CN112493222A - Greenhouse height measurement sectional operation spraying machine and use method - Google Patents
Greenhouse height measurement sectional operation spraying machine and use method Download PDFInfo
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- CN112493222A CN112493222A CN202011469596.1A CN202011469596A CN112493222A CN 112493222 A CN112493222 A CN 112493222A CN 202011469596 A CN202011469596 A CN 202011469596A CN 112493222 A CN112493222 A CN 112493222A
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- 238000005507 spraying Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000005259 measurement Methods 0.000 title abstract description 8
- 239000007921 spray Substances 0.000 claims abstract description 79
- 239000003814 drug Substances 0.000 claims abstract description 32
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 239000007788 liquid Substances 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 2
- 238000003912 environmental pollution Methods 0.000 abstract description 4
- 238000005457 optimization Methods 0.000 description 12
- 239000000575 pesticide Substances 0.000 description 7
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000011218 segmentation Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, 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
- A01M7/005—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
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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
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
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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)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Catching Or Destruction (AREA)
Abstract
本发明涉及一种温室测高分段作业喷雾机及使用方法，其中喷雾机包括底盘、药箱、喷杆、喷杆支架、换行手动推杆、加压泵、高度传感器、电磁阀、控制盒、操控面板及蓄电池，底盘在驱动电机带动下实现正反转并沿轨道直线前进或后退；前后万向轮用于喷雾机地面移动切换轨道时使用，其离地高度大于轨道轮；喷杆由左右平行两根构成，垂直于地面安装在支架上，每根喷杆等间距安装有喷头与电磁阀；喷杆支架等距安装有高度传感器。本发明通过高度传感器与电磁阀协同工作，喷杆采用固定自动式喷雾，实现了基于作物高度的分段式喷药，提高了喷雾的均匀性、一致性，满足了作物不同生长阶段的植保要求，减少了环境污染，既节约成本又提高工作效率。
The invention relates to a greenhouse altimetry-measurement sprayer and a method of using the sprayer, wherein the sprayer comprises a chassis, a medicine box, a spray rod, a spray rod bracket, a manual push rod for line feed, a pressurizing pump, a height sensor, a solenoid valve, and a control box , control panel and battery, the chassis is driven by the drive motor to realize forward and reverse rotation and move forward or backward along the track in a straight line; the front and rear universal wheels are used when the sprayer moves on the ground to switch tracks, and its height from the ground is greater than that of the track wheels; It is composed of two parallel rods on the left and right, and is installed on the bracket perpendicular to the ground. Each spray rod is installed with a spray head and a solenoid valve at an equal distance; the spray rod bracket is installed with a height sensor at an equal distance. The invention cooperates with the height sensor and the solenoid valve, and the spray bar adopts a fixed automatic spraying, which realizes the segmented spraying based on the height of the crop, improves the uniformity and consistency of the spraying, and meets the plant protection requirements of different growth stages of the crops. , reducing environmental pollution, saving costs and improving work efficiency.
Description
Technical Field
The invention belongs to the technical field of multi-span greenhouse mechanical operation equipment, and particularly relates to a greenhouse height measurement sectional operation spraying machine and a use method thereof.
