel 31 to rotate to realize synchronous recovery of the sprinkling PE pipe and the fertilizing or pesticide spraying PE pipe, the solution output flow regulating valve 325 can be regulated according to the solution flow information fed back by the solution output flow meter 326 during sprinkling so as to realize output quantity change of the solution, redundant solution flows back to the solution mixing tank 321 through the solution return pipeline, and the water inlet of the water inlet stop valve and the material fed by the fertilizer or pesticide adding mechanism 322 can be controlled at any time according to the liquid level feedback of the liquid level control mechanism to prepare the mixed solution; after the PE pipe to be sprayed is completely recycled, the controller closes the pressure water stop valve and simultaneously controls the clutch control mechanism of the gearbox 22 to enable the spray reel 21 to be separated from the output end of the gearbox 22 in a gear-shifting way, the gearbox 22 continues to drive the fertilizing or pesticide spraying reel 31 to rotate, after the PE pipe to be sprayed is completely recycled, the controller closes the solution output motor and simultaneously controls the clutch control mechanism of the gearbox 22 to enable the fertilizing or pesticide spraying reel 31 to be separated from the output end of the gearbox 22 in a gear-shifting way and then closes the gearbox driving motor, and therefore spray irrigation and synchronous and accurate fertilization or pesticide spraying of the farmland are completed.
In order to receive specific index instructions of sprinkling irrigation and accurate fertilization or pesticide spraying at any time, as a further improvement scheme of the invention, a data input/output port of the electric control device 4 of the sprinkling irrigation all-in-one machine comprises a wireless transmitting and receiving module, and data input or output is realized through the wireless transmitting and receiving module.
In order to realize different solution concentrations and accurately control the solution concentrations for different crops, as a further improvement scheme of the invention, a solution concentration detector is further arranged on the solution mixing tank 321 of the sprinkling irrigation all-in-one machine, a detection head of the solution concentration detector extends into the solution mixing tank 321, the solution concentration detector is electrically connected with a controller of the electric control device 4, the solution concentration detector can feed back the concentration change of the mixed solution to the controller in real time, and the controller can control the action of a rated capacity automatic adding mechanism of the water inlet stop valve or the pesticide adding mechanism 322 according to a set program of the required solution concentration required by an operation instruction received in real time to realize the automatic regulation of the solution concentration, thereby realizing the more accurate control of the solution concentration.
In order to further ensure the absorption effect of the spray irrigation and simultaneously ensure the absorption effect of the fertilizer application or pesticide spraying, as a further improvement scheme of the invention, the set distance between the fertilizer application or pesticide spraying nozzle vehicle 33 and the spray irrigation nozzle vehicle 23 in the step b is 5-10 meters.
The electric control device 4 of the sprinkling irrigation all-in-one machine capable of synchronously and accurately fertilizing or spraying pesticide is provided with the data input and output port, so that the sprinkling irrigation of a farmland plot and specific index instructions of the accurate fertilization or pesticide spraying can be determined by the accurate agricultural computer control system through analysis and processing of farmland soil sample data, and the accurate fertilization or pesticide spraying can be realized while sprinkling irrigation is realized; because the fertilizing or pesticide spraying nozzle vehicle 33 is positioned in front of the sprinkling nozzle vehicle 23 and a set distance exists between the fertilizing or pesticide spraying nozzle vehicle and the sprinkling nozzle vehicle, the fertilizing or pesticide spraying is carried out on the sprinkling farmland when the PE pipe is recycled, so that the fertilizer or pesticide is better absorbed by the farmland, and meanwhile, excessive fertilizer or pesticide can be prevented from being left on the surface of the farmland, and the environment pollution is prevented; because the fertilizing or pesticide spraying device 3 comprises a fertilizing or pesticide spraying reel 31, a fertilizing or pesticide spraying PE pipe, a fertilizer dissolving or pesticide dissolving supply mechanism 32 and a fertilizing or pesticide spraying head vehicle 33, the fertilizing or pesticide spraying reel 31 is a reel structure synchronously connected with the sprinkling irrigation device 2 through the gearbox 22, synchronous pipe placing and pipe collecting can be realized, and different distances can be set between the fertilizing or pesticide spraying head vehicle 33 and the sprinkling irrigation head vehicle 23 according to requirements during use, so that the absorption effect of sprinkling irrigation can be ensured, and the absorption effect of fertilizing or pesticide spraying can be ensured; because be provided with solution output flow control valve 325 and solution output flow meter 326, consequently conveniently adjust the output flow of fertilizer or medicine according to the operation instruction at any time and realize accurate fertilization or spray insecticide, and then realize high-efficient fertilization or high-efficient spray insecticide when realizing high-efficient sprinkling irrigation, the accurate fertilization or the spray insecticide of specially adapted large tracts of land crops.
