CN113671889A - Variable spray control system based on PLC control - Google Patents
Variable spray control system based on PLC control Download PDFInfo
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- CN113671889A CN113671889A CN202110798798.9A CN202110798798A CN113671889A CN 113671889 A CN113671889 A CN 113671889A CN 202110798798 A CN202110798798 A CN 202110798798A CN 113671889 A CN113671889 A CN 113671889A
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- 239000007921 spray Substances 0.000 title claims abstract description 83
- 235000013399 edible fruits Nutrition 0.000 claims abstract description 58
- 239000003814 drug Substances 0.000 claims abstract description 55
- 238000006243 chemical reaction Methods 0.000 claims abstract description 19
- 239000007788 liquid Substances 0.000 claims abstract description 19
- 238000005507 spraying Methods 0.000 claims description 46
- 230000000087 stabilizing effect Effects 0.000 claims description 7
- 238000013500 data storage Methods 0.000 claims description 2
- 239000000575 pesticide Substances 0.000 abstract description 53
- 230000008021 deposition Effects 0.000 abstract description 7
- 239000002420 orchard Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006806 disease prevention Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 230000000361 pesticidal effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- 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
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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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)
- Automation & Control Theory (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a variable spray control system based on PLC control, which detects the position and distance information of a fruit tree to be applied with pesticide by an ultrasonic sensor group, converts an analog quantity signal collected by the ultrasonic sensor group into a digital quantity signal by an analog-to-digital conversion module and transmits the digital quantity signal to a PLC main controller module, the size of the fruit tree to be applied with the pesticide is estimated through the PLC main controller module according to the position and distance information of the fruit tree to be applied with the pesticide, the PLC main controller module adjusts the spray amount of each spray head in real time according to the volume of the fruit tree to be sprayed, simultaneously, the wind speed of each fan is adjusted in real time through the PLC main controller module according to the position and the distance information of the fruit tree to be subjected to pesticide application, the medicine is guaranteed to be deposited on the fruit tree to be subjected to pesticide application in a wind conveying mode, the uniformity and the deposition amount of the liquid medicine on each fruit tree are effectively guaranteed, the intelligent pesticide application level of the fruit trees is improved, and the pesticide utilization rate is improved.
Description
Technical Field
The invention relates to the technical field of intelligent control of agricultural orchard mechanical equipment, in particular to a variable spray control system based on PLC control.
Background
The plant chemical protection, namely spraying chemical pesticide by using plant protection machinery, is the current most important pest and disease prevention and control method, and plays an important role in guaranteeing the safety of agricultural production and the effective supply of grains all the time. The efficient, accurate and intelligent pesticide application technology and equipment capable of realizing accurate pesticide application, variable pesticide application, profiling pesticide application, man-machine separation and man-medicine separation as required are guarantees for improving pesticide effect and utilization rate, and are important measures for guaranteeing food safety and reducing labor intensity of farmers. However, until now, the mainstream orchard pesticide application machinery in China mostly adopts a quantitative pesticide application mode, and the pesticide spraying mode is usually continuous spraying, so that a great amount of pesticide is deposited on the ground, and even the deposition amount is more than that on a target. Aiming at the discontinuous planting condition of orchard plants, the target variable spraying control technology can achieve better pesticide application effect. The target technology mainly uses a sensor for target detection, and the mainstream sensors suitable for the current market are infrared sensors, image sensors, laser radar sensors, millimeter wave radar sensors and the like. The sensors are often expensive, high in requirements on use environment, complex in signal processing and the like, and are not widely applied to agricultural machinery. Therefore, an orchard pesticide application control system with low cost, high degree of mechanization, automatic profiling, high effective deposition rate and high pesticide utilization rate is needed to solve the current difficulties.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a variable spray control system based on PLC control, wherein the position and distance information of a fruit tree to be sprayed with pesticide is detected by an ultrasonic sensor group, an analog quantity signal acquired by the ultrasonic sensor group is converted into a digital quantity signal by an analog-to-digital conversion module and transmitted to a PLC main controller module, the size of the fruit tree to be sprayed with pesticide is estimated by the PLC main controller module according to the position and distance information of the fruit tree to be sprayed with pesticide, the spray quantity of each spray head is adjusted by the PLC main controller module in real time according to the size of the fruit tree to be sprayed with pesticide, the wind speed of each fan is adjusted by the PLC main controller module in real time according to the position and distance information of the fruit tree to be sprayed with pesticide, the pesticide is ensured to be deposited on the fruit tree to be sprayed by wind delivery, the pesticide liquid and the deposition quantity on each fruit tree are effectively ensured to be uniform, and the intelligent pesticide application level of the fruit trees is improved, the utilization rate of the pesticide is improved.
