CN114885926A - Pesticide application system and pesticide application robot - Google Patents
Pesticide application system and pesticide application robot Download PDFInfo
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- CN114885926A CN114885926A CN202210540553.0A CN202210540553A CN114885926A CN 114885926 A CN114885926 A CN 114885926A CN 202210540553 A CN202210540553 A CN 202210540553A CN 114885926 A CN114885926 A CN 114885926A
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- 239000000575 pesticide Substances 0.000 title claims abstract description 121
- 239000007921 spray Substances 0.000 claims abstract description 276
- 239000003814 drug Substances 0.000 claims abstract description 170
- 239000007788 liquid Substances 0.000 claims abstract description 55
- 238000005507 spraying Methods 0.000 claims description 83
- 238000001514 detection method Methods 0.000 claims description 19
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 8
- 238000012377 drug delivery Methods 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims description 7
- 230000001105 regulatory effect Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 241000196324 Embryophyta Species 0.000 description 9
- 240000006365 Vitis vinifera Species 0.000 description 5
- 235000014787 Vitis vinifera Nutrition 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 235000013399 edible fruits Nutrition 0.000 description 4
- 229940079593 drug Drugs 0.000 description 3
- 239000002420 orchard Substances 0.000 description 3
- 235000009754 Vitis X bourquina Nutrition 0.000 description 2
- 235000012333 Vitis X labruscana Nutrition 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 2
- 238000007664 blowing Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 244000298697 Actinidia deliciosa Species 0.000 description 1
- 235000009436 Actinidia deliciosa Nutrition 0.000 description 1
- 244000144730 Amygdalus persica Species 0.000 description 1
- 244000288157 Passiflora edulis Species 0.000 description 1
- 235000000370 Passiflora edulis Nutrition 0.000 description 1
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- 241000219094 Vitaceae Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 235000021021 grapes Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000015097 nutrients Nutrition 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0053—Mounting of the spraybooms
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/006—Mounting of the nozzles
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
- A01M7/0075—Construction of the spray booms including folding means
-
- 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
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
Landscapes
- 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)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention provides a pesticide application system and a pesticide application robot, wherein the pesticide application system comprises: the spray box, first medicine supply device, second medicine supply device and controller, first medicine supply device includes first valve body, first spray tube and spray rod subassembly, the spray rod subassembly is through first spray tube and spray box intercommunication, first spray tube is located to first valve body, second medicine supply device includes the second valve body, the second spray tube, subassembly and the shower nozzle subassembly keep out the wind, the shower nozzle subassembly passes through second spray tube and spray box intercommunication, the second spray tube is located to the second valve body, the controller is used for controlling opening and closing of first valve body and second valve body, so that the liquid medicine in the liquid medicine box erupts through the spray rod subassembly via first spray tube, and erupt through the shower nozzle subassembly via the second spray tube. This system of giving medicine to poor free of charge can select the mode of supplying medicine according to different planting environment adaptability, realizes a tractor serves several purposes, and its suitability is wider, has not only reduced the manufacturing cost on farm, has still improved the efficiency of giving medicine to poor free of charge and the effect of giving medicine to poor free of charge.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a pesticide application system and a pesticide application robot.
Background
Agricultural pest control is always an important problem in agricultural production, and in the growth period of plants, a proper amount of pesticide and fertilizer needs to be sprayed so as to control pests and diseases and simultaneously provide nutrients required by the growth of the plants, so that the use of the pesticide is directly related to the production quality and the production cost of related crops.
Current crop planting mode is field planting mode and orchard mode of planting mainly, along with the progress of science and technology, mechanized pesticide application equipment replaces the manpower gradually, though the robot can accurate pesticide application, it is big to carry the medicine volume, current pesticide application robot pesticide application mode all is comparatively single, can't select the mode of adaptation to the orchard plant of different canopy sizes and height and carry out the pesticide application, for example, to the great fruit trees of canopy thickness such as apple, peach, adopt the wind to send the spraying mode in order to increase fog drip penetrability usually, choose the kiwi fruit, passion fruit canopy frame formula fruit tree, the process of applying pesticide robot need upwards spray, to hedgerow frame formula plants such as grape, need to spray to the side. Because the existing pesticide applying robot has a single pesticide applying function, only one plant can be effectively applied, if the robot is multipurpose, the problems of unsatisfactory pesticide applying effect and low pesticide utilization rate are caused.
In summary, with the development of diversified crop planting and planting modes, the pesticide applying robot in the prior art has poor applicability, i.e. different types of pesticide applying robots need to be equipped for realizing different pesticide spraying modes, which not only increases the production cost of the farm, but also affects the pesticide applying efficiency and pesticide applying effect.