Claims (3)
1. A method for accurately fertilizing or spraying pesticides, wherein the adopted sprinkling irrigation integrated machine comprises a chassis (1), a walking device, a sprinkling irrigation device (2), a fertilizing or pesticide spraying device (3) and an electric control device (4); the underframe (1) comprises an auxiliary frame and a telescopic front support, and the auxiliary frame is connected with the underframe (1) through a rotary support and positioning connecting mechanism; the walking device is arranged below the underframe (1), and the sprinkling irrigation device (2), the fertilizing or pesticide spraying device (3) and the electric control device (4) are all arranged on the auxiliary frame;
the sprinkling irrigation device (2) comprises a sprinkling irrigation reel (21), a sprinkling irrigation PE pipe, a gear box (22) and a sprinkling irrigation nozzle vehicle (23); the sprinkling irrigation reel (21) is erected and installed on the auxiliary frame through a support frame; the sprinkling irrigation PE pipe is wound on the sprinkling irrigation reel (21), and the input end position of the sprinkling irrigation PE pipe is provided with a pressure water stop valve; the input end of the gearbox (22) is connected with a gearbox driving motor, the output end of the gearbox (22) is provided with a clutch control mechanism, and the output end of the gearbox (22) is connected with the sprinkling irrigation reel (21) through a transmission mechanism; the sprinkling irrigation spray head vehicle (23) comprises a sprinkling irrigation truss and a plurality of sprinkling irrigation spray heads which are mutually communicated and arranged on the sprinkling irrigation truss, and the output end of the sprinkling irrigation PE pipe is communicated and connected with the sprinkling irrigation spray heads;
the fertilizing or pesticide spraying device (3) comprises a fertilizing or pesticide spraying reel (31), a fertilizing or pesticide spraying PE pipe, a fertilizer dissolving or pesticide dissolving supply mechanism (32) and a fertilizing or pesticide spraying head vehicle (33); the fertilizing or pesticide spraying reel (31) is erected on the auxiliary frame through a support frame, and the fertilizing or pesticide spraying reel (31) is connected with the output end of the gearbox (22) through a transmission mechanism; the fertilizing or pesticide spraying PE pipe is wound on the fertilizing or pesticide spraying reel (31); the dissolved fertilizer or dissolved pesticide supply mechanism (32) comprises a water inlet pipeline, a solution mixing tank (321), a fertilizer or pesticide adding mechanism (322), a stirring mechanism (323), a solution output pipeline, a solution output pump (324), a solution overflow valve, a solution pump-out pipeline, a solution return pipeline, a solution output flow regulating valve (325) and a solution output flowmeter (326); one end of the water inlet pipeline is connected with the pressure water stop valve at the input end of the spray irrigation PE pipe through a water inlet stop valve and a three-way connecting valve in sequence, and the other end of the water inlet pipeline is communicated with the solution mixing tank (321); a liquid level control mechanism and a solution concentration detector are arranged on the solution mixing tank (321), and a detection head of the solution concentration detector extends into the solution mixing tank (321); the fertilizer or pesticide adding mechanism (322) is arranged at the upper part of the solution mixing tank (321) and is communicated with the solution mixing tank (321), and the fertilizer or pesticide adding mechanism (322) comprises a storage bin and a rated capacity automatic adding mechanism; the stirring mechanism (323) is fixedly arranged on the solution mixing tank (321) and comprises a stirring motor and a stirring rod, one end of the stirring rod extends into the solution mixing tank (321), and the other end of the stirring rod is fixedly connected with an output shaft of the stirring motor; one end of the solution output pipeline is arranged at the lower part of the solution mixing tank (321) and is communicated with the solution mixing tank (321), the other end of the solution output pipeline is communicated with the input end of the solution output pump (324), the solution output pump (324) is driven by a solution output motor, the output end of the solution output pump (324) is connected with the input end of a solution overflow valve, the output end of the solution overflow valve is communicated with a solution pump-out pipeline, the overflow end of the solution overflow valve is communicated with one end of a solution return pipeline, and the other end of the solution return pipeline extends upwards to the upper part of the solution mixing tank (321) and is communicated with the solution mixing tank (321); the solution output flow regulating valve (325) and the solution output flowmeter (326) are both arranged on the solution pump outlet pipeline, and the other end of the solution pump outlet pipeline is communicated with the input end of the fertilizing or pesticide spraying PE pipe; the fertilizing or pesticide spraying head vehicle (33) and the sprinkling irrigation spraying head vehicle (23) are in the same traction direction, the fertilizing or pesticide spraying head vehicle (33) is positioned in front of the sprinkling irrigation spraying head vehicle (23) and comprises a fertilizing or pesticide spraying truss and a plurality of mutually communicated fertilizing or pesticide spraying heads arranged on the fertilizing or pesticide spraying truss, and the output end of a fertilizing or pesticide spraying PE pipe is communicated and connected with the fertilizing or pesticide spraying heads;