Background
The multi-span greenhouse can realize annual production due to strong environmental controllability, and the height of indoor crops from planting to stable production plants can be from tens of centimeters at the beginning to 3 meters or even 4 meters at the end. Therefore, the following problems are encountered in the plant protection work of the large multi-span greenhouse: (1) after the protective clothing is worn to the staff in the tradition mode of spouting, handheld spray lance drags the spray tube, utilizes to spout the medicine machine and spouts the medicine row by row, will spout medicine machine, spray tube and move to next row work after accomplishing a row of operation. Although the influence of plant height is not considered, the whole process has large workload, high strength and strong repeatability, and the working state of field personnel seriously influences the spraying uniformity and the actual spraying effect; (2) the opening and closing of a spray head of the existing spray rod fixed type pesticide sprayer basically adopt a unified control mode, namely, the spray head is opened and closed simultaneously, and the pesticide liquid is seriously wasted when the plant is low, so that the spray rod fixed type pesticide sprayer is usually used when the plant grows to a certain height; or a manual ball valve is installed, and is manually closed or opened along with the change of the height of the crops, and when the ball valve is higher than 2.5 meters, the operation is usually completed by means of a ladder and the like, so that certain danger is caused; (3) for a large-area multi-span greenhouse, the amount of liquid medicine in early-stage plant protection operation is large, the strength of manual pushing of the spraying machine is high, and particularly, the problems of difficult turning around and difficult rail climbing are prominent when a rail aligning link is changed. With the increase of the area and the large-scale enhancement of the multi-span greenhouse, the problems become important restriction factors of the automatic and labor-saving production of the multi-span greenhouse, so that a clean energy driven self-propelled sprayer with automatic crop height detection and automatic spray height adjustment is urgently needed to meet the requirements of the plant protection operation of the multi-span greenhouse.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a greenhouse height measurement segmental operation spraying machine, wherein the whole machine is driven by a direct current power supply and is provided with a track straight wheel and a ground universal wheel, the line changing and turning around are convenient while the track self-walking between lines is realized, the indoor crop height can be automatically detected, the opening and closing of a spray head on a spray rod are planned, the segmental spraying is realized, the manual operation intensity and the dosage are reduced, and the spraying uniformity and the production efficiency are improved.
The invention provides a greenhouse height measurement segmental operation spraying machine which is realized through the following technical scheme, and comprises a chassis provided with a walking device, a medicine box and a spray rod, wherein the medicine box and the spray rod are arranged on the chassis, a plurality of spray heads are arranged on the spray rod and distributed along the height direction, and the spray heads are communicated with the medicine box through a pipeline provided with a pressure pump.
This scheme drives the medical kit through the removal on chassis and removes, has alleviateed staff's intensity of labour, through arranging the shower nozzle along direction of height, according to the shower nozzle work of the corresponding height of highly selective of plant, realizes the segmentation spraying, adapts to different crops and highly spouts the medicine requirement, has avoided the liquid medicine extravagant.
As optimization, a plurality of height sensors distributed along the height direction are further installed on the spray rod, the height sensors are electrically connected with the controller, and the solenoid valve electrically connected with the controller is installed on the pipeline through which the spray head is communicated with the medicine box. This optimization scheme passes through altitude sensor and detects the plant, and when detecting the plant, the solenoid valve that corresponds with altitude sensor opens, and corresponding shower nozzle work, when not detecting the plant, the solenoid valve that corresponds is in the closed condition, has realized the automated inspection and has spouted the medicine to the plant, has improved the accuracy nature of segmentation operation, further avoids the liquid medicine extravagant.
Preferably, the traveling device comprises a guide rail wheel arranged on the chassis and a direct current driving motor for driving the guide rail wheel to rotate, and the guide rail wheel is supported on a rail arranged on the ground. According to the optimization scheme, the guide rail wheels are arranged, so that the chassis moves along the ground track, the whole machine is guaranteed to travel along a specified path, and the pesticide spraying effect is improved; the direct current driving motor is used as power, cables are prevented from being arranged in the planting area, and the structure is simplified.
Preferably, the walking device further comprises a universal wheel arranged on the chassis, and the bottom surface of the universal wheel is lower than the bottom surface of the guide rail wheel in the height direction. This optimization scheme is through setting up the universal wheel, when the guide rail wheel leaves the track after the medicine is spouted to the one line, under the support of universal wheel, the rail wheel leaves ground and is in unsettled state, and the chassis removes under the support of universal wheel, has made things convenient for the operation of changing a line.
Preferably, the guide rail wheels are distributed in a rectangular shape, a front upper rail guide plate positioned in front of the guide rail wheels and a rear upper rail guide plate positioned behind the guide rail wheels are arranged on the chassis, the width center lines of the front upper rail guide plate and the rear upper rail guide plate are overlapped with the width center line of the rectangle formed by the guide rail wheels, the width of the front upper rail guide plate is matched with the inner space of the ground track, and the width of the rear upper rail guide plate is matched with the outer space of the ground track. This optimization scheme realizes the inboard direction of track through setting up preceding upper rail deflector, through back upper rail deflector, realizes the outside direction of track, and preceding, back upper rail deflector is used for changing the track when convenient guide rail wheel aligns with corresponding the track, the sprayer upper rail of being convenient for.