Disclosure of Invention
The invention provides a pesticide application system and a pesticide application robot, which are used for solving the problems of poor applicability and low pesticide application efficiency of the pesticide application system and the pesticide application robot in the prior art.
In a first aspect, the present invention provides a dispensing system comprising: the device comprises a liquid medicine box, a first medicine supply device, a second medicine supply device and a controller;
the first medicine supply device comprises a first valve body, a first medicine spraying pipe and a spray rod assembly, the first medicine spraying pipe is connected to the liquid medicine box, the spray rod assembly is communicated with the liquid medicine box through the first medicine spraying pipe, and the first valve body is arranged on the first medicine spraying pipe;
the second medicine supply device comprises a second valve body, a second medicine spraying pipe, a wind shielding assembly and a sprayer assembly, the second medicine spraying pipe is connected to the liquid medicine box, the sprayer assembly is arranged at the side edge of the wind shielding assembly, the sprayer assembly is communicated with the liquid medicine box through the second medicine spraying pipe, and the second valve body is arranged on the second medicine spraying pipe;
the first valve body with the second valve body all with controller electric connection, the controller is used for controlling opening and closing of first valve body, so that the liquid medicine via in the liquid medicine incasement first pesticide spray tube passes through spray rod subassembly erupts, and control opening and closing of second valve body, so that the liquid medicine via in the liquid medicine incasement second pesticide spray tube passes through the spray rod subassembly erupts.
According to the pesticide application system provided by the invention, the first pesticide supply device further comprises a spray bar folding assembly, the two spray bar assemblies are symmetrically arranged around the spray bar folding assembly and are respectively connected to two ends of the spray bar folding assembly, and the spray bar folding assembly is used for adjusting the orientation of the two spray bar assemblies.
According to the pesticide application system provided by the invention, the spray rod assembly comprises a first spray rod and a first spray head, the first spray rod is connected to the spray rod folding assembly, and the first spray head is arranged on the first spray rod and is communicated with the first spray rod;
the first sprayer is provided with a third valve body correspondingly, the third valve body is electrically connected with the controller, and the controller can control the opening and closing of the third valve body so as to control the opening and closing of the first sprayer.
According to the pesticide application system provided by the invention, the number of the first spray heads is multiple, the multiple first spray heads are arranged along the extending direction of the first spray rod, and the spraying directions of the multiple first spray heads are consistent.
According to the pesticide application system provided by the invention, the spray rod assembly further comprises a second spray rod and a second spray head, the second spray rod is sleeved at one end, far away from the spray rod folding assembly, of the first spray rod, the second spray rod is provided with the second spray head, and the second spray head is communicated with the second spray rod;
the second sprayer is correspondingly provided with a fourth valve body, the fourth valve body is electrically connected with the controller, and the controller can control the opening and closing of the fourth valve body so as to control the opening and closing of the second sprayer.
According to the pesticide application system provided by the invention, the number of the second spray heads is multiple, and the multiple second spray heads are distributed along the extending direction of the second spray rod;
and the spraying direction of the second spray head positioned at the tail end of the second spray rod is vertical to the spraying direction of the rest second spray heads.
According to the pesticide application system provided by the invention, the second pesticide supply device further comprises a fan, the fan is arranged in the accommodating space of the wind shielding assembly, the wind shielding assembly is provided with a plurality of air outlets, and the air outlets are sequentially arranged at intervals in the vertical direction;
the spray head assembly comprises a plurality of third spray heads arranged in the vertical direction, and the third spray heads and the air outlets are arranged in a one-to-one correspondence mode.
According to the pesticide application system provided by the invention, the second pesticide supply device further comprises a shutter baffle and an adjusting piece;
the shutter baffle is located the third shower nozzle with between the fan, the regulating part with the shutter baffle is connected, the regulating part can be adjusted the expansion angle of shutter baffle to correspond the regulation the air supply angle of fan.
According to the pesticide application system provided by the invention, the second pesticide supply device further comprises a rotary baffle, a fourth spray head is arranged on the rotary baffle, and the rotary baffle can drive the fourth spray head to rotate so as to change the spraying direction of the fourth spray head.
In a second aspect, the present invention also provides a drug delivery robot comprising: a travel system, a target detection system and a drug delivery system as described in any one of the above;
the driving system, the target detection system and the pesticide application system are electrically connected with the control system, under the action of the control system, the driving system can drive the pesticide application system to move along a preset route, and the target detection system can perform target detection on an operation environment so as to position the pesticide application position of the pesticide application system.
