CN206507106U - A kind of wind send smart spraying robotic spray coordinated control system - Google Patents
A kind of wind send smart spraying robotic spray coordinated control system Download PDFInfo
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- CN206507106U CN206507106U CN201620630142.0U CN201620630142U CN206507106U CN 206507106 U CN206507106 U CN 206507106U CN 201620630142 U CN201620630142 U CN 201620630142U CN 206507106 U CN206507106 U CN 206507106U
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Abstract
The utility model belongs to agricultural equipment technical field of automatic control, and in particular to a kind of wind send smart spraying robotic spray coordinated control system.The spraying coordinated control system includes controller processing module, air-assisted spraying control module, detection module, communication module, input and display module, police instruction module.Air-assisted spraying control module, detection module, communication module, input and display module, police instruction module are connected with controller module respectively.The opening degree of the distance between crop density degree adjusting shower nozzle and crop according to measured by image acquisition device and electric proportional-regulation valve；Level and vertical spray angle between the wind direction adjusting shower nozzle of extraneous natural wind according to measured by wind speed wind direction sensor and crop；The air quantity of axial flow blower is adjusted according to measured wind speed.The application method can effectively reduce the drift of droplet, improve the utilization rate of decoction, droplet is uniformly distributed on crop, so as to improve pesticide supplying effect.The utility model can be applied on autonomous spraying operation.
Description
Technical field
The utility model belongs to agricultural equipment technical field of automatic control, and in particular to a kind of wind send smart spraying machine
People's spraying coordinated control system and application method, more particularly to a kind of application method of multifactor intelligent control.
Background technology
Traditional insecticide-applying way is rough type, uses same insecticide-applying way to the crop of different density degree, does not also have
There is the influence for considering that farm work environmental factor covers uniformity to decoction penetration power and droplet, this has had a strong impact on the anti-of crop
Control effect., it is necessary to merge multifactor raising pesticide supplying effect in existing technical foundation.Sent by automated control technology with wind
Spray technique is combined, and considers actual farm work situation, and a kind of intelligent air-assisted spraying that proposes of " suiting measures to local conditions " is assisted
Adjust control system and application method：According to the canopy density of crop target come adjustable spraying distance and the flow of decoction；According to outer
The wind direction of boundary's natural wind and the level of the adaptive adjusting shower nozzle of wind speed and vertical spray angle and the air quantity of blower fan.It is this it is many because
The control method of element, can effectively reduce the drift of droplet, improve droplet in the coverage rate of canopy and the uniformity of dispenser, so that
Reduce the waste and the pollution to environment of decoction.
Chinese patent CN1628513A provides a kind of toward-target precision pesticide application method, using IMAQ trees
Information, image procossing, feature recognition and spraying control system.The nozzle stream of adjustable spraying system is controlled according to different tree informations
Amount realizes target precision variable rate spray, but this method does not account for the factors such as the wind speed and direction of extraneous natural wind and spraying is imitated
The influence of fruit.
Chinese patent CN103548802A provides a kind of self-propelled spraying machine with automatic targeting in orchard and spraying method thereof, its
It only considered to target characteristic and the mode to target, do not have " suiting measures to local conditions ", i.e., according to the density degree and external wind of trees canopy
The influence of speed and wind direction, is adjusted accordingly to spraying control system.
The content of the invention
The problem of the utility model exists for above prior art and method, proposition is a kind of to send intelligence based on multifactor wind
Energy spraying robot ' spraying coordinated control system and application method, can effectively reduce the drift of decoction, improve droplet in canopy
Coverage rate and dispenser uniformity, so as to reduce the waste and the pollution to environment of decoction.
The concrete scheme that the utility model is used is as follows：
Wind send smart spraying robotic spray coordinated control system to be arranged on autonomous spraying robot ' chassis, including control
Device processing module, communication module, input and display module, police instruction module；Communication module, input and display module, alarm
Indicating module is connected with controller module respectively, it is characterised in that：It is additionally provided with air-assisted spraying control module and detection module；Wind
Spraying control module and detection module is sent also to be connected respectively with controller module；Wherein air-assisted spraying control module includes single-pass
Road ventilating duct, axial flow blower, shower nozzle, guide rail motor, T-shaped screw mandrel guide rail slide unit, support, stepper motor, head, push-and-pull motor,
Electric push rod, magnetic valve, electric proportional-regulation valve, frequency converter, detection module include laser range sensor, wind speed and direction and passed
Sensor, angular transducer, Temperature Humidity Sensor, image acquisition device.
Wherein controller processing module includes controller, and controller uses monolithic STC12C5A60S2 process chips；It is logical
Interrogating module includes Digiplex, field navigation positioning system, Digiplex and field navigation positioning system respectively with control
Device is connected；Input and display module include touch-screen, and touch-screen is connected with controller；Police instruction module includes buzzer.
