CN112970707A - Folding type profiling spraying machine and profiling spraying point positioning method thereof - Google Patents

Folding type profiling spraying machine and profiling spraying point positioning method thereof Download PDF

Info

Publication number
CN112970707A
CN112970707A CN202110160122.7A CN202110160122A CN112970707A CN 112970707 A CN112970707 A CN 112970707A CN 202110160122 A CN202110160122 A CN 202110160122A CN 112970707 A CN112970707 A CN 112970707A
Authority
CN
China
Prior art keywords
rod
folding
spraying
profiling
point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202110160122.7A
Other languages
Chinese (zh)
Other versions
CN112970707B (en
Inventor
南玉龙
张慧春
郑加强
杨琨琪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yancheng Institute of Technology
Original Assignee
Yancheng Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yancheng Institute of Technology filed Critical Yancheng Institute of Technology
Priority to CN202110160122.7A priority Critical patent/CN112970707B/en
Publication of CN112970707A publication Critical patent/CN112970707A/en
Application granted granted Critical
Publication of CN112970707B publication Critical patent/CN112970707B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • A01M7/0003—Atomisers or mist blowers
    • A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
    • 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
    • A01G13/00—Protecting plants
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Wood Science & Technology (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Zoology (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention relates to a folding type profiling spraying machine and a method for positioning a profiling spraying point thereof, wherein the spraying machine comprises a walking vehicle body, a laser scanning detection unit and a profiling spraying mechanism; the walking vehicle body comprises a carriage and a walking chassis, and an electric control unit and a spray liquid supply unit are arranged in the carriage; the laser scanning detection unit comprises a laser scanning sensor; the profile modeling spraying mechanism includes: the folding device comprises a plurality of main folding units, a folding mechanism and a folding mechanism, wherein the main folding units are symmetrically arranged on two sides of a compartment and comprise a folding main rod; the telescopic sliding units are arranged on the folding main rod at intervals, move along the rod length direction of the folding main rod and are provided with spraying components at the end parts; the sprayer is strong in folding property and can be suitable for different use scenes; according to the method for positioning the copying spray points, the positioning position points of the copying spray points are accurately calculated according to the point cloud data obtained by detecting the number of the canopy layers by the laser scanning sensor, so that the accurate positioning of the copying spray points is realized, and the copying mechanism achieves the purpose of copying control.