Preferably, a spray rod support is fixedly arranged on the chassis, and the spray rod is fixedly connected with the spray rod support. This optimization scheme provides the installation carrier for the spray lance through setting up the spray lance support, has improved the stability of spray lance, rocks of spray lance when reducing the operation.
As optimization, both sides of the spray rod support are provided with spray rods. This optimization scheme is through all setting up the spray lance in both sides, when the chassis removes, can spout the medicine to the plant of both sides simultaneously, has improved work efficiency by a wide margin.
As optimization, still be equipped with the manual push rod of the line of trading on the chassis, the manual push rod of the line of trading includes the horizontal pole with spray lance support rigid coupling to and the montant with horizontal pole rigid coupling, the lower extreme and the chassis rigid coupling of montant, the one end that the horizontal pole kept away from spray lance support has set firmly the promotion handle. This optimization scheme is through setting up the manual push rod of the line of trading, has improved the stability of spray lance support on the one hand, and on the other hand promotes the operation to the chassis when conveniently trading the line, improves the efficiency of trading the line, and the manual push rod's of trading simple structure moreover, the cost of manufacture is low.
As an optimization, the height interval of the spray heads is set as follows: the overlapping distance of the fog drops sprayed by the two vertically adjacent spray heads in the height direction when reaching a plant is 5-10 cm. Through the arrangement of the optimization scheme, the full coverage of droplet sedimentation is realized, and the spray leakage is avoided.
The scheme also provides a use method of the greenhouse height measurement sectional operation spraying machine, which comprises the following aspects:
1. before spraying operation, injecting the prepared liquid medicine into a medicine box or preparing the liquid medicine in the medicine box according to a set proportion; the power supply is turned on, the battery power indication is observed, the battery can be normally used when the indicator light is green, and the battery is charged if the indicator light is red, so that the operation is completed after the charging;
2. starting an operation switch, enabling a walking driving motor and each height sensor to work by electrifying, simultaneously enabling the sensors to transmit detection signal levels to a system controller through a photoelectric coupling circuit in a control box, determining the number and the positions of electromagnetic valves to be opened by the controller after logic judgment, finally electrifying the corresponding electromagnetic valves and a pressure pump, and enabling the whole system to enter a normal working state; when an emergency occurs, the emergency stop button is pressed down, so that the driving motor, the pressure pump, the controller, the sensor and the electromagnetic valve are all powered off, the spraying machine stops working and stays still in place under the self-locking action of the driving motor;
3. when spraying is finished in a row and the front and rear guide rail wheels leave the rail, the system is powered off and stops working, and the rail wheels leave the ground and are in a suspended state under the support of the universal wheels;
4. the working personnel push the sprayer to move by using a line-changing manual push rod, then switch the state of a reversing switch, span two upper rail guide plates on a lower guide rail, push a hand lever to move the whole machine onto the guide rail, and realize head-changing-free line changing;
5. after the line feed is finished, the operation switch is restarted to start new line of plant protection operation; when the sprayer needs to move in the opposite direction in the operation process, the operation is realized by switching the states of the reversing switch and the reversing switch.
The invention has the beneficial effects that:
1. the invention adopts the storage battery as the driving energy, is clean and environment-friendly, avoids the problem of environmental pollution under the closed condition of the greenhouse, reduces the cable laying in the planting area and ensures the use safety;
2. the sprayer is in a constant-speed self-propelled type, the spray rod is in fixed automatic spraying, and compared with the traditional manual dragging and spraying mode, the sprayer improves the uniformity and consistency of spraying while reducing the labor intensity and workload;
3. according to the invention, through the cooperative work of the height sensor and the electromagnetic valve, the sectional type pesticide spraying based on the height of the crops is realized, the plant protection requirements of the crops at different growth stages are met, the pesticide spraying amount is reduced, and the environmental pollution is reduced;
4. the invention realizes no head turning at lower cost by additionally arranging the reversing switch and the upper rail guide plate, solves the problem that the line changing and the upper rail of the spraying machine are difficult, improves the line changing efficiency and reduces the workload during line changing.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a right side view of the present invention;
FIG. 4 is a schematic view of the structure of the chassis of the present invention;
shown in the figure:
1. the spray rod comprises a spray rod body 2, a spray rod support 3, a spray head 4, a line-changing manual push rod 5, a medicine box 6, a control box 7, an operation panel 8, a direct current driving motor 9, a storage battery 10, a transmission chain 11, a chassis 12, an upper rail guide plate 13, a guide rail wheel 14, a universal wheel 15, a pressure pump 16, an electromagnetic valve 17 and a height sensor.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present solution is explained below by way of specific embodiments.