Wherein T-shaped screw mandrel guide rail slide unit is horizontally arranged at autonomous spraying robot ' chassis centre position, its length with it is autonomous
Spraying robot ' chassis width is equal；Guide rail motor be arranged on autonomous spraying robot ' chassis on and with T-shaped screw mandrel guide rail slide unit
Left end is connected；Support is fixedly mounted on T-shaped screw mandrel guide rail slide unit and can slided on slide unit；Stepper motor connects with head
It is connected together and below head, single channel ventilating duct is connected by head with support and in pedestal upper end；The axle stream wind
Machine and shower nozzle be separately mounted to single channel ventilating duct rear end and front group into blast system；The push-and-pull motor and electric push-and-pull
Bar is connected, and push-and-pull motor bottom is connected with support, and electric push-and-pull is done top and is connected with single channel ventilating duct；The Laser Measuring
It is fixedly mounted on away from sensor by right angle support bar on support and with shower nozzle in same vertical plane；The temperature and humidity sensing
Device is arranged on support middle position；The wind speed wind direction sensor is 4, two water installed in axial flow blower air duct rear end
The two ends of flat central axis；Two other is arranged on the two ends on the vertical central axis of axial flow blower air duct rear end；The angle
Degree sensor is separately mounted at head and carriage interface, support and air duct interface；Image acquisition device is arranged on autonomous spraying
Above robot chassis and positioned at chassis front end.
The touch-screen, buzzer are arranged on above autonomous spraying robot ' chassis and positioned at the extreme end of chassis.
The magnetic valve is used for controlling the opening and closing of liquor piping, and electric proportional-regulation valve is used for controlling the flow of decoction, become
Frequency device is used for adjusting the air quantity of axial flow blower；Magnetic valve, electric proportional-regulation valve and frequency converter are all connected with controller.
The Crop Information obtained according to image acquisition device judges the density degree of crop, and feeds back to controller immediately,
Control guide rail motor drives support to be moved on T-shaped screw mandrel guide rail slide unit, and the distance between adjusting shower nozzle and crop are come with this.
The opening degree of electric proportional-regulation valve is controlled come the flow of regulating liquid medicine by controller simultaneously.The wind speed wind direction sensor is used
To measure the wind direction and wind speed of extraneous natural wind, according to wind direction come the level between adjusting shower nozzle and crop and vertical spreading of spray
Degree, the air quantity of axial flow blower is adjusted according to wind speed.
The Digiplex can be controlled to autonomous spraying robot ' control system under normal circumstances, especially
In case of emergency start remote manual control pattern to be intervened；Touch-screen is used for inputting spray parameters and display detection module institute
The information of transmission.
Above-mentioned wind send smart spraying robotic spray coordinated control system and application method, control method for coordinating bag of spraying
Include following steps：
(1) temperature and humidity information of the real-time detection operation environment of Temperature Humidity Sensor, and feed back to controller immediately, control
Device processed is made whether to carry out the instruction of spraying operation according to the signal detected in real time.
(2) receive after spraying operation instruction, image acquisition device starts collection crop map picture and handled, then according in advance
The threshold value of setting immediately begins to differentiate the density (canopy gap length) of crop, and result is fed back into controller immediately, when sentencing
When being set to thin, controller will reduce electric proportional-regulation valve opening degree reduction medicinal liquid flow, while controlling guide rail motor to drive branch
Frame toward away from the movement of crop direction to increase the distance between shower nozzle and crop.When being determined as close, controller will increase electronic
Ratio adjusting valve opening degree improves medicinal liquid flow, while controlling guide rail motor to drive support toward close crop direction movement to reduce
The distance between shower nozzle and crop.
The wind direction signals for the extraneous natural wind that (3) four wind speed wind direction sensors are received simultaneously feed back to controller, control
Device integrates the vertical of four signal messages and on this basis control push-and-pull motor drive electric push rod adjusting shower nozzle and crop
Spray angle, while stepper motor rotary platform adjusting shower nozzle and the horizontal spraying angle of crop.
The wind velocity signal for the extraneous natural wind that (4) four wind speed wind direction sensors are received simultaneously feeds back to controller, control
Device integrate four signal messages and on this basis the frequency of regulation frequency converter so as to adjust the air quantity of blower fan, when extraneous wind speed compared with
When big, increase the air quantity of blower fan；When extraneous wind speed is smaller, blower fan work is under the normal condition of setting.
In above-mentioned steps (1), the humiture to operating environment all sets limit value, when humiture is less than limit value, control
Device makes the instruction for starting spraying；When humiture is higher than limit value, buzzer warning simultaneously stops spraying operation immediately.