Description

Folding type profiling spraying machine and profiling spraying point positioning method thereof
Technical Field
The invention relates to the technical field of sprayers, in particular to a folding type profiling sprayer and a profiling spraying point positioning method thereof.
Background
In recent years, the planting area of orchards and forest trees in China is increased year by year, and chemical pesticide prevention and control is one of effective ways in the face of forest pest attack. The traditional mode is sprayed with pesticide to prevent and treat forest diseases and insect pests, the pesticide utilization rate is low, and serious pesticide residue and environmental pollution are caused, so that the precise pesticide application technology is developed rapidly.
The profiling variable spraying technology is an important technical mode for realizing accurate pesticide application. The profiling spraying machine adjusts a spray head group on a machine arm of the spraying machine according to the outline of the tree canopy to match the outline shape of the tree canopy, and carries out targeted spraying operation so as to improve the distribution uniformity of fog drops on the tree canopy and the pesticide application efficiency. The prior profiling spraying machine mainly comprises a variable spray rod profiling spraying machine, a double-rocker arm profiling spraying machine, a mechanical arm profiling spraying machine, a gantry profiling spraying machine, a three-in-one profiling spraying machine and the like. The profiling spraying machine with the structure has the problems of heavy and large profiling mechanism, low automation degree, poor profiling precision, high operation difficulty, low efficiency and the like. In the aspect of positioning of the profiling spraying point, manual control is generally adopted, and the control mode is poor in positioning accuracy and high in operation difficulty. Therefore, it is necessary to design a new technical solution to comprehensively solve the problems in the prior art.
Disclosure of Invention
The invention aims to provide a folding type profiling spraying machine and a profiling spraying point positioning method thereof, which can effectively solve the problems of large structure, low automation degree, poor profiling precision, low efficiency, poor positioning precision and high difficulty of the conventional profiling spraying machine.
In order to solve the technical problems, the invention adopts the following technical scheme:
a folding profiling sprayer comprises a walking vehicle body, a laser scanning detection unit for detecting a tree crown and a profiling spraying mechanism for spraying pesticides; the walking vehicle body comprises a carriage and a walking chassis, and an electric control unit and a spray liquid supply unit are arranged in the carriage; the laser scanning detection unit comprises a laser scanning sensor which is arranged on the carriage and used for obtaining a scanning detection point; the profiling spraying mechanism comprises:
the folding device comprises a plurality of main folding units, a plurality of folding units and a plurality of sensors, wherein the main folding units are symmetrically arranged on two sides of a compartment and comprise a folding main rod, one end of the folding main rod is hinged with the compartment, and the other end of the folding main rod is provided with the sensing equipment;
the telescopic sliding units are arranged on the folding main rod at intervals and respectively comprise a fixed rod and a movable rod, one end of the fixed rod is arranged on the folding main rod in a sliding mode, the fixed rods all move along the rod length direction of the folding main rod, the movable rod is parallel to the fixed rod, and the movable rod slides along the rod length direction of the fixed rod; one end of the movable rod, which is far away from the fixed rod, is provided with a spraying assembly.
Furthermore, a first driving assembly for driving the folding main rod to unfold or fold is arranged at the hinged position of the folding main rod and the compartment, a first rack and a first guide rail are arranged on the folding main rod along the rod length direction of the folding main rod, the first rack is connected with a first stepping motor through a speed reducer, a first gear meshed with the first rack and a first sliding table matched with the first guide rail are arranged at the end part of the fixed rod, and the fixed rod drives the first gear and the first sliding table to move along the rod length direction of the folding main rod through the first stepping motor; the end of the fixed rod is also provided with a first encoder, and the first encoder is connected with a first stepping motor through a first coupler.
The first driving mechanism comprises a first stepping push rod, one end of the first stepping push rod is hinged to the lower section of the folding main rod through a first push rod connecting seat, the other end of the first stepping push rod is hinged to the top surface of the compartment through a first push rod fixing seat, and the first stepping push rod is started to pull the folding main rod to rotate towards the compartment side until the folding main rod is parallel to the top surface of the compartment; and a first detection baffle is arranged on the folding main rod opposite to the first push rod connecting seat.
Further, first slip table passes through the fixed plate to be installed at the fixed rod tip, is equipped with the sensor on the opposite fixed plate of first slip table, fixed plate one end extends towards carriage release lever one side, and sets up the second at the fixed plate tip and detect the baffle.
Furthermore, a second rack and a second guide rail are arranged on the fixed rod along the rod length direction of the fixed rod, the second rack is connected with a second stepping motor, a second gear meshed with the second rack and a second sliding table matched with the second guide rail are arranged at the end part of the movable rod, and the movable rod drives the second gear and the second sliding table to move along the rod length direction of the fixed rod through the second stepping motor; the tip of carriage release lever still is equipped with the second encoder, the second encoder passes through the second shaft coupling and is connected with second step motor, still is equipped with on the body of the pole of carriage release lever with the solenoid valve and the brushless centrifugal fan that the spraying subassembly cooperation was used.
Furthermore, the spraying assembly comprises a steering engine, an air spraying cover and a spray head, an air outlet of the brushless centrifugal fan is connected with the air spraying cover through a guide pipe, an outlet of the electromagnetic valve is connected with a water inlet of the spray head, a fixed arm of the steering engine is fixedly connected with the end part, far away from the end part of the folding main rod, of the moving rod, and the spray head and the air spraying cover are fixedly connected with a rotating arm of the steering engine.
Furthermore, the folding main rod comprises at least two folding rods, the end part of the folding rod close to the end of the compartment is hinged with the compartment, the first driving component is arranged at the joint of the folding rod and the compartment, the sensing equipment is arranged at the end part of the folding rod far away from the end of the compartment, the two adjacent folding rods are hinged, and the hinged part of the two folding rods is provided with a second driving component for driving the two folding rods to unfold or fold; the second driving mechanism comprises a second stepping push rod, one end of the second stepping push rod is hinged to the folding rod at the far carriage end through a second push rod connecting seat, the other end of the second stepping push rod is hinged to the upper section of the first folding rod through a second push rod fixing seat, the second stepping push rod is started, and the folding rod at the far carriage end is pulled to rotate towards the folding rod at the near carriage end until the two folding rods are parallel.