According to the pesticide application system provided by the invention, the first pesticide supply device and the second pesticide supply device are arranged, wherein the first pesticide supply device is provided with the spray rod assembly, the spray rod assembly is communicated with the pesticide liquid box through the first pesticide spraying pipe, the first valve body is arranged on the first pesticide spraying pipe, and the first pesticide supply device can realize a pesticide spraying mode of spraying pesticide by the spray rod; the second medicine supply device is provided with a spray head assembly, the spray head assembly is communicated with the liquid medicine box through a second medicine spraying pipe, the second valve body is arranged on the second medicine spraying pipe, and the second medicine supply device can realize a medicine spraying mode of wind-conveying medicine spraying; further, the controller can control opening and closing of first valve body and second valve body respectively, in order to realize opening first medicine supply device alone according to actual demand and give medicine to the poor free of charge or open the second medicine supply device alone and give medicine to the poor free of charge, or open first medicine supply device and second medicine supply device simultaneously and give medicine to the poor free of charge and discharge, compare in prior art, this system of giving medicine to the poor free of charge can be according to the different planting environment adaptability selection of the crop of treating the poor free of charge and discharge and supply the medicine mode, can realize a tractor serves several purposes, its suitability is wider, not only can reduce the manufacturing cost on farm, the efficiency of giving medicine to the poor free of charge and the effect of giving medicine to the poor free of charge have still been improved effectively.
Further, the present invention provides an application robot having the application system as described above, and therefore, having the same advantages as described above.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a dispensing robot provided in an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a drug delivery system provided in an embodiment of the present invention;
FIG. 3 is a schematic structural view of a spray bar assembly provided by an embodiment of the present invention;
FIG. 4 is a schematic view of a portion of FIG. 3 at A;
fig. 5 is a second schematic structural diagram of a dispensing robot according to an embodiment of the present invention;
FIG. 6 is a third schematic structural diagram of a dispensing robot according to an embodiment of the present invention;
FIG. 7 is a fourth schematic structural diagram of a dispensing robot according to an embodiment of the present invention;
reference numerals:
1: a first drug delivery device; 11: a spray bar assembly; 111: a first spray bar; 112: a first nozzle; 113: a second spray bar; 114: a second nozzle; 12: a spray bar folding assembly; 13: a fastener; 2: a second drug delivery device; 21: a wind shielding assembly; 211: a wind deflector; 212: a connecting member; 22: a showerhead assembly; 221: a third spray head; 23: a fan; 24: a shutter baffle; 25: an adjustment member; 26: rotating the baffle; 261: a fourth nozzle; 3: a liquid medicine box; 4: a travel system; 5: a control system; 6: a target detection system.
Detailed Description
In the description of the present invention, it should be noted that the terms "first", "second", third "and" fourth "are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "provided with", "connected" and the like are to be construed broadly, such as "connected", may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; either directly or indirectly through intervening media, or through the communication between two elements. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a pesticide application system and a pesticide application robot, which are used for solving the problems of poor applicability and low pesticide application efficiency of the pesticide application system and the pesticide application robot in the prior art.
The following describes a dispensing system and a dispensing robot according to an embodiment of the present invention with reference to fig. 1 to 7.
In a first aspect, an embodiment of the present invention provides a drug delivery system, including: a liquid medicine box 3, a first medicine supply device 1, a second medicine supply device 2 and a controller.
First medicine supply device 1 includes first valve body, first spray tube and spray bar subassembly 11, and first spray tube connects in spray tank 3, and spray bar subassembly 11 is through first spray tube and spray tank 3 intercommunication, and first spray tube is located to first valve body.
The second medicine supply device 2 comprises a second valve body, a second medicine spraying pipe, a wind shielding assembly 21 and a spray head assembly 22, the second medicine spraying pipe is connected to the liquid medicine box 3, the spray head assembly 22 is arranged at the side edge of the wind shielding assembly 21, the spray head assembly 22 is communicated with the liquid medicine box 3 through the second medicine spraying pipe, and the second medicine spraying pipe is arranged on the second valve body.
First valve body and second valve body all with controller electric connection, the controller is used for controlling opening and closing of first valve body to make the liquid medicine in the liquid medicine case 3 erupt through spray lance subassembly 11 via first liquid medicine spraying pipe, and control opening and closing of second valve body, so that the liquid medicine in the liquid medicine case 3 erupts through shower nozzle subassembly 22 via the second liquid medicine spraying pipe.
Specifically, the pesticide application system mainly comprises a pesticide tank 3, a first pesticide supply device 1, a second pesticide supply device 2 and a controller, as shown in fig. 1, the first pesticide supply device 1 and the second pesticide supply device 2 are both communicated with the pesticide tank 3 so as to spray pesticide in the pesticide tank 3 onto crops to be applied with pesticide.