In order to achieve the purpose, the technical scheme provided by the invention is as follows: a variable spraying control system based on PLC control comprises an ultrasonic sensor group, an analog-to-digital conversion module, a PLC main controller module, an air-assisted spraying mechanism and an upper computer module, wherein the ultrasonic sensor group is used for collecting the position and distance information of fruit trees to be sprayed, the analog-to-digital conversion module is connected with the ultrasonic sensor group and is used for converting analog quantity signals collected by the ultrasonic sensor group into digital quantity signals, a plurality of spray heads of the air-assisted spraying mechanism are provided, each spray head is matched with a fan and is used for spraying liquid medicine sprayed by the spray heads onto the fruit trees to be sprayed, the PLC main controller module is respectively connected with the analog-to-digital conversion module, the ultrasonic sensor group and the air-assisted spraying mechanism, the PLC main controller module receives data of the analog-to-digital conversion module and predicts the size of the fruit trees to be sprayed according to the received data, and then adjust the spraying volume of every shower nozzle in real time by PLC main control unit module according to the volume of waiting to give medicine to the fruit tree to and adjust the wind speed of every fan in real time according to the position and the distance information of waiting to give medicine to the fruit tree through PLC main control unit module, ensure that the medicine deposits on waiting to give medicine to the fruit tree through the mode that the wind sent, host computer module and PLC main control unit module are connected for show fruit tree position information that detects in real time, show PLC main control unit module and air-assisted spraying mechanism's operating condition, error warning and data storage.
Further, the PLC main controller module comprises a PLC main controller, a fan relay group, an electromagnetic valve relay group, a high-frequency pulse generator, a direct-current power supply module and a voltage stabilizing module, the PLC main controller is respectively connected with the ultrasonic sensor group and the analog-to-digital conversion module, the fan relay group and the electromagnetic valve relay group are respectively connected with the PLC main controller, wherein the fan relay group comprises a plurality of fan relays, the number of the fan relays is consistent with the number of the fans of the air-assisted spraying mechanism and corresponds to one another, each fan relay is connected with the corresponding fan through the high-frequency pulse generator, the on-off of each fan relay is controlled through the PLC main controller, the rotating speed of each fan is controlled by controlling the high-frequency pulse generator to output high-frequency pulses, the electromagnetic valve relay group comprises a plurality of electromagnetic valve relays, the number of the electromagnetic valve relays is consistent with the number of the nozzles of the air-assisted spraying mechanism and corresponds to one another, the spray gun comprises a spray gun body, a spray gun main controller, a PLC main controller, a direct current power supply module, a fan relay group, a solenoid valve relay group and an air-assisted spraying mechanism, wherein the spray gun body is provided with a spray gun inlet and a spray gun outlet, the spray gun main controller is provided with a spray gun inlet and a spray gun outlet, the spray gun outlet is provided with a spray gun inlet and a spray gun outlet, the spray gun outlet is provided with a spray gun outlet, the spray gun outlet is communicated with the spray gun outlet, and the spray gun outlet is communicated with the spray gun outlet.