Furthermore, the electric control unit comprises a laser scanning detection control box for controlling the laser scanning sensor, a walking chassis control box for controlling the walking chassis, a spray control box for controlling the spray liquid supply unit and a mechanism control box for controlling the main folding unit and the telescopic sliding unit; the spray liquid supply unit comprises a water tank, a water pump, an air tank and a pressure gauge, the water tank, the water pump, the air tank and the pressure gauge are sequentially connected through water pipes, and an outlet of the pressure gauge is connected with each telescopic sliding unit through a water pipe in a shunting mode.
And provides a profiling spraying point positioning method of the folding profiling spraying machine, which comprises the following steps:
determining the corresponding active areas A1-AN of N telescopic sliding units on one side of the carriage from bottom to top and the position limit [ Z ] of the telescopic sliding units in the Z directiondown,Zup]Are respectively [ Z0,Z1]…[ZN-1,ZN]；
Let any one detection point be JcThe calculation method for detecting the crown by the laser scanning sensor to obtain the checkpoint region D is as follows, wherein the active areas a 1-AN correspond to the checkpoint regions D1-DN obtained by detecting the crown by the laser scanning sensor one by one:
Figure BDA0002935130000000031
in each detection point partition, the corresponding method for calculating the spraying positioning point of the telescopic sliding unit comprises the following steps:
in each detection point zone D, the x direction is collected for m times, and a laser scanning sensor collects a point cloud data coordinate P obtained by a crownDataComprises the following steps:
Figure BDA0002935130000000032
obtaining the slope k of a fitting straight line and the A (y) of the data center points of a plurality of acquisition points by a least square method according to the coordinate data of the acquisition pointsA,zA) The calculation is as follows:
Figure BDA0002935130000000033
Figure BDA0002935130000000034
upper limit line of collection point is Dup＝max(PData(z)), the lower limit line of the collection point is Ddown＝min(PData(z)), where max (P)Data(z)) represents solving point cloud coordinate data PDataThe maximum z value in the midpoint coordinates; m is the laser scanning acquisition times in the x direction; n is the number of laser scanning acquisition times in the y direction; y isA、zACoordinates in the y direction and the z direction of the central point A are respectively; i. j is the index value of the row and column subscript of the acquisition point respectively;
drawing a straight line with a slope k through the point A, and intersecting the straight line DupAnd DdownAt point B, C, line BC represents the spray area, crossing point A with a slope
Figure BDA0002935130000000035
Drawing a straight line, the ideal spraying distance is LpAt this time, the ideal profile spray position point P1；
ZupAnd ZdownThe upper working limit and the lower working limit of the spray head of the telescopic sliding unit in the Z direction are respectively set; y islAnd YrThe left and the right are the left and the right working limits of the spray head of the telescopic sliding unit in the Y direction; theta1And theta2The ideal rotation angle and the actual rotation theta of the nozzle1＝arctan(k)；P2Actual spraying points;
according to ideal profile spray position point P19 cases located at the position of the Y, Z-directional working limit of the head of the telescopic sliding unit, the actual spray point P of each case2Angle of rotation theta with respect to the actual nozzle2The calculations are respectively as follows:
case 1: when in use
Figure BDA0002935130000000041
When is, p2＝(yA-Lpsinθ1,zA+Lpcosθ1)，θ2＝θ1；
Situation(s)2: when in use
Figure BDA0002935130000000042
When is, p2＝(Yr,zA+Lpcosθ1),
Figure BDA0002935130000000043
Case 3: when in use
Figure BDA0002935130000000044
When is, p2＝(Yr,Zup)，
Figure BDA0002935130000000045
Case 4: when in use
Figure BDA0002935130000000046
When is, p2＝(yA-Lpsinθ1,Zup)，
Figure BDA0002935130000000047
Case 5: when in use
Figure BDA0002935130000000048
When is, p2＝(Yl,Zup)，
Figure BDA0002935130000000049
Case 6: when in use
Figure BDA00029351300000000410
When is, p2＝(Yl,Zdown)，
Figure BDA00029351300000000411
Case 7: when in use
Figure BDA00029351300000000412
When is, p2＝(Yl,zA+Lpcosθ1),
Figure BDA00029351300000000413
Case 8: when in use
Figure BDA00029351300000000414
When the temperature of the water is higher than the set temperature,
p2＝(yA-Lpsinθ1,Zdown)，
Figure BDA00029351300000000415
case 9: when in use
Figure BDA00029351300000000416
When is, p2＝(Yr,Zdown)，
Figure BDA00029351300000000417
According to the folding type profiling sprayer and the profiling spraying point positioning method thereof, the profiling sprayer achieves a folding effect through the hinged folding main rod and the telescopic sliding unit in sliding connection, when the foldable type profiling sprayer is not used, folding operation is carried out through the hinged part, transportation and storage are facilitated, in addition, each structure is modularized, and later-stage maintenance and repair are facilitated; in addition, the profiling sprayer of the invention has strong applicability, and can achieve the following five application situations according to different use requirements: the double-side mechanism profiling spraying is suitable for orchard fruit tree spraying; the single-side mechanism is used for profiling and spraying, and is suitable for roadside trees; the spray rod type spraying of the bilateral mechanism type is suitable for planting the hedge frame type plants; the single-side mechanism spray rod type spraying is suitable for the hedgerow frame type plants; the two side mechanisms are all folded for transportation and storage.
According to the invention, the first driving component is arranged at the hinged position of the folding main rod and the carriage, and the folding main rod is driven to be unfolded or folded by the first driving component, so that automatic control is realized; for the connection between the folding main rod and the telescopic sliding unit, the invention adopts the structure that the folding main rod is provided with the first rack and the first guide rail, the end part of the fixed rod which is contacted with the folding main rod is provided with the first gear and the first sliding table, and the sliding table is clamped with the guide rail by utilizing the meshing action of the gear and the rack, so as to better drive the displacement change of the telescopic sliding unit on the folding main rod; meanwhile, the fixing rod and the moving rod slide in a similar connection mode, and the problem of space occupation when the fixing rod and the moving rod are folded and not used is solved.
Finally, the method for positioning the profiling spraying points accurately calculates the positioning position points of the profiling spraying points according to the point cloud data obtained by detecting the number of canopy layers by the laser scanning sensor, so that the accurate positioning of the profiling spraying points is realized, and the purpose of profiling control of the profiling mechanism is further achieved.
Drawings
FIG. 1 is a schematic view of the foldable profiling sprayer of embodiment 1 in a folded state;
FIG. 2 is a schematic view of the foldable profiling sprayer of embodiment 2 in a folded state;
FIG. 3 is an enlarged view of the structure at A in FIG. 2;