The liquid medicine tank 3 may have a square structure as shown in fig. 1, may have a cylindrical structure, or may have another structure, and is not particularly limited herein.
In order to ensure the cleanliness of the liquid medicine, a filter can be arranged in the liquid medicine tank 3, and the filter can be arranged at the outlet of the liquid medicine tank 3 so as to filter the liquid medicine to be sprayed.
In order to further facilitate the liquid medicine to be conveyed to the spraying pipe, a plunger pump can be further arranged on the liquid medicine box 3 to pump the liquid medicine, an electric ball valve is further arranged at the output end of the plunger pump, the electric ball valve is a three-way valve, one port of the electric ball valve is connected with the output end of the plunger pump, the other two ports of the electric ball valve are respectively connected with the first spraying pipe and the second spraying pipe, namely the liquid medicine of the liquid medicine box 3 is divided into the first spraying pipe and the second spraying pipe after being extracted under pressure, wherein the liquid medicine in the first spraying pipe is conveyed to the spraying rod component 11, and the liquid medicine in the second spraying pipe is conveyed to the spray head component 22.
The first medicine spraying pipe is provided with a first valve body which is used for independently controlling the circulation of the liquid medicine in the first medicine spraying pipe, the second medicine spraying pipe is provided with a second valve body which is used for independently controlling the circulation of the liquid medicine in the second medicine spraying pipe. For example when needs are in the field operation, can open first valve body, close the second valve body, select spray lance spraying mode to carry out the medicine application, when needs are in the orchard medicine application, can open the second valve body, close first valve body, select the wind to send the medicine mode of spouting and spout the medicine.
Because spout the medicine mode and be aerial working, in order to facilitate control, still be equipped with the controller, first valve body and second valve body all with controller electric connection to the control to first valve body and second valve body is realized.
The pesticide applying robot provided by the embodiment of the invention is provided with a first pesticide supplying device 1 and a second pesticide supplying device 2, wherein the first pesticide supplying device 1 is provided with a spray rod assembly 11, the spray rod assembly 11 is communicated with a pesticide liquid tank 3 through a first pesticide spraying pipe, the first pesticide spraying pipe is provided with a first valve body, and the first pesticide supplying device 1 can realize a pesticide spraying mode of spraying a pesticide by a spray rod; the second medicine supply device 2 is provided with a spray head assembly 22, the spray head assembly 22 is communicated with the liquid medicine box 3 through a second medicine spraying pipe, a second valve body is arranged on the second medicine spraying pipe, and the second medicine supply device 2 can realize a medicine spraying mode of wind-conveying medicine spraying; further, the controller can control opening and closing of first valve body and second valve body respectively, in order to realize opening first medicine device 1 alone according to actual demand and give medicine to the poor free of charge or open second medicine device 2 alone and give medicine to the poor free of charge, or open first medicine device 1 and second medicine device 2 simultaneously and give medicine to the poor free of charge.
In an alternative embodiment, the first medicine supply device 1 further includes a spray bar folding assembly 12, two spray bar assemblies 11 are symmetrically arranged about the spray bar folding assembly 12 and are respectively connected to two ends of the spray bar folding assembly 12, and the spray bar folding assembly 12 is used for adjusting the orientation of the two spray bar assemblies 11.
Specifically, as shown in fig. 2, in order to facilitate rotation of the spray rod assemblies 11, so as to adaptively apply the pesticide to the crops in different directions, and effectively increase the pesticide application area, the first pesticide supply device 1 is further provided with a spray rod folding assembly 12, the spray rod folding assembly 12 is disposed between the two spray rod assemblies 11, and under the action of the spray rod folding assembly 12, the orientations of the two spray rod assemblies 11 can be adjusted, for example, the two spray rod assemblies 11 may be horizontal devices as shown in fig. 2, or may be vertical devices as shown in fig. 5.
Spray lance folding unit 12 can be the link structure, including the head rod promptly, second connecting rod and bracing piece, the head rod is connected with the pivotable of second connecting rod, the bracing piece is connected in the pivot point, under the effect of bracing piece, the contained angle angularly adjustable of head rod and second connecting rod, the other end at head rod and second connecting rod is the pivotable connection respectively has spray lance subassembly 11, two spray lance subassemblies 11 can realize the linkage with head rod and second connecting rod respectively, realize promptly as the horizontality that fig. 2 shows, or as the vertical parallel arrangement of two spray lance subassemblies 11 that fig. 5 shows, can also be as shown in fig. 7, two spray lance subassemblies 11 lean out, both have the angle.