Furthermore, a fuse is connected between the direct current power supply module and the voltage stabilizing module.
Further, air-assisted spraying mechanism includes medical kit, medicine pump, shunt, solenoid valve, shower nozzle and fan, the medical kit is used for holding the liquid medicine, the medicine pump passes through the pencil and is connected with the medical kit for take the liquid medicine out from the medical kit and do the pressurization and handle, the shunt passes through the pencil and is connected with the medicine pump, is used for taking out and doing the high-pressure liquid medicine of pressurization and handling from the medical kit and shunts, and this shunt has a plurality of delivery outlets, and every delivery outlet has a plurality of solenoid valves through the pencil connection, and a plurality of solenoid valves are connected through the pencil of different length and a plurality of shower nozzles one-to-one respectively, and every shower nozzle all is supporting to have a fan, sprays shower nozzle spun liquid medicine to whole treat the fruit tree of giving medicine to the poor free of charge through a plurality of fans.
Further, the medicine pump is connected with a pressure gauge.
Furthermore, a return pipe is connected between the medicine pump and the medicine box.
Furthermore, the upper computer module is an industrial control touch screen.
A sprayer comprises the variable spray control system based on PLC control.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the system of the invention has the advantages of low cost, high degree of mechanization, automatic profiling, high effective deposition rate, high pesticide utilization rate and the like, firstly, the position and distance information of the fruit tree to be applied with pesticide is detected by the ultrasonic sensor group, then an analog quantity signal collected by the ultrasonic sensor group is converted into a digital quantity signal by the analog-to-digital conversion module and transmitted to the PLC main controller module, the volume of the fruit tree to be applied with pesticide is estimated by the PLC main controller module according to the position and distance information of the fruit tree to be applied with pesticide, further, the PLC main controller module adjusts the spray volume of each spray head in real time according to the volume of the fruit tree to be applied with pesticide, and simultaneously, the PLC main controller module adjusts the wind speed of each fan in real time according to the position and distance information of the fruit tree to be applied with pesticide, thereby realizing multi-pulse modulation wind delivery variable and intelligent targeted spray pesticide application, ensuring that the pesticide is deposited on the fruit tree to be applied with pesticide by wind delivery, the uniformity and the deposition of the liquid medicine sprayed on each fruit tree are precisely measured, the intelligent pesticide application level of the fruit trees is improved, and the pesticide utilization rate is improved.
Drawings
Fig. 1 is a schematic diagram of the control system of the present invention.
Fig. 2 is a schematic diagram of the air-assisted spray mechanism of the present invention.
Detailed Description
The present invention is further illustrated with reference to the following specific examples, but the mode of use of the present invention is not limited thereto.
As shown in fig. 1, the variable spraying control system based on PLC control according to this embodiment includes an ultrasonic sensor group 1, an analog-to-digital conversion module 2, a PLC main controller module, an air-assisted spraying mechanism, and an upper computer module 5, where the ultrasonic sensor group 1 is configured to collect information about the position and distance of a fruit tree to be sprayed, the analog-to-digital conversion module 2 is connected to the ultrasonic sensor group 1 and is configured to convert analog signals collected by the ultrasonic sensor group 1 into digital signals, six nozzles 408 of the air-assisted spraying mechanism are provided, each nozzle 408 is provided with a fan 402 for spraying a liquid medicine sprayed from the nozzle 408 to the fruit tree to be sprayed, the PLC main controller module is respectively connected to the analog-to-digital conversion module 2, the ultrasonic sensor group 1, and the air-assisted spraying mechanism and receives data from the analog-to-digital conversion module 2 through the PLC main controller module, the PLC main controller module can pre-estimate the size of the fruit tree to be sprayed with the pesticide according to the position and distance information of the fruit tree to be sprayed with the pesticide, then adjust the spraying amount of each spray head 408 in real time according to the size of the fruit tree to be sprayed with the pesticide through the PLC main controller module, and simultaneously adjust the air speed of each fan 402 in real time according to the position and distance information of the fruit tree to be sprayed with the pesticide, so that the pesticide is deposited on the fruit tree to be sprayed with the pesticide in an air conveying mode, the upper computer module 5 is an industrial control touch screen and is connected with the PLC main controller module and used for displaying the position information of the fruit tree detected in real time, displaying the working states of the PLC main controller module and the air-conveying type spraying mechanism (such as the on-off condition of each relay, the working state of each solenoid valve 401 and the like), giving an error alarm and storing data.