FIG. 4 is a schematic view of the interior of the compartment of the present invention;
FIG. 5 is a schematic view showing the folded profile sprayer according to embodiment 2 in an unfolded state;
FIG. 6 is a schematic view showing a single-side expanded state of the folding profile atomizing machine according to embodiment 2;
FIG. 7 is a schematic view of a laser scanning sensor of the present invention detecting a tree canopy;
FIG. 8 is a schematic view of 9 cases where an ideal spray point is located;
FIG. 9 is a schematic diagram of the actual spray point locations of cases 1-9.
In the figure: 100. a traveling vehicle body; 110. a walking chassis; 120. a carriage; 121. a right angle stiffener; 122. rotating and fixing the supporting seat; 130. a mechanism control box; 140. a spray control box; 150. a spray liquid supply unit; 151. a pressure gauge; 152. an air tank; 153. a water pump; 154. a water tank; 160. a walking chassis control box; 170. a laser scanning detection control box; 180. a power source; 200. a main folding unit; 210. a first folding bar; 220. a second folding bar; 230. a first drive mechanism; 231. a first push rod connecting seat; 232. a first step push rod; 233. a first push rod fixing seat; 240. a second drive mechanism; 241. a second push rod connecting seat; 242. a second step of pushing the push rod; 243. a second push rod fixing seat; 250. rotating the hinge; 260. a first rack; 261. a rack mount; 270. a first guide rail; 280. a first sensor; 281. a sensor mounting plate; 290. a first detection baffle; 300. a telescopic sliding unit; 310. fixing the rod; 311. a first gear; 312. a speed reducer; 313. a first stepper motor; 314. a first coupling; 315. a first encoder; 316. a roller support rod; 317. a roller; 318. a first sliding table; 320. a travel bar; 321. a second gear; 322. a brushless centrifugal fan; 323. a second stepping motor; 324. a second coupling; 325. a second encoder; 326. an electromagnetic valve; 327. a second sliding table; 330. a spray assembly; 331. a steering engine; 332. an air blast hood; 333. a spray head; 340. a second sensor; 341. a fixing plate; 350. a second detection baffle; 360. a second rack; 370. a second guide rail; 400. a laser scanning detection unit; 410. a laser scanning sensor; 420. a sensor support frame; 500. and (4) crown.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.
Example 1
The technical solution adopted in this embodiment is as shown in fig. 1 and 4, a foldable profiling sprayer includes a main folding unit 200, a telescopic sliding unit 300, a laser scanning detection unit 400 and a walking vehicle body 100, wherein the laser scanning detection unit 400 includes a laser scanning sensor 410 and a sensor support frame 420, and the walking vehicle body 100 includes a carriage 120 and a walking chassis 110 disposed below the carriage 120; referring to fig. 2 and 3, the laser scanning sensor 410 is fixed to the middle of the top of the car 120 through a sensor support 420, the main folding unit 200 includes two folding main rods symmetrically disposed on two sides of the top of the car 120, the folding main rod of this embodiment is a folding rod (for convenience of description, this folding rod is referred to as a first folding rod 210, the same applies below), one end of the first folding rod 210 is hinged to the top of the car 120 through a rotating fixing support 122, the other end of the first folding rod is provided with a first sensor 280 through a sensor mounting plate 281, the rotating fixing support 122 is further provided with a right-angle reinforcement 121 for reinforcement, a first driving mechanism 230 for driving the first folding rod 210 to rotate is further provided between the lower section of the first folding rod 210 and the top of the car 120, the first driving mechanism 230 includes a first step-in rod 232, one end of the first step-in rod 232 is hinged to the first folding rod 210, the other end is hinged on the top surface of the carriage 120 through a first push rod fixing seat 233; when the folding vehicle is folded, the first pushing rod 232 is opened, and the first folding rod 210 is pulled to rotate towards the compartment 120 side until the first folding rod 210 is parallel to the top surface of the compartment 120; a first detection baffle 290 is fixed on the first folding rod 210 opposite to the first push rod connection seat 231, first guide rails 270 are respectively arranged on the outer side surfaces of the first folding rods 210 which are symmetrically arranged, a first rack 260 is arranged on the side surface of the first folding rod 210 adjacent to the first guide rails 270, and the first rack 260 is fixed on the first folding rod 210 through rack mounting pieces 261 which are arranged at intervals;
the telescopic sliding units 300 are provided with four telescopic sliding units and two telescopic sliding units are arranged on each folding rod, the telescopic sliding units 300 are arranged perpendicular to the folding main rods and comprise fixing rods 310 and moving rods 320 which are arranged in parallel, one end of each fixing rod 310 is provided with a first encoder 315 and a first gear 311 matched with a first rack 260, the first gear 311 is controlled by a first stepping motor 313, the first encoder 315 is connected with the first stepping motor 313 through a first coupler 314, a speed reducer 312 is further arranged between the first stepping motor 313 and the first gear 311, specifically, a shaft of the first stepping motor 313 is connected with a rear end shaft of the speed reducer 312, a front end shaft of the speed reducer 312 is fixedly connected with the first gear 311, and the first encoder 315 is installed on the fixing rods 310 through an encoder installation plate; one side of the fixed rod 310 close to the first guide rail 270 is further provided with two first sliding tables 318 clamped with the first guide rail 270, the two first sliding tables 318 are arranged at intervals and are respectively installed on one side of the fixed plate 341 close to the first guide rail 270, one side of the fixed plate 341 far away from the first guide rail 270 is provided with two second sensors 340 arranged at intervals, one end of the fixed plate 341 extends towards the movable rod 320 side, and the end of the fixed plate 341 is provided with a second detection baffle 350 used in cooperation with the first sensor 280, in the embodiment, the first sensor 280 is a contact sensor, and when the distance between the first sensor 280 and the second detection baffle 350 is smaller than 4mm, the contact sensor plays a role in realizing mechanism stroke limitation; the fixed rods 310 move along the rod length direction of the folding main rod through the first gear 311 and the first sliding table 318, so that the telescopic sliding units 300 are distributed; the fixed rod 310 is further provided with a second rack 360 along the length direction of the fixed rod, the second rack 360 is fixed on the fixed rod 310 through rack mounting pieces 261 arranged at intervals similarly to the first rack 260, and a second guide rail 370 is further provided on the side surface of the fixed rod 310 connected with the movable rod 320.