Under the action of the spray bar folding assembly 12, the positions of the two spray bar assemblies 11 are adjustable, so that the application of the pesticide to crops in different directions is realized.
In an alternative embodiment, the spray bar assembly 11 includes a first spray bar 111 and a first spray head 112, the first spray bar 111 being connected to the spray bar folding assembly 12, the first spray head 112 being disposed on the first spray bar 111 and communicating with the first spray bar 111.
The first nozzle 112 is correspondingly provided with a third valve body, the third valve body is electrically connected with the controller, and the controller can control the opening and closing of the third valve body so as to control the opening and closing of the first nozzle 112.
Specifically, in order to further improve the uniformity and the comprehensiveness of the application system, as shown in fig. 2, the spray rod assembly 11 includes a first spray rod 111, and the first spray rod 111 is provided with a first spray head 112, where the number of the first spray heads 112 may be one or multiple, and the specific number thereof may be set according to actual conditions.
Each first nozzle 112 is correspondingly provided with a third valve body for controlling the opening and closing of the corresponding first nozzle 112, so as to realize the diversification of the spraying mode.
In an alternative embodiment, the first heads 112 are plural, the plural first heads 112 are arranged along the extending direction of the first spray bar 111, and the spray orientations of the plural first heads 112 are uniform.
Specifically, a plurality of first spray heads 112 are arranged on the first spray bar 111, and the distances between adjacent first spray heads 112 may be the same or different, and are not specifically limited herein, and may be arranged according to actual situations.
In order to ensure the overall application of the pesticide, the plurality of first spray heads 112 are arranged in the same spray direction, and as shown in fig. 2, when the spray bar assembly 11 is in a horizontal state and the pesticide is applied to a field, all of the plurality of first spray heads 112 are arranged downward.
In an alternative embodiment, spray bar assembly 11 further includes a second spray bar 113 and a second spray head 114, second spray bar 113 is sleeved on one end of first spray bar 111 away from spray bar folding assembly 12, second spray bar 113 is provided with second spray head 114, and second spray head 114 is communicated with second spray bar 113.
The second nozzle 114 is correspondingly provided with a fourth valve body, the fourth valve body is electrically connected with the controller, and the controller can control the opening and closing of the fourth valve body so as to control the opening and closing of the second nozzle 114.
Specifically, in order to further improve the diversity of the application manner of the application system and the applicability thereof, as shown in fig. 2, a second spray bar 113 is included in the spray bar assembly 11, as shown in fig. 3, the second spray bar 113 is communicated with an inner cavity of the first spray bar 111, the second spray bar 113 is detachably connected to the first spray bar 111, as shown in fig. 4, and the two are connected by a fastener 13, for example, a bolt is used for fastening the first spray bar 111 and the second spray bar 113.
As shown in fig. 2, the second spray bar 113 is provided with a second spray head 114, and the number of the second spray heads 114 may be one or multiple, and the specific number may be set according to actual situations.
Each second nozzle 114 is correspondingly provided with a fourth valve body for controlling the opening and closing of the corresponding first nozzle 112, so as to further realize the diversification of the spraying mode.
In an alternative embodiment, second spray head 114 is plural, and a plurality of second spray heads 114 are arranged along the extending direction of second spray bar 113.
Wherein the spray direction of second spray heads 114 located at the ends of second spray bars 113 is perpendicular to the spray direction of the remaining second spray heads 114.
Specifically, a plurality of second spray heads 114 are arranged on the second spray bar 113, and the distances between adjacent second spray heads 114 may be the same or different, and are not specifically limited herein, and may be arranged according to actual situations.
It should be noted that the second spray heads 114 at the ends of second spray bars 113 are oriented in the same direction as the second spray bars 113, and the rest of the second spray heads 114 are oriented perpendicular to the second spray bars 113, for example, as shown in fig. 2, the second spray heads 114 at the ends of the second spray bars 113 are oriented in the horizontal direction, and the rest of the second spray heads 114 are oriented downward.
In an optional embodiment, the second medicine supply device 2 further includes a blower 23, the blower 23 is disposed in the accommodating space of the wind shielding assembly 21, the wind shielding assembly 21 is provided with a plurality of air outlets, and the air outlets are sequentially arranged at intervals in the vertical direction.
The nozzle assembly 22 includes a plurality of third nozzles 221 arranged in a vertical direction, and the plurality of third nozzles 221 are arranged in one-to-one correspondence with the plurality of air outlets.
Specifically, as shown in fig. 5, the blower 23 of the second medicine supply device 2 is disposed in the accommodating space of the wind shielding assembly 21, wherein the wind shielding assembly 21 is composed of two parallel wind shielding plates 211 and a connecting member 212 connected between the two wind shielding plates 211.