Wherein, the PLC main controller module comprises a PLC main controller 301, a fan relay group 302, an electromagnetic valve relay group 303, a high-frequency pulse generator 304, a DC power supply module 305 and a voltage stabilizing module 306, the PLC main controller 301 is respectively connected with an ultrasonic sensor group 1 and an analog-to-digital conversion module 2, the fan relay group 302 and the electromagnetic valve relay group 303 are respectively connected with the PLC main controller 301, the fan relay group 302 comprises six fan relays which are in one-to-one correspondence with the fans 402 of the air-assisted spraying mechanism, each fan relay is connected with the corresponding fan 402 through the high-frequency pulse generator 304, the on-off of the fan relays are controlled through the PLC main controller 301, and then the rotating speed of each fan 402 is controlled by controlling the high-frequency pulse generator 304 to output high-frequency pulses, the electromagnetic valve relay group 303 comprises six electromagnetic valve relays which are in one-to-one correspondence with the spray heads 408 of the air-assisted spraying mechanism, the spray gun comprises a spray gun body 408, a spray gun main controller 301, a direct current power supply module 305, a PLC main controller 301, a fan relay group 302, a solenoid valve relay group 303 and an air-assisted spraying mechanism, wherein the spray gun body of each spray gun 408 is connected with an electromagnetic valve 401, each electromagnetic valve relay is connected with the electromagnetic valve 401 corresponding to the spray gun 408, the on-off state of the electromagnetic valve relay is controlled by the PLC main controller 301, and then the spray amount of each spray gun 408 is controlled by controlling the on-off frequency of each electromagnetic valve 401, the direct current power supply module 305 supplies power to the PLC main controller 301, the fan relay group 302, the electromagnetic valve relay group 303 and the air-assisted spraying mechanism through a voltage stabilizing module 306, a fuse used for short-circuit protection is connected between the direct current power supply module 305 and the voltage stabilizing module 306, and the voltage of the direct current power supply module 305 can be stabilized under the system working voltage value and can be supplied to the circuit of the whole PLC main controller module in full-size.
As shown in fig. 2, the air-assisted spraying mechanism includes a medicine box 403, a medicine pump 404, a diverter 405, an electromagnetic valve 401, a spray head 408 and a fan 402, the medicine box 403 is used for containing medicine liquid, the medicine pump 404 is connected with the medicine box 403 through a medicine pipe, for drawing out the chemical liquid from the medicine box 403 and performing pressurization treatment, for the convenience of observing the pressure value, a pressure gauge 406 is connected to the medicine pump 404, and a return pipe 407 is connected between the medicine pump 404 and the medicine box 403, the diverter 405 is connected to the medicine pump 404 through a medicine tube, and is used for diverting the high-pressure medicine liquid which is pumped out of the medicine box 403 and is subjected to pressurization treatment, the flow divider 405 has two output ports, each output port is connected with three electromagnetic valves 401 through a medicine tube, the six electromagnetic valves 401 are respectively connected with six spray heads 408 through medicine tubes with different lengths in a one-to-one correspondence manner, each spray head 408 is matched with a fan 402, the liquid medicine sprayed out of the six spray heads 408 is sprayed to the whole fruit tree to be applied with the medicine through the six fans 402.
In addition, the embodiment can also adjust the spraying amount and the wind speed of the air-assisted spraying mechanism in real time through the PLC main controller module by manually operating the industrial control touch screen.