the electric control device (4) comprises a control panel, a controller, a power supply loop, a data analysis loop, a fertilizer dissolving or pesticide dissolving control loop, a fertilizer applying or pesticide spraying control loop and a sprinkling irrigation control loop; the control panel is provided with a control button and a data input/output port; the controller is respectively and electrically connected with a pressure water stop valve of the sprinkling irrigation device (2), a gearbox driving motor of the gearbox (22) and a clutch control mechanism of the gearbox (22), and the controller is respectively and electrically connected with a water inlet stop valve of the fertilizing or pesticide sprinkling device (3), a liquid level control mechanism, a solution concentration detector, a rated capacity automatic adding mechanism of a fertilizer or pesticide adding mechanism (322), a stirring motor, a solution output flow regulating valve (325) and a solution output flowmeter (326);
the method is characterized by comprising the following steps:
a. sprinkling irrigation and synchronous accurate fertilization or pesticide spraying preparation: after the sprinkling irrigation integrated machine capable of synchronously and accurately fertilizing or spraying pesticide is dragged to a farmland, firstly, the auxiliary frame is rotated to ensure that the sprinkling irrigation spray head vehicle (23) and the fertilizing or pesticide spraying spray head vehicle (33) are opposite to the farmland needing sprinkling irrigation, accurate fertilization or pesticide spraying, and then the auxiliary frame is positioned, the telescopic front support is controlled to extend out and be stably supported on the ground, and then the inlet end of a pressure water stop valve at the input end position of a sprinkling irrigation PE pipe is communicated and connected with a hydrant at a pressure water source through a pressure water pipeline and the hydrant is opened;
b. discharging the spray head vehicle: firstly discharging a fertilizing or pesticide spraying head vehicle (33), moving the fertilizing or pesticide spraying head vehicle forwards to a set distance of 5-10 m, then discharging a sprinkling spraying head vehicle (23), and then synchronously drawing the fertilizing or pesticide spraying head vehicle (33) and the sprinkling spraying head vehicle (23) to move forwards to a sprinkling irrigation place to synchronously discharge a fertilizing or pesticide spraying PE pipe and a sprinkling spraying PE pipe;
c. mixing liquid medicine: the operation instruction is received through a data input/output port on a control panel of the electric control device (4), a data analysis loop starts to work, a controller of the electric control device (4) controls a dissolved fertilizer or dissolved pesticide control loop to work according to specific indexes, the controller controls a water inlet stop valve to be opened, pressure water enters a solution mixing tank (321) through a water inlet pipeline, meanwhile, a rated capacity automatic adding mechanism of a fertilizer or pesticide adding mechanism (322) is controlled to put a rated dose of fertilizer or pesticide into the solution mixing tank (321), the controller controls a stirring motor to be started, a stirring rod of a stirring mechanism (323) stirs and mixes the fertilizer or pesticide and water, and the water inlet stop valve is closed when the liquid level of a mixed solution is fed back to a set position through a liquid level control mechanism;
d. synchronous accurate fertilization of sprinkling irrigation or spray insecticide: the controller controls the pressure water stop valve to open and starts the solution output motor, pressure water is uniformly sprayed out from a spray nozzle on a spray nozzle truss of the spray nozzle vehicle (23) through a spray nozzle PE pipe for spray irrigation, and meanwhile, a mixed solution which is uniformly stirred and mixed in the solution mixing tank (321) is pumped out by a solution output pump (324), and is self-fertilized or sprayed by the solution pump-out pipeline and the fertilization or pesticide spraying PE pipe or the fertilization or pesticide spraying nozzle vehicle (33) for fertilization or pesticide spraying on the pesticide spraying truss or pesticide spraying nozzle for synchronous and accurate fertilization or pesticide spraying; the controller starts a gearbox driving motor, and the gearbox (22) synchronously drives the sprinkling irrigation reel (21) and the fertilizing or pesticide spraying reel (31) to rotate so as to synchronously recycle the sprinkling irrigation PE pipe and the fertilizing or pesticide spraying PE pipe;
e. synchronous accurate fertilization or pesticide spraying control: during sprinkling irrigation, the controller adjusts a solution output flow adjusting valve (325) to control the output quantity of solution according to an operation instruction and solution flow information fed back by a solution output flow meter (326), redundant solution flows back to a solution mixing tank (321) through a solution return pipeline, and meanwhile, the controller controls a water inlet stop valve and a rated capacity automatic adding mechanism of a fertilizer or pesticide adding mechanism (322) to act in real time according to a setting program of required solution concentration required by the operation instruction received in real time and the liquid level feedback of the liquid level control mechanism so as to continuously prepare the mixed solution of which the solution concentration is automatically adjusted;
controlling the recovered PE pipe: after the PE pipe to be sprayed is completely recycled, the controller closes the pressure water stop valve, and simultaneously controls the clutch control mechanism of the gearbox (22) to enable the spray irrigation reel (21) to be separated from the output end of the gearbox (22) in a gear-shifting way, the gearbox (22) continues to drive the fertilization or pesticide spraying reel (31) to rotate, after the PE pipe to be fertilized or pesticide spraying is completely recycled, the controller closes the solution output motor, and simultaneously controls the clutch control mechanism of the gearbox (22) to enable the fertilization or pesticide spraying reel (31) to be separated from the output end of the gearbox (22) in a gear-shifting way, then the gearbox driving motor is closed, and the spray irrigation and synchronous accurate fertilization or pesticide spraying of the farmland are completed.