The blower 23 is arranged to supply air to the second medicine supply device 2, and the strong wind at the air outlet of the blower 23 is utilized to spray the liquid medicine at the third nozzle 221 to a position where medicine needs to be applied, such as a tree crown position, for medicine application.
In order to realize the independent control of the third nozzle 221, a valve body is correspondingly disposed on the third nozzle 221 to independently control the opening and closing of the third nozzle 221.
In an alternative embodiment, the second drug delivery device 2 further comprises a shutter 24 and an adjustment member 25.
The shutter 24 is disposed between the third nozzle 221 and the fan 23, the adjusting member 25 is connected to the shutter 24, and the adjusting member 25 can adjust the deployment angle of the shutter 24 to correspondingly adjust the blowing angle of the fan 23.
Specifically, as shown in fig. 5, a shutter 24 is further disposed between the third nozzle 221 and the blower 23, and has the same shape and principle as the shutter, and under the action of the adjusting member 25, the shutter 24 can be opened or closed, so as to open or close the air supply passage, and the angle of the shutter 24 is adjustable under the action of the adjusting member 25, that is, the angle of the air supply passage is adjustable, and the application direction and range of the corresponding third nozzle 221 are adjustable.
In an alternative embodiment, the second medicine supplying device 2 further includes a rotating baffle 26, the rotating baffle 26 is provided with a fourth spraying head 261, and the rotating baffle 26 can drive the fourth spraying head 261 to rotate so as to change the spraying direction of the fourth spraying head 261.
Specifically, as shown in fig. 5, a rotary baffle 26 is further disposed at the top of the drug supply system, a fourth nozzle 261 is disposed on the outer edge of the rotary baffle 26, the fourth nozzle 261 is communicated with the second drug spraying pipe, and the rotary baffle 26 can rotate clockwise or counterclockwise to drive the fourth nozzle 261 to rotate clockwise or counterclockwise, so that the spraying direction of the drug solution can be adaptively adjusted.
In order to independently control the fourth nozzle 261, a valve body is correspondingly disposed on the fourth nozzle 261 to independently control the fourth nozzle 261 to open and close.
The number of the fourth nozzles 261 may be one, or may be multiple, and the specific number is not limited, and may be set according to actual needs.
In order to more accurately understand the specific implementation of the embodiments of the present invention, some specific examples of the present delivery system are provided below:
one-field pesticide spraying mode
The spray mode of the spray system is determined according to the pesticide application object, namely the spray rod spray mode, the spray rod assembly is structurally shown in fig. 2, the spray rod assembly 11 is horizontally arranged under the action of the spray rod folding assembly 12, the distance from the spray head A to the spray head I is adjusted according to crop row spacing adaptability, at the moment, the second valve body on the second spray pipe is closed, the fan 23 is closed, the first valve body on the first spray pipe is opened, and the first pesticide supply device 1 works.
Thereby realizing the effective pesticide application to the field, and in addition, the pressure of the pesticide application at the nozzle can be adjusted by adjusting the electric ball valve.
Second, tree crown spraying mode
The flow direction of the liquid medicine is determined according to the medicine application mode, the liquid medicine is provided through the plunger pump and flows to the first medicine spraying pipe and the second medicine spraying pipe through the pipelines, at the moment, the first valve is closed, the second valve is opened, and the second medicine supply device 2 works.
When spraying the tree crown, the upper part, the middle part and the lower part of the tree crown layer are needed to be sprayed, so that the third spray heads 221 at the two sides of the wind shielding assembly 21 and the fourth spray heads 261 at the upper rotary baffle 26 are needed to be used for spraying, namely, the corresponding valve bodies on the third spray heads 221 and the corresponding valve bodies on the fourth spray heads 261 are all opened.
As shown in fig. 5, utilize spray lance folding device to pack up the spray lance, the spray lance is vertical state promptly, in order to guarantee the trafficability characteristic of the system of giving medicine to the poor free of charge, fan 23 opens, shutter baffle 24 of deep bead 211 both sides opens and is on a parallel with third shower nozzle 221 direction through regulating part 25, in actual operation, the canopy position to the fruit tree probably needs more medicine spraying volume, the position of good fruit tree canopy layer is confirmed, adjust the rotatory baffle 26 of upside, through the rotation angle of adjusting upside rotatory baffle 26, make fourth shower nozzle 261 aim at the canopy position, through the switching of controller real-time control corresponding third valve body and fourth valve body, adjust electric ball valve in order to reach the pressure that is fit for the nozzle, realize the accurate medicine of giving medicine to the tree crown.