As shown in figure 1, greenhouse height finding segmentation operation sprayer, including installing running gear's chassis 11, and set up medical kit 5 on the chassis, spray lance support 2, the manual push rod 4 of the line of changing 4 and spray lance 1, spray lance support 2 and the manual push rod 4 of the line of changing all with the chassis rigid coupling, spray lance 1 and spray lance support 2 rigid coupling, and the left and right sides of spray lance support all is equipped with the spray lance, two spray lances perpendicular to ground just are parallel with the plant, when the chassis removes, spout the medicine to the plant of both sides simultaneously, work efficiency has been improved by a wide margin, the height of every spray lance is according to the last growth of crop in the greenhouse or remain the high decision, in order to satisfy whole growth cycle plant protection requirement. The manual push rod 4 of trading includes the horizontal pole with the spray lance support rigid coupling to and the montant with the horizontal pole rigid coupling, the one end that the spray lance support was kept away from to the horizontal pole has set firmly the promotion handle, the lower extreme and the chassis rigid coupling of montant, install control box 6 and control panel 7 on the montant, the system controller is equipped with in the control box 6, lower extreme one side of montant is equipped with battery 9, is direct current driving motor, force (forcing) pump, solenoid valve, height sensor and control box power supply through battery 9.
A plurality of spray heads 3 which are distributed at equal intervals along the height direction are arranged on the spray rod, the spray direction of the spray heads faces to plants, and the spray heads are communicated with the pesticide box through pipelines provided with pressure pumps 15. The height interval of the spray heads is set as follows: the overlapping distance of the fog drops sprayed by the two vertically adjacent spray heads in the height direction when the fog drops reach plants is 5-10 cm, the spray heads of the embodiment are arranged at equal intervals of 1 m from top to bottom, and can be adjusted according to the types of crops, so that the full coverage of fog drop settlement is realized.
Still install on the spray lance a plurality of height sensor 17 along direction of height equidistant distribution, height sensor electric connection controller, the height sensor of this embodiment adopts laser reflection formula switch sensor, outputs high level signal when scanning the plant, otherwise outputs low level signal, install on the pipeline of shower nozzle and medical kit intercommunication with controller electric connection's solenoid valve 16, the solenoid valve equidistant installation is on the spray lance, the solenoid valve of this embodiment is direct current 24V control, the interval all is the same with the shower nozzle with quantity. When the laser reflection type sensor scans plants, the electromagnetic valve corresponding to the sensor is powered on and opened, the corresponding spray head works, and when the plants are scanned, the electromagnetic valve corresponding to the sensor is closed.
The running gear comprises a guide rail wheel 13 installed on a chassis and a direct current driving motor 8 driving the guide rail wheel 13 to rotate, the guide rail wheel is supported on a track arranged on the ground, the direct current driving motor of the embodiment is a direct current speed reducing motor, an output shaft of the direct current speed reducing motor is in transmission connection with the guide rail wheel through a transmission chain 10, and a forward and reverse rotation driving chassis 11 through the direct current driving motor linearly advances or retreats along the ground track. In order to facilitate the line changing, the walking device of the embodiment further comprises universal wheels 14 arranged at four corners of the chassis, the bottom surfaces of the universal wheels are lower than the bottom surfaces of the guide rail wheels in the height direction and used when the sprayer moves on the ground and switches tracks, and the universal wheels are provided with self-locking brake pieces to prevent the sprayer from sliding on the ground when the sprayer is stopped. The direct current driving motor 8 has a power-off self-locking function, and the spraying machine is prevented from sliding on the rail when the power is off.