The principle of the control system provided by the embodiment is specifically as follows: firstly, the position and distance information of a fruit tree to be applied with pesticide is collected through the ultrasonic sensor group 1, then an analog quantity signal collected by the ultrasonic sensor group 1 is converted into a digital quantity signal through the analog-to-digital conversion module 2 and is transmitted to the PLC main controller 301, the data collected by the ultrasonic sensor group 1 is jointly processed through the PLC main controller 301, an empirical formula is obtained through experimental tests, the size of the fruit tree to be applied with pesticide is estimated, the profiling and prejudgment of the fruit tree to be applied with pesticide are realized, the opening and closing frequency of each electromagnetic valve 401 is further controlled, the spraying amount of each spray nozzle 408 is adjusted according to the size of the fruit tree, and the aim of applying pesticide to a target is achieved, in the process, the PLC main controller 301 automatically controls the high-frequency pulse generator 304 to output high-frequency pulses to control the wind speed of each fan 402 according to the position and distance information of the fruit tree to be applied with pesticide detected by the ultrasonic sensor group 1, the medicine sprayed by the spray head 408 is deposited on the fruit trees to be sprayed in an air conveying mode, the uniformity and the deposition amount of the liquid medicine on each fruit tree are effectively ensured, the intelligent pesticide spraying level of the fruit trees is improved, the pesticide utilization rate is improved, and the intelligent targeted spraying pesticide spraying is realized.
The embodiment also provides a sprayer which comprises the variable spray control system based on the PLC control.
The above-mentioned embodiments are merely preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so that variations based on the shape and principle of the present invention should be covered within the scope of the present invention.
Claims (8)
1. The utility model provides a variable spraying control system based on PLC control which characterized in that: the fruit tree spraying device comprises an ultrasonic sensor group, an analog-digital conversion module, a PLC (programmable logic controller) main controller module, an air-assisted spraying mechanism and an upper computer module, wherein the ultrasonic sensor group is used for collecting the position and distance information of a fruit tree to be sprayed, the analog-digital conversion module is connected with the ultrasonic sensor group and is used for converting an analog quantity signal collected by the ultrasonic sensor group into a digital quantity signal, a plurality of spray heads of the air-assisted spraying mechanism are provided, each spray head is matched with a fan and is used for spraying liquid medicine sprayed out of the spray head onto the fruit tree to be sprayed, the PLC main controller module is respectively connected with the analog-digital conversion module, the ultrasonic sensor group and the air-assisted spraying mechanism, the PLC main controller module receives the data of the analog-digital conversion module and predicts the size of the fruit tree to be sprayed according to the received data, and then the PLC main controller module adjusts the spraying quantity of each spray head in real time according to the size of the fruit tree to be sprayed, and the wind speed of each fan is adjusted in real time according to the position and the distance information of the fruit tree to be sprayed by the PLC main controller module, so that the medicine is deposited on the fruit tree to be sprayed by a wind conveying mode, and the upper computer module is connected with the PLC main controller module and is used for displaying the fruit tree position information detected in real time, displaying the working state, error alarm and data storage of the PLC main controller module and the wind conveying type spraying mechanism.