Third, the shed frame plant pesticide application mode
For trellis plants, the application system is typically located under the trellis, i.e. the crop is above the application system, and therefore the application system requires top spraying, and the spray bar assembly 11 and spray head assembly 22 are used in combination in consideration of the passability of the application system and the comprehensiveness of the application.
The first valve and the second valve are both opened through the controller, and the liquid medicine flows into the first medicine spraying pipe and the second medicine spraying pipe through the plunger pump respectively. Since it is necessary to spray the medicine to the top upward, the nozzles at both sides of the wind shield 211, the nozzles of the second spray bar 113 except the end and the first spray bar 111 do not need to spray the medicine, and thus, as shown in fig. 6, the third nozzle 221 is closed, a part of the second nozzles 114 (nozzles B and H), the first nozzles 112 (nozzles C to G) are closed, and the remaining second nozzles 114 (nozzles a and I) and the fourth nozzle 261 are opened.
The position of the second spray rod 113 is adjusted through a fastener 13, so that a spray head at the top of the second spray rod is a proper distance from a spray position, the spray rod folding device is adjusted to enable the spray rod to integrally have a proper angle to apply the pesticide above the shed frame support and the plant roots, the spray heads B to G are closed, and the spray head A and the spray head I are opened; the fan 23 is opened, the louver baffles 24 on the two sides are closed through the adjusting piece 25, so that the wind direction blowing to the two sides of the wind shield 211 is changed upwards, the angle of the rotary baffle 26 on the upper side is adjusted to enable the position of the fourth spray head 261 to be vertically upwards, and the corresponding valve body is opened; the pressure reaches the spraying pressure of each opened spray nozzle by adjusting the electric ball valve to apply the pesticide.
Fourth, the fence frame spraying mode
For the planting environment of trellis type crops such as grapes, as a part of the planting environment is a trunk away from the ground surface, branches and leaves grow into a row and have a certain height away from the ground surface, for the pesticide application condition, a spray rod mode is needed to be utilized for precise pesticide application.
The liquid medicine flows out of the plunger pump, the first valve is opened, the second valve is closed, namely the first medicine applying device is opened, and the second medicine applying device is closed; the liquid medicine flows into the first spray pipe and the second spray pipe through the pesticide spray pipe, the pesticide application system is structured as shown in fig. 7, at this time, the fan 23 is closed, the spray pipe folding device is utilized to adjust the angles of the first spray pipe 111 and the second spray pipe 113, so that the first spray pipe 111 and the second spray pipe 113 have a certain angle with the trellis plants such as grape vines, the second spray pipe 113 can be telescopic relative to the first spray pipe 111, the second spray pipe 113 is fixed by the fastener 13 according to the height of branches and leaves of the grape vines from the ground, and the spray head B and the spray head H have a proper distance with the branches and leaves of the grape vines; then, according to the position height of the grape branches and leaves, the spray head of the first spray head 112 needing spraying is determined, and the opening and closing of the corresponding spray head are controlled through the controller. Finally, the pressure of pesticide application at the nozzle is adjusted by adjusting the electric ball valve, so that adaptive pesticide application to the trellis-type crops is realized.
In addition to the above four ways, the pesticide application device provided by the embodiment of the invention can realize pesticide application in multiple planting modes by adjusting the first pesticide application device and the second pesticide application device, that is, the spraying direction of the spray head can be changed by changing the angle of the spray rod, the air supply direction and the like, so as to meet the pesticide application requirements of different planting environments of different crops.
In a second aspect, an embodiment of the present invention provides a dispensing robot, including: a travel system 4, a target detection system 6, a control system 5 and a dispensing system as in any one of the first aspect.
The driving system 4, the target detection system 6 and the pesticide application system are electrically connected with the control system 5, under the action of the control system 5, the driving system 4 can drive the pesticide application system to move along a preset route, and the target detection system 6 can perform target detection on the operation environment so as to position the pesticide application position of the pesticide application system.
Specifically, as shown in fig. 1, the medicine application robot includes a traveling system 4, a target detection system 6, a control system 5 and the medicine application system as described above, wherein the traveling system 4, the target detection system 6 and the medicine application system are all electrically connected to the control system 5, by adjusting the control system 5, the traveling system 4 can drive the medicine application system to travel according to a preset route so as to apply medicine, and the target detection system 6 can perform target detection on the working environment so as to position the medicine application position of the medicine application system, thereby realizing accurate medicine application.
The traveling system 4 mainly comprises an inertial navigation device, a satellite positioning device, a control system 5, a radar obstacle avoidance device, a movable chassis (crawler chassis), an energy power system and the like, and can realize unmanned driving.