The guide rail wheels of the embodiment are four and are distributed in a rectangular shape, an upper rail guide plate 12 facilitating rail installation is fixedly arranged on a chassis, specifically, a front upper rail guide plate located in front of the guide rail wheels is arranged at the front edge of the chassis, a rear upper rail guide plate located behind the guide rail wheels is arranged at the rear edge of the chassis, the width direction center lines of the front upper rail guide plate and the rear upper rail guide plate coincide with the width direction center line of the rectangle formed by the guide rail wheels, the width of the front upper rail guide plate is matched with the inner space of the ground track, the inner side of the track is adopted for guiding, the width of the rear upper rail guide plate is matched with the outer space of the ground track, the outer side of the track is adopted for guiding, and the guide rail wheels are conveniently aligned with the corresponding tracks when the front upper rail guide plate and the rear upper rail guide plate are used for replacing the tracks.
The control box 6 receives signals of the height sensor 17 and input signals of the control panel 7, and outputs electromagnetic valve control signals after analyzing and judging the height; the control panel is provided with a start switch, a stop switch, an emergency stop switch, a motor reversing switch, a power supply and an electric quantity indicating signal, and the control box determines whether to start or stop the driving motor and the pressure pump after receiving the corresponding signals.
The application method of the greenhouse height measurement sectional operation spraying machine comprises the following steps:
1. before spraying operation, injecting the prepared liquid medicine into a medicine box or preparing the liquid medicine in the medicine box according to a set proportion; the power supply is turned on, the battery power indication is observed, the battery can be normally used when the indicator light is green, and the battery is charged if the indicator light is red, so that the operation is completed after the charging;
2. pressing a start button, enabling a walking driving motor and each height sensor to be electrified to work, simultaneously enabling the sensors to transmit detection signal levels to a system controller through a photoelectric coupling circuit in a control box, determining the number and the positions of electromagnetic valves to be opened by the controller after logic judgment, finally powering on the corresponding electromagnetic valves and a pressure pump, and enabling the whole system to enter a normal working state; when an emergency occurs, the emergency stop button is pressed down, so that the driving motor, the pressure pump, the controller, the sensor and the electromagnetic valve are all powered off, the spraying machine stops working and stays still in place under the self-locking action of the driving motor;
3. when spraying is finished in a row and the front and rear guide rail wheels leave the rail, a stop button is pressed, the system is powered off and stops working, and the rail wheels leave the ground and are in a suspended state under the support of the universal wheels;
4. the working personnel push the sprayer to move by using a line-changing manual push rod, then switch the state of a reversing switch, span two upper rail guide plates on a lower guide rail, push a hand lever to move the whole machine onto the guide rail, and realize head-changing-free line changing;
5. after the line feed is finished, the operation switch is restarted to start new line of plant protection operation; when the sprayer needs to move in the opposite direction in the operation process, the operation is realized by switching the states of the reversing switch and the reversing switch.
The sprayer of this embodiment uses the battery as the driving energy, has solved the environmental pollution problem, adopts at the uniform velocity self-propelled, the fixed automatic atomizing of spray lance, has improved the even uniformity of spraying, through the collaborative work of height sensor and solenoid valve, has satisfied the plant protection requirement of the different growth stages of crop, installs backward and forward switch and last rail deflector additional, has improved production efficiency, the cost is reduced.
Of course, the above description is not limited to the above examples, and the undescribed technical features of the present invention can be implemented by or using the prior art, and will not be described herein again; the above embodiments and drawings are only for illustrating the technical solutions of the present invention and not for limiting the present invention, and the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that changes, modifications, additions or substitutions within the spirit and scope of the present invention may be made by those skilled in the art without departing from the spirit of the present invention, and shall also fall within the scope of the claims of the present invention.
Claims (10)
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113841672A (en) * | 2021-08-18 | 2021-12-28 | 山东农业大学 | Plant protection robot and control method for multi-span greenhouse with variable pitch and height adjustment |
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