The end of the moving rod 320 is provided with a second encoder 325 and a second gear 321 matched with a second rack 360, the second gear 321 is controlled by a second stepping motor 323, the second encoder 325 is connected with the second stepping motor 323 through a second coupling 324, the second encoder 325 is installed on the moving rod 320 through an encoder installation plate, and the second stepping motor 323 is fixedly installed on the moving rod 320; a second sliding table 327 engaged with the second guide rail 370 is further disposed on a side of the moving rod 320 near the second guide rail 370, and the moving rod 320 moves along the rod length direction of the fixing rod 310 through the second gear 321 and the second sliding table 327. A brushless centrifugal fan 322 and an electromagnetic valve 326 are arranged on the rod body of the moving rod 320, the spraying component 330 comprises a steering engine 331, an air spraying cover 332 and a spray head 333, an air outlet of the brushless centrifugal fan 322 is connected with the air spraying cover 332 through a guide pipe, an outlet of the electromagnetic valve 326 is connected with a water inlet of the spray head 333, a fixed arm of the steering engine 331 is fixedly connected with the end part of the moving rod 320, and the spray head 333 and the air spraying cover 332 are fixedly connected with a rotating arm of the steering engine 331 through bolts; in addition, in order to stably support the moving rod 320, the roller 317 for supporting the moving rod 320 is further disposed at the end of the fixed rod 310 having the first guide rail 270, and the roller 317 supports the moving rod 320 through the roller support rod 316.
An electric appliance control unit, a spray liquid supply unit 150 and a power supply 180 are arranged in a compartment 120 of the embodiment, the electric control unit comprises a laser scanning detection control box 170 for controlling a laser scanning sensor, a walking chassis control box 160 for controlling a walking chassis 110, a spray control box 140 for controlling the spray liquid supply unit 150 and a mechanism control box 130 for controlling a main folding unit 200 and a telescopic sliding unit 300, and during specific installation, the laser scanning detection control box 170 and the walking chassis control box 160 are connected in parallel and fixedly installed at one end in the compartment 120; the spraying control box 140 is connected with the mechanism control box 130 in parallel and is fixedly arranged at the other end in the carriage 120; the spray liquid supply unit 150 comprises a water tank 154, a water pump 153, an air tank 152 and a pressure gauge 151, wherein the water tank 154, the water pump 153, the air tank 152 and the pressure gauge 151 are sequentially connected through water pipes, and an outlet of the pressure gauge 151 is connected with the electromagnetic valve 326 of each telescopic sliding unit 300 through a water pipe.
Example 2
The technical scheme adopted by the embodiment is as shown in fig. 1, and the folding profiling sprayer comprises a main folding unit 200, a telescopic sliding unit 300, a laser scanning detection unit 400 and a walking vehicle body 100, wherein the laser scanning detection unit 400 comprises a laser scanning sensor 410 and a sensor support frame 420, and the walking vehicle body 100 comprises a carriage 120 and a walking chassis 110 arranged below the carriage 120; the laser scanning sensor 410 is fixed in the middle of the upper part of the compartment 120 through a sensor support frame 420, the main folding unit 200 includes two folding main rods symmetrically arranged on two sides of the top of the compartment 120, the folding main rods of the embodiment are two hinged folding rods, and for the sake of distinction, the folding main rods are referred to as a first folding rod 210 and a second folding rod 220, wherein the first folding rod 210 is a folding rod near the compartment 120 side, and the second folding rod 220 is a folding rod far the compartment 120 side; the end part of one end of the first folding rod 210 is hinged on the top surface of the carriage 120 through a rotary fixed supporting seat 122, the other end is connected with one end of the second folding rod 220 through a rotary hinge 250, a right-angle reinforcing member 121 for reinforcing is further arranged at the position of the rotary fixed supporting seat 122, a first sensor 280 is arranged at the other end of the second folding rod 220 through a sensor mounting plate 281, a first step push rod 232 for driving the first folding rod 210 to rotate is further arranged between the lower section of the first folding rod 210 and the top surface of the carriage 120, one end of the first step push rod 232 is hinged on the first folding rod 210 through a first push rod connecting seat 231, and the other end is hinged on the top surface of the carriage; a first detection baffle 290 is fixed on the first folding rod 210 opposite to the push rod connecting seat, the outer side surfaces of the symmetrically arranged folding rods are respectively provided with a first guide rail 270, the side surface of the folding rod adjacent to the first guide rail 270 is provided with a first rack 260, and the first rack 260 is fixed on the folding rod through rack mounting pieces 261 arranged at intervals; at the hinged position of the first folding rod 210 and the second folding rod 220, a second driving mechanism 240 for driving the second folding rod 220 to rotate is further provided in the present embodiment, the second driving mechanism 240 includes a second step push rod 242, one end of the second step push rod 242 is hinged on the second folding rod 220 through a second push rod connecting seat 241, and the other end is hinged on the upper section of the first folding rod 210 through a second push rod fixing seat 243; during folding, the first further push rod 232 is started to pull the first folding rod 210 to rotate towards the side of the compartment 120 until the first folding rod 210 is parallel to the top surface of the compartment 120, and the second further push rod 242 is started to pull the second folding rod 220 to rotate towards the side of the first folding rod 210 until the second folding rod 220 is parallel to the first folding rod 210, so that the folding of the folding main rod is realized.
The telescopic sliding units 300 are totally eight and two folding rods are arranged on each folding rod, the telescopic sliding units 300 are arranged perpendicular to the folding main rods and comprise fixing rods 310 and moving rods 320 which are arranged in parallel, one end of each fixing rod 310 is provided with a first encoder 315 and a first gear 311 matched with a first rack 260, the first gear 311 is controlled by a first stepping motor 313, the first encoder 315 is connected with the first stepping motor 313 through a first coupler 314, a speed reducer 312 is further arranged between the first stepping motor 313 and the first gear 311, specifically, a shaft of the first stepping motor 313 is connected with a rear end shaft of the speed reducer 312, a front end shaft of the speed reducer 312 is fixedly connected with the first gear 311, and the first encoder 315 is installed on the fixing rods 310 through an encoder installation plate; one side of the fixed rod 310 close to the first guide rail 270 is further provided with two first sliding tables 318 clamped with the first guide rail 270, the two first sliding tables 318 are arranged at intervals and are respectively installed on one side, close to the first guide rail 270, of the fixed plate 341, one side, far away from the first guide rail 270, of the fixed plate 341 is provided with two second sensors 340 arranged at intervals, one end of the fixed plate 341 extends towards the side of the movable rod 320, and the end part of the fixed plate 341 is provided with a second detection baffle 350; the fixed rods 310 move along the rod length direction of the folding main rod through the first gear 311 and the first sliding table 318, so that the telescopic sliding units 300 are distributed; the fixed rod 310 is further provided with a second rack 360 along the length direction of the fixed rod, the second rack 360 is fixed on the fixed rod 310 through rack mounting pieces 261 arranged at intervals similarly to the first rack 260, and a second guide rail 370 is further provided on the side surface of the fixed rod 310 connected with the movable rod 320.