In addition, since the application robot includes the application system shown in the above embodiment, the specific structure of the application system refers to the above embodiment, and since the application robot adopts the technical solution of the above embodiment, at least all the beneficial effects brought by the technical solution of the above embodiment are achieved, and no further description is given here.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A drug delivery system, comprising: the device comprises a liquid medicine box, a first medicine supply device, a second medicine supply device and a controller;
the first medicine supply device comprises a first valve body, a first medicine spraying pipe and a spray rod assembly, the first medicine spraying pipe is connected to the liquid medicine box, the spray rod assembly is communicated with the liquid medicine box through the first medicine spraying pipe, and the first valve body is arranged on the first medicine spraying pipe;
the second medicine supply device comprises a second valve body, a second medicine spraying pipe, a wind shielding assembly and a sprayer assembly, the second medicine spraying pipe is connected to the liquid medicine box, the sprayer assembly is arranged at the side edge of the wind shielding assembly, the sprayer assembly is communicated with the liquid medicine box through the second medicine spraying pipe, and the second valve body is arranged on the second medicine spraying pipe;
the first valve body with the second valve body all with controller electric connection, the controller is used for controlling opening and closing of first valve body, so that the liquid medicine via in the liquid medicine incasement first pesticide spray tube passes through spray rod subassembly erupts, and control opening and closing of second valve body, so that the liquid medicine via in the liquid medicine incasement second pesticide spray tube passes through the spray rod subassembly erupts.
2. The dispensing system of claim 1 wherein the first supply further comprises a spray bar folding assembly, two spray bar assemblies symmetrically disposed about the spray bar folding assembly and connected to two ends of the spray bar folding assembly, respectively, the spray bar folding assembly being configured to adjust the orientation of the two spray bar assemblies.
3. The dispensing system of claim 2 wherein said spray bar assembly comprises a first spray bar and a first spray head, said first spray bar connected to said spray bar folding assembly, said first spray head disposed on said first spray bar and in communication with said first spray bar;
the first sprayer is provided with a third valve body correspondingly, the third valve body is electrically connected with the controller, and the controller can control the opening and closing of the third valve body so as to control the opening and closing of the first sprayer.
4. The dispensing system of claim 3 wherein said first spray head is plural, plural of said first spray heads are arranged along the extending direction of said first spray bar, and the spray orientations of said plural of said first spray heads are uniform.
5. The dispensing system of claim 3 wherein said spray bar assembly further comprises a second spray bar and a second spray head, said second spray bar sleeved on an end of said first spray bar remote from said spray bar folding assembly, said second spray bar provided with a second spray head, said second spray head in communication with said second spray bar;
the second sprayer is correspondingly provided with a fourth valve body, the fourth valve body is electrically connected with the controller, and the controller can control the opening and closing of the fourth valve body so as to control the opening and closing of the second sprayer.
6. The dispensing system of claim 5 wherein said second spray head is plural, said plural second spray heads being arranged along an extending direction of said second spray bar;
and the spraying direction of the second spray head positioned at the tail end of the second spray rod is vertical to the spraying direction of the rest second spray heads.
7. The pesticide application system of claim 1, wherein the second pesticide supply device further comprises a fan, the fan is arranged in the accommodating space of the wind shielding assembly, the wind shielding assembly is provided with a plurality of air outlets, and the air outlets are sequentially arranged at intervals in the vertical direction;
the spray head assembly comprises a plurality of third spray heads arranged in the vertical direction, and the third spray heads and the air outlets are arranged in a one-to-one correspondence mode.
8. The dispensing system of claim 7, wherein the second supply further comprises a shutter and an adjustment member;
the shutter baffle is located the third shower nozzle with between the fan, the regulating part with the shutter baffle is connected, the regulating part can be adjusted the expansion angle of shutter baffle to correspond the regulation the air supply angle of fan.
9. The dispensing system of claim 7, wherein the second dispensing device further comprises a rotary baffle, and the rotary baffle is provided with a fourth nozzle, and the rotary baffle can drive the fourth nozzle to rotate so as to change the spraying direction of the fourth nozzle.
10. A dispensing robot, comprising: a travel system, a target detection system, a control system and a dispensing system according to any one of claims 1 to 9;
the driving system, the target detection system and the pesticide application system are electrically connected with the control system, under the action of the control system, the driving system can drive the pesticide application system to move along a preset route, and the target detection system can perform target detection on an operation environment so as to position the pesticide application position of the pesticide application system.
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| CN202210540553.0A CN114885926A (en) | 2022-05-17 | 2022-05-17 | Pesticide application system and pesticide application robot |
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| CN202210540553.0A CN114885926A (en) | 2022-05-17 | 2022-05-17 | Pesticide application system and pesticide application robot |
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