In above-mentioned steps (2), when decision content need not then make a change in interval, when decision content is more than (being less than) interval
The upper limit (lower limit) assert that crop canopies is close (thin), controller increase (reduction) electric proportional-regulation valve opening degree raising decoction
Flow (reduction medicinal liquid flow), and control guide rail motor to drive support toward (away from the crop direction) movement of close crop direction to subtract
The distance between small (increase) shower nozzle and crop；In addition, controller is controlled between nozzle and crop after the movement of guide rail motor
Distance will the accuracy to ensure adjustment equal with the distance measured by laser sensor, under the initial normal operating conditions of shower nozzle
It is 1m with the distance between crop.
In above-mentioned steps (3), controller receives the extraneous natural wind wind direction signals that four wind speed wind direction sensors are obtained,
The wind direction signals for the extraneous natural wind that four wind speed wind direction sensors are received simultaneously feed back to controller, four letters of controller synthesis
Number information and control push-and-pull motor drives the vertical spray angle of electric push rod adjusting shower nozzle and crop on this basis, simultaneously
Stepper motor rotary platform adjusting shower nozzle and the horizontal spraying angle of crop, the level and vertical spray angle of regulation needed for this are all
Respectively will the accuracy to ensure adjustment equal with the angle measured by two angular transducers.
Above-mentioned image acquisition device is arranged on autonomous spraying robot ' chassis front end apart from T-shaped screw mandrel guide rail slide unit 500mm
Place, for gathering crop image information in advance and controlling guide rail motor action.T-shaped screw mandrel guide rail slide unit effective travel is 900mm,
And support and blast system initial position are in T-shaped screw mandrel guide rail slide unit centre position.The adjustable rotating angle of blast system is
360 °, vertically adjustable angle is：The elevation angle is in the range of 60 °, the angle of depression in the range of 30 °, fan delivery 2000m3/h—3500m3/h
It is adjustable, it is set as 2700m under initial normal operation3/h.Medicinal liquid flow control is by magnetic valve and electric proportional-regulation valve
Composition, magnetic valve is responsible for the opening and closing of medicinal liquid flow；Electric proportional-regulation valve is responsible for changing the size of medicinal liquid flow, so
Combination Design contribute to reduce medicinal liquid flow fluctuation.
Compared with prior art, the utility model has advantages below：
The beneficial effects of the utility model：(1) the utility model can with completed in autonomous spraying robot ' intelligence it is complete
Auto spraying process.(2) spraying coordinated control system and application method of the present utility model can realize intelligence according to multifactor
Spraying, the effectively drift of reduction droplet, improve droplet covering uniformity, improve the utilization rate of agricultural chemicals.
Brief description of the drawings
Fig. 1 is spraying control system overall structure block diagram.
Fig. 2 is spraying control system main hardware structure figure.
Fig. 3 is spraying control performs device general structure schematic diagram.
Fig. 4 is wind direction region division schematic diagram in three-dimensional space.
Fig. 5 is wind direction region division schematic diagram in two-dimensional level face.
In Fig. 3：1st, guide rail motor；2nd, image acquisition device；3rd, Temperature Humidity Sensor；4th, stepper motor；5th, head；6th, axle stream
Blower fan；7th, wind speed wind direction sensor；8th, single channel ventilating duct；9th, shower nozzle；10th, angular transducer；11st, electric push rod；12、
Push-and-pull motor；13rd, angular transducer；14th, laser range sensor；15th, right angle support bar；16th, support；17th, T-shaped screw mandrel guide rail
Slide unit；18th, autonomous spraying robot ' chassis；19th, touch-screen；20th, buzzer.
Embodiment
Below in conjunction with the accompanying drawings, the utility model scheme is described in further details.
As shown in Figure 1, Figure 2 and Figure 3, spraying coordinated control system of the present utility model includes controller processing module, wind
Send spraying control module, detection module, communication module, input and display module, police instruction module.Air-assisted spraying controls mould
Block, detection module, communication module, input and display module, police instruction module are connected with controller module respectively.Its apoplexy
Send spraying control module include single channel ventilating duct 8, axial flow blower 6, shower nozzle 9, guide rail motor 1, T-shaped screw mandrel guide rail slide unit 17,
Support 16, stepper motor 4, head 5, push-and-pull motor 12, electric push rod 11；Detection module include laser range sensor 14,
Wind speed wind direction sensor 7, angular transducer 10 (13), Temperature Humidity Sensor 3, image acquisition device 2；Input module includes touch-screen
19；Police instruction module includes buzzer 20；Communication module includes Digiplex, field navigation positioning system.
Wherein T-shaped screw mandrel guide rail slide