The end of the moving rod 320 is provided with a second encoder 325 and a second gear 321 matched with a second rack 360, the second gear 321 is controlled by a second stepping motor 323, the second encoder 325 is connected with the second stepping motor 323 through a second coupling 324, the second encoder 325 is installed on the moving rod 320 through an encoder installation plate, and the second stepping motor 323 is fixedly installed on the moving rod 320; a second sliding table 327 engaged with the second guide rail 370 is further disposed on a side of the moving rod 320 near the second guide rail 370, and the moving rod 320 moves along the rod length direction of the fixing rod 310 through the second gear 321 and the second sliding table 327. A brushless centrifugal fan 322 and an electromagnetic valve 326 are arranged on the rod body of the moving rod 320, the spraying component 330 comprises a steering engine 331, an air spraying cover 332 and a spray head 333, an air outlet of the brushless centrifugal fan 322 is connected with the air spraying cover 332 through a guide pipe, an outlet of the electromagnetic valve 326 is connected with a water inlet of the spray head 333, a fixed arm of the steering engine 331 is fixedly connected with the end part of the moving rod 320, and the spray head 333 and the air spraying cover 332 are fixedly connected with a rotating arm of the steering engine 331 through bolts; in addition, in order to stably support the moving rod 320, the end of the fixed rod 310 having the first guide rail 270 is provided with a roller for supporting the moving rod 320, and the roller supports the moving rod 320 through the roller support rod 316.
An electric appliance control unit, a spray liquid supply unit 150 and a power supply 180 are arranged in a compartment 120 of the embodiment, the electric control unit comprises a laser scanning detection control box 170 for controlling a laser scanning sensor, a walking chassis control box 160 for controlling a walking chassis 110, a spray control box 140 for controlling the spray liquid supply unit 150 and a mechanism control box 130 for controlling a main folding unit 200 and a telescopic sliding unit 300, and during specific installation, the laser scanning detection control box 170 and the walking chassis control box 160 are connected in parallel and fixedly installed at one end in the compartment 120; the spraying control box 140 is connected with the mechanism control box 130 in parallel and is fixedly arranged at the other end in the carriage 120; the spray liquid supply unit 150 comprises a water tank 154, a water pump 153, an air tank 152 and a pressure gauge 151, wherein the water tank 154, the water pump 153, the air tank 152 and the pressure gauge 151 are sequentially connected through water pipes, and an outlet of the pressure gauge 151 is connected with the electromagnetic valve 326 of each telescopic sliding unit 300 through a water pipe.
Example 3
In the present embodiment, a method of positioning a scanning spray point of a foldable type scanning spray machine will be described by taking example 2 as an example, and since the methods of calculating the scanning spray position points of the left and right two scanning mechanisms are the same, the method of calculating the scanning spray position point of the right scanning mechanism will be described below, and as shown in fig. 7, the four telescopic sliding units of the right scanning mechanism respectively correspond to the movable regions a1 to a4 from bottom to top, and the Z-direction position limit [ Z ] thereofdown,Zup]Are respectively [ Z0,Z1],[Z1,Z2],[Z2,Z3],[Z3,Z4]。
According to the position limit [ Z ] of the movable areas A1-A4 corresponding to the 4 telescopic sliding units in the Z directiondown,Zup]Let any one detection point be JcThe laser scanning sensor 420 detects the crown 500 to obtain the detected bay D calculation method:
Figure BDA0002935130000000101
as shown in fig. 7, the 4 telescopic sliding units on the right copying mechanism correspond to the active areas a 1-a 4 respectively and the detection point subareas D1-D4 obtained by the scanning sensor detecting the crown in a one-to-one correspondence, and the calculation methods of the spraying location points of the nozzles of the corresponding telescopic sliding units in each detection point subarea are the same, which will be described in a unified way.
Referring to fig. 8 and 9, in each inspection point division D, the x direction is collected m times, and the laser scanning sensor collects the point cloud data coordinates obtained by the crownPDataThe method comprises the following steps:
Figure BDA0002935130000000102
and obtaining the slope k of the fitting straight line by a least square method according to the coordinate data of the acquisition points. Data center point A (y) of multiple acquisition pointsA,zA) Is calculated as follows:
Figure BDA0002935130000000103
Figure BDA0002935130000000104
upper limit line of collection point is Dup＝max(PData(z)), the lower limit line of the collection point is Ddown＝min(PData(z)), where max (P)Data(z)) represents solving point cloud coordinate data PDataThe maximum z value in the midpoint coordinates; m is the laser scanning acquisition times in the x direction; n is the number of laser scanning acquisition times in the y direction; y isA、zACoordinates in the y direction and the z direction of the central point A are respectively; i. j is the index value of the row and column subscript of the acquisition point respectively;
drawing a straight line with a slope k through the point A, and intersecting the straight line DupAnd DdownAt point B, C, line BC represents the spray area, crossing point A with a slope
Figure BDA0002935130000000105
Drawing a straight line, the ideal spraying distance is LpAt this time, the ideal profile spray position point P1。
ZupAnd ZdownThe upper working limit and the lower working limit of the spray head of the telescopic sliding unit in the Z direction are respectively set; y islAnd YrThe left and the right are the left and the right working limits of the spray head of the telescopic sliding unit in the Y direction; theta1And theta2The ideal rotation angle and the actual rotation theta of the nozzle1＝arctan(k)；P2Actual spray point.
According to the ideal profile spray position point P, as shown in FIG. 919 cases located at the position of the Y, Z-directional working limit of the head of the telescopic sliding unit, the actual spray point P of each case2Angle of rotation theta with respect to the actual nozzle2The calculations are respectively as follows:
case 1: when in use
Figure BDA0002935130000000111
When is, p2＝(yA-Lpsinθ1,zA+Lpcosθ1)，θ2＝θ1；
Case 2: when in use
Figure BDA0002935130000000112
When is, p2＝(Yr,zA+Lpcosθ1),
Figure BDA0002935130000000113
Case 3: when in use
Figure BDA0002935130000000114
When is, p2＝(Yr,Zup)，
Figure BDA0002935130000000115
Case 4: when in use
Figure BDA0002935130000000116
When is, p2＝(yA-Lpsinθ1,Zup)，
Figure BDA0002935130000000117
Case 5: when in use
Figure BDA0002935130000000118
When is, p2＝(Yl,Zup)，
Figure BDA0002935130000000119
Case 6: when in use
Figure BDA00029351300000001110
When is, p2＝(Yl,Zdown)，
Figure BDA00029351300000001111
Case 7: when in use
Figure BDA00029351300000001112
When is, p2＝(Yl,zA+Lpcosθ1),
Figure BDA00029351300000001113
Case 8: when in use
Figure BDA00029351300000001114
When the temperature of the water is higher than the set temperature,
p2＝(yA-Lpsinθ1,Zdown)，
Figure BDA00029351300000001115
case 9: when in use
Figure BDA00029351300000001116
When is, p2＝(Yr,Zdown)，
Figure BDA00029351300000001117
The present invention is not limited to the above embodiments, and those skilled in the art can make various equivalent changes and substitutions without departing from the principle of the present invention after learning the content of the present invention, and these equivalent changes and substitutions should be considered as belonging to the protection scope of the present invention.