2. The method for applying fertilizer or spraying pesticide precisely as claimed in claim 1, wherein the controller in step e controls the water inlet stop valve to feed water and the fertilizer or pesticide adding mechanism (322) to continuously prepare the mixed solution according to the liquid level feedback of the liquid level control mechanism, and controls the water inlet stop valve to feed water and the fertilizer or pesticide adding mechanism (322) to prepare the mixed solution and simultaneously controls the stirring motor to start when the liquid level in the liquid level control mechanism feedback solution mixing tank (321) is lower than a low level, and controls the water inlet stop valve and the fertilizer or pesticide adding mechanism (322) to close when the liquid level in the liquid level control mechanism feedback solution mixing tank (321) is at a high level.
3. Method for the precise application of fertilizer or spraying of pesticides as claimed in claim 1, characterized in that the data input and output port of the electronic control unit (4) of the integrated sprinkling irrigation machine used comprises a wireless transmission and reception module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010548666.6A CN111543416B (en) | 2016-11-29 | 2016-11-29 | Method for precisely fertilizing or spraying pesticide |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010548666.6A CN111543416B (en) | 2016-11-29 | 2016-11-29 | Method for precisely fertilizing or spraying pesticide |
| CN201611069174.9A CN106718676B (en) | 2016-11-29 | 2016-11-29 | Using method of sprinkling irrigation all-in-one machine capable of synchronously and accurately fertilizing or spraying pesticides |
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| CN201611069174.9A Division CN106718676B (en) | 2016-11-29 | 2016-11-29 | Using method of sprinkling irrigation all-in-one machine capable of synchronously and accurately fertilizing or spraying pesticides |
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| CN202010548666.6A Active CN111543416B (en) | 2016-11-29 | 2016-11-29 | Method for precisely fertilizing or spraying pesticide |
| CN201611069174.9A Active CN106718676B (en) | 2016-11-29 | 2016-11-29 | Using method of sprinkling irrigation all-in-one machine capable of synchronously and accurately fertilizing or spraying pesticides |
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| CN107079781A (en) * | 2017-06-01 | 2017-08-22 | 惠州市瑰拉科技有限公司 | Watering appliance |
| CN107173374A (en) * | 2017-07-18 | 2017-09-19 | 谢树强 | Sprinkling system and vehicle-mounted sprinkling system |
| CN109906736A (en) * | 2017-12-13 | 2019-06-21 | 京蓝沐禾节水装备有限公司 | Standby fertilizer device and irrigation sprinkler and fertilizing method including this for fertilizer device |
| CN108513893B (en) * | 2018-03-21 | 2021-04-02 | 江苏华源节水股份有限公司 | Using method of chassis rotating type hydraulic reel sprinkler |
| CN109275550B (en) * | 2018-11-30 | 2021-04-06 | 山东农业工程学院 | High-efficiency water-fertilizer-pesticide integrated sprinkling machine |
| CN109757175B (en) * | 2019-03-18 | 2020-10-30 | 中国农业科学院农业资源与农业区划研究所 | Unmanned aerial vehicle monitoring-based corn water and fertilizer integrated variable fertilization method |
| CN113331034A (en) * | 2021-07-26 | 2021-09-03 | 焦作市华巍农业科技开发有限公司 | Agricultural spraying device |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111543416A (en) | 2020-08-18 |
| CN111713384B (en) | 2021-08-13 |
| CN106718676A (en) | 2017-05-31 |
| CN106718676B (en) | 2020-07-21 |
| CN111713384A (en) | 2020-09-29 |
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