2. The variable spray control system based on PLC control according to claim 1, characterized in that: the PLC main controller module comprises a PLC main controller, a fan relay group, an electromagnetic valve relay group, a high-frequency pulse generator, a direct-current power supply module and a voltage stabilizing module, wherein the PLC main controller is respectively connected with the ultrasonic sensor group and the analog-to-digital conversion module, the fan relay group and the electromagnetic valve relay group are respectively connected with the PLC main controller, the fan relay group comprises a plurality of fan relays, the number of the fan relays is consistent with the number of fans of the air-assisted spraying mechanism and corresponds to the fans of the air-assisted spraying mechanism one by one, each fan relay is connected with the corresponding fan through the high-frequency pulse generator, the on-off of the fan relays is controlled through the PLC main controller, the rotating speed of each fan is controlled by controlling the high-frequency pulse generator to output high-frequency pulses, the electromagnetic valve relay group comprises a plurality of electromagnetic valve relays, the plurality of the electromagnetic valve relays are consistent with the number of nozzles of the air-assisted spraying mechanism and correspond to one by one, the spray gun comprises a spray gun body, a spray gun main controller, a PLC main controller, a direct current power supply module, a fan relay group, a solenoid valve relay group and an air-assisted spraying mechanism, wherein the spray gun body is provided with a spray gun inlet and a spray gun outlet, the spray gun main controller is provided with a spray gun inlet and a spray gun outlet, the spray gun outlet is provided with a spray gun inlet and a spray gun outlet, the spray gun outlet is provided with a spray gun outlet, the spray gun outlet is communicated with the spray gun outlet, and the spray gun outlet is communicated with the spray gun outlet.
3. The variable spray control system based on PLC control according to claim 2, characterized in that: and a fuse is connected between the direct current power supply module and the voltage stabilizing module.
4. The variable spray control system based on PLC control according to claim 1, characterized in that: air-assisted spraying mechanism includes medical kit, medicine pump, shunt, solenoid valve, shower nozzle and fan, the medical kit is used for holding the liquid medicine, the medicine pump passes through the pencil and is connected with the medical kit for take the liquid medicine out from the medical kit and do pressurization processing, the shunt passes through the pencil and is connected with the medicine pump, is used for taking out and doing the high-pressure liquid medicine of pressurization processing from the medical kit and shunts, and this shunt has a plurality of delivery outlets, and every delivery outlet has a plurality of solenoid valves through the pencil connection, and a plurality of solenoid valves are connected through the pencil of different length and a plurality of shower nozzles one-to-one respectively, and every shower nozzle all is supporting to have a fan, sprays shower nozzle spun liquid medicine to whole treat the fruit tree of giving medicine to the poor free of charge through a plurality of fans.
5. The PLC-based variable spray control system of claim 4, wherein: the medicine pump is connected with a pressure gauge.
6. The PLC-based variable spray control system of claim 4, wherein: a return pipe is connected between the medicine pump and the medicine box.
7. The variable spray control system based on PLC control according to claim 1, characterized in that: the upper computer module is an industrial control touch screen.
8. A sprayer is characterized in that: comprising a PLC control-based variable spray control system according to any one of claims 1 to 7.
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| CN202110798798.9A CN113671889A (en) | 2021-07-15 | 2021-07-15 | Variable spray control system based on PLC control |
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| CN202110798798.9A CN113671889A (en) | 2021-07-15 | 2021-07-15 | Variable spray control system based on PLC control |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA3042593A1 (en) * | 2018-05-15 | 2019-11-15 | Kevin M. Smith | System and method for controlling the operation of agricultural sprayers |
| CN110476941A (en) * | 2019-09-30 | 2019-11-22 | 华南农业大学 | Automatic target detection variable rate spray control system, spraying machine and control method |
| CN111838111A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Orchard wind power and dosage target-aiming regulation and control spraying machine and method based on ultrasonic sensing |
-
2021
- 2021-07-15 CN CN202110798798.9A patent/CN113671889A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA3042593A1 (en) * | 2018-05-15 | 2019-11-15 | Kevin M. Smith | System and method for controlling the operation of agricultural sprayers |
| CN110476941A (en) * | 2019-09-30 | 2019-11-22 | 华南农业大学 | Automatic target detection variable rate spray control system, spraying machine and control method |
| CN111838111A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Orchard wind power and dosage target-aiming regulation and control spraying machine and method based on ultrasonic sensing |
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| Title |
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| 徐志: "《果树精确喷雾喷头空间位置调节系统研究》", 《中国优秀硕士学位论文全文数据库 农业科技辑》 * |
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