Claims (10)

1. A folding profiling sprayer is characterized by comprising a walking vehicle body, a laser scanning detection unit for detecting a tree crown and a profiling spraying mechanism for spraying pesticides; the walking vehicle body comprises a carriage and a walking chassis, and an electric control unit, a spray liquid supply unit and a power supply unit are arranged in the carriage; the laser scanning detection unit comprises a laser scanning sensor arranged on the carriage; the profiling spraying mechanism comprises:
the folding device comprises a plurality of main folding units, a plurality of folding units and a plurality of sensors, wherein the main folding units are symmetrically arranged on two sides of a compartment and comprise a folding main rod, one end of the folding main rod is hinged with the compartment, and the other end of the folding main rod is provided with the sensing equipment;
the telescopic sliding units are arranged on the folding main rod at intervals and respectively comprise a fixed rod and a movable rod, one end of the fixed rod is arranged on the folding main rod in a sliding mode, the fixed rods all move along the rod length direction of the folding main rod, the movable rod is parallel to the fixed rod, and the movable rod slides along the rod length direction of the fixed rod; one end of the movable rod, which is far away from the fixed rod, is provided with a spraying assembly.
2. The foldaway profiling sprayer of claim 1, wherein: a first driving assembly for driving the folding main rod to unfold or fold is arranged at the hinged position of the folding main rod and the compartment, a first rack and a first guide rail are arranged on the folding main rod along the rod length direction of the folding main rod, the first rack is connected with a first stepping motor through a speed reducer, a first gear meshed with the first rack and a first sliding table matched with the first guide rail are arranged at the end part of a fixed rod, and the fixed rod drives the first gear and the first sliding table to move along the rod length direction of the folding main rod through the first stepping motor; the end of the fixed rod is also provided with a first encoder, and the first encoder is connected with a first stepping motor through a first coupler.
3. The foldaway profiling sprayer of claim 2, wherein: the first driving mechanism comprises a first further push rod, one end of the first further push rod is hinged to the lower section of the folding main rod through a first push rod connecting seat, the other end of the first further push rod is hinged to the top surface of the carriage through a first push rod fixing seat, and the first further push rod is started to pull the folding main rod to rotate towards the side of the carriage until the folding main rod is parallel to the top surface of the carriage; and a first detection baffle is arranged on the folding main rod opposite to the first push rod connecting seat.
4. The foldaway profiling sprayer of claim 3, wherein: first slip table passes through the fixed plate to be installed at the fixed rod tip, is equipped with the sensor on the opposite fixed plate of first slip table, fixed plate one end extends towards carriage release lever one side, and sets up the second at the fixed plate tip and detect the baffle.
5. The foldaway profiling sprayer of claim 1, wherein: a second rack and a second guide rail are arranged on the fixed rod along the rod length direction of the fixed rod, the second rack is connected with a second stepping motor, a second gear meshed with the second rack and a second sliding table matched with the second guide rail are arranged at the end part of the movable rod, and the movable rod drives the second gear and the second sliding table to move along the rod length direction of the fixed rod through the second stepping motor; the tip of carriage release lever still is equipped with the second encoder, the second encoder passes through the second shaft coupling and is connected with second step motor, still is equipped with on the body of the pole of carriage release lever with the solenoid valve and the brushless centrifugal fan that the spraying subassembly cooperation was used.
6. The foldaway profiling sprayer of claim 5, wherein: the spraying assembly comprises a steering engine, an air spraying cover and a nozzle, an air outlet of the brushless centrifugal fan is connected with the air spraying cover through a guide pipe, an outlet of the electromagnetic valve is connected with a water inlet of the nozzle, a fixed arm of the steering engine is fixedly connected with the end part of the movable rod far away from the end of the folding main rod, and the nozzle and the air spraying cover are fixedly connected with a rotating arm of the steering engine.
7. The foldaway profiling sprayer of claim 1, wherein: the folding main rod is a folding rod, the end part of the folding rod is hinged with the compartment, the first driving assembly is arranged at the joint of the folding rod and the compartment, and the sensing equipment is arranged at the other end of the folding rod.
8. The foldaway profiling sprayer of claim 1, wherein: the folding main rod comprises at least two folding rods, the end part of the folding rod close to the end of the compartment is hinged with the compartment, the first driving component is arranged at the joint of the folding rod and the compartment, the sensing equipment is arranged at the end part of the folding rod far away from the end of the compartment, the two adjacent folding rods are hinged, and the hinged part of the two folding rods is provided with a second driving component for driving the two folding rods to unfold or fold; the second driving mechanism comprises a second stepping push rod, one end of the second stepping push rod is hinged to the folding rod at the far carriage end through a second push rod connecting seat, the other end of the second stepping push rod is hinged to the upper section of the first folding rod through a second push rod fixing seat, the second stepping push rod is started, and the folding rod at the far carriage end is pulled to rotate towards the folding rod at the near carriage end until the two folding rods are parallel.
9. The foldaway profiling sprayer of claim 1, wherein: the electric control unit comprises a laser scanning detection control box for controlling the laser scanning sensor, a walking chassis control box for controlling the walking chassis, a spray control box for controlling the spray liquid supply unit and a mechanism control box for controlling the main folding unit and the telescopic sliding unit; the spraying liquid supply unit comprises a water tank, a water pump, an air tank and a pressure gauge, the water tank, the water pump, the air tank and the pressure gauge are sequentially connected through water pipes, and an outlet of the pressure gauge is connected with each telescopic sliding unit in a tapping mode through a water pipe.
10. A method of locating a profiling spray point of a foldaway profiling sprayer according to claim 1, comprising the steps of:
determining N telescopic sliding units on one side of the carriage from bottom to topThe corresponding active areas A1-AN, respectively, and their position limits in Z direction [ Zdown,Zup]Are respectively [ Z0,Z1]…[ZN-1,ZN]；
Let any one detection point be JcThe calculation method for detecting the crown by the laser scanning sensor to obtain the checkpoint region D is as follows, wherein the active areas a 1-AN correspond to the checkpoint regions D1-DN obtained by detecting the crown by the laser scanning sensor one by one:
Figure FDA0002935129990000021
in each detection point partition, the corresponding method for calculating the spraying positioning point of the telescopic sliding unit comprises the following steps:
in each detection point zone D, the x direction is collected for m times, and a laser scanning sensor collects a point cloud data coordinate P obtained by a crownDataComprises the following steps:
Figure FDA0002935129990000031
obtaining the slope k of a fitting straight line and the A (y) of the data center points of a plurality of acquisition points by a least square method according to the coordinate data of the acquisition pointsA,zA) The calculation is as follows:
Figure FDA0002935129990000032
Figure FDA0002935129990000033
upper limit line of collection point is Dup＝max(PData(z)), the lower limit line of the collection point is Ddown＝min(PData(z)), where max (P)Data(z)) represents solving point cloud coordinate data PDataThe maximum z value in the midpoint coordinates;m is the laser scanning acquisition times in the x direction; n is the number of laser scanning acquisition times in the y direction; y isA、zACoordinates in the y direction and the z direction of the central point A are respectively; i. j is the index value of the row and column subscript of the acquisition point respectively;
drawing a straight line with a slope k through the point A, and intersecting the straight line DupAnd DdownAt point B, C, line BC represents the spray area, crossing point A with a slope
Figure FDA0002935129990000034
Drawing a straight line, the ideal spraying distance is LpAt this time, the ideal profile spray position point is P1；
ZupAnd ZdownThe upper working limit and the lower working limit of the spray head of the telescopic sliding unit in the Z direction are respectively set; y islAnd YrThe left and the right are the left and the right working limits of the spray head of the telescopic sliding unit in the Y direction; theta1And theta2The ideal rotation angle and the actual rotation theta of the nozzle1＝arctan(k)；P2Actual spraying points;
according to ideal profile spray position point P19 cases located at the position of the Y, Z-directional working limit of the head of the telescopic sliding unit, the actual spray point P of each case2Angle of rotation theta with respect to the actual nozzle2The calculations are respectively as follows:
case 1: when in use
Figure FDA0002935129990000035
When is, p2＝(yA-Lpsinθ1,zA+Lpcosθ1)，θ2＝θ1；
Case 2: when in use
Figure FDA0002935129990000036
When is, p2＝(Yr,zA+Lpcosθ1),
Figure FDA0002935129990000037
Case 3: when in use
Figure FDA0002935129990000038
When is, p2＝(Yr,Zup)，
Figure FDA0002935129990000039
Case 4: when in use
Figure FDA0002935129990000041
When is, p2＝(yA-Lpsinθ1,Zup)，
Figure FDA0002935129990000042
Case 5: when in use
Figure FDA0002935129990000043
When is, p2＝(Yl,Zup)，
Figure FDA0002935129990000044
Case 6: when in use
Figure FDA0002935129990000045
When is, p2＝(Yl,Zdown)，
Figure FDA0002935129990000046
Case 7: when in use
Figure FDA0002935129990000047
When is, p2＝(Yl,zA+Lpcosθ1),
Figure FDA0002935129990000048
Case 8: when in use
Figure FDA0002935129990000049
When the temperature of the water is higher than the set temperature,
p2＝(yA-Lpsinθ1,Zdown)，
Figure FDA00029351299900000410
case 9: when in use
Figure FDA00029351299900000411
When is, p2＝(Yr,Zdown)，
Figure FDA00029351299900000412
CN202110160122.7A 2021-02-05 2021-02-05 Folding type profiling spraying machine and profiling spraying point positioning method thereof Active CN112970707B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110160122.7A CN112970707B (en) 2021-02-05 2021-02-05 Folding type profiling spraying machine and profiling spraying point positioning method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110160122.7A CN112970707B (en) 2021-02-05 2021-02-05 Folding type profiling spraying machine and profiling spraying point positioning method thereof

Publications (2)

Publication Number Publication Date
CN112970707A true CN112970707A (en) 2021-06-18
CN112970707B CN112970707B (en) 2022-08-30

Family

ID=76347961

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110160122.7A Active CN112970707B (en) 2021-02-05 2021-02-05 Folding type profiling spraying machine and profiling spraying point positioning method thereof

Country Status (1)

Country Link
CN (1) CN112970707B (en)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206686998U (en) * 2017-04-18 2017-12-01 安徽科技学院 A kind of crank arm type pesticide spray car
CN208590469U (en) * 2018-06-29 2019-03-12 宿迁学院 A kind of orchard profiling low volume mechanism
CN110313414A (en) * 2019-06-28 2019-10-11 湖南欣牧达畜牧设备有限公司 It is a kind of to take egg except excrement integration apparatus for poultry farming
US20190357520A1 (en) * 2018-05-24 2019-11-28 Blue River Technology Inc. Boom sprayer including machine feedback control
CN111084172A (en) * 2020-01-09 2020-05-01 中国农业大学 Device and method for automatically adjusting spray air volume based on volume of crown canopy

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN206686998U (en) * 2017-04-18 2017-12-01 安徽科技学院 A kind of crank arm type pesticide spray car
US20190357520A1 (en) * 2018-05-24 2019-11-28 Blue River Technology Inc. Boom sprayer including machine feedback control
CN208590469U (en) * 2018-06-29 2019-03-12 宿迁学院 A kind of orchard profiling low volume mechanism
CN110313414A (en) * 2019-06-28 2019-10-11 湖南欣牧达畜牧设备有限公司 It is a kind of to take egg except excrement integration apparatus for poultry farming
CN111084172A (en) * 2020-01-09 2020-05-01 中国农业大学 Device and method for automatically adjusting spray air volume based on volume of crown canopy

Also Published As

Publication number Publication date
CN112970707B (en) 2022-08-30

Similar Documents

Publication Publication Date Title
CN105329222B (en) Automatic car washing equipment
CN101966833B (en) Airplane deicing vehicle with vehicle chassis adopting wire control technology
CN207403941U (en) A novel sprinkler for plant protection unmanned aerial vehicle
US20100206294A1 (en) Heliostat field cleaning system
CN205233273U (en) Greenhouse is with single track plant protection robot
CN111838110B (en) Orchard targeting air-assisted sprayer based on laser radar and spraying method thereof
CN212279614U (en) Orchard is to target air-assisted sprayer based on laser radar
WO2012059868A1 (en) Apparatus for spraying liquid substances, such as paints or water, on the inner walls of tunnels
CN111937834A (en) Targeted spraying machine and method for jointly adjusting area of air inlet and air outlet
CN100379615C (en) Arm-and-hand system in use for car washer
CN112970707B (en) Folding type profiling spraying machine and profiling spraying point positioning method thereof
CN111959453A (en) Car washer for washing car
CN206791254U (en) A kind of urban green belts watering and spray dual-purpose apparatus
CN105393858A (en) Automatic lime white spraying apparatus for road greening trees
CN105457807A (en) Wave-shaped guardrail spraying equipment
CN205408984U (en) Atomizing kiwi fruit pollination end effector
CN205131204U (en) Drying device for carwash
CN2832906Y (en) Multifunctional cleaning vehicle for road balustrade
CN109540570A (en) The cleaning sampling platform system of sweep machine sweep performance test stand
CN209406646U (en) A kind of potsherd glue sprayer
CN205288797U (en) Waveform rail spraying equipment
CN114600856A (en) Multifunctional autonomous pesticide spraying robot device, and driving control method and operation method thereof
CN210538419U (en) Rail mounted tea garden profile modeling wind send spraying test system
CN206791474U (en) A kind of highway median nursery stock positions chemical spraying device
CN217139779U (en) Dust collector for building engineering

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
EE01 Entry into force of recordation of patent licensing contract

Application publication date: 20210618

Assignee: DONGTAI GAOKE TECHNOLOGY INNOVATION PARK Co.,Ltd.

Assignor: YANCHENG INSTITUTE OF TECHNOLOGY

Contract record no.: X2024980001369

Denomination of invention: A Folding Profiling spray Machine and Its Profiling spray Point Positioning Method

Granted publication date: 20220830

License type: Common License

Record date: 20240124

EE01 Entry into force of recordation of patent licensing contract
EC01 Cancellation of recordation of patent licensing contract

Assignee: DONGTAI GAOKE TECHNOLOGY INNOVATION PARK Co.,Ltd.

Assignor: YANCHENG INSTITUTE OF TECHNOLOGY

Contract record no.: X2024980001369

Date of cancellation: 20240407

EC01 Cancellation of recordation of patent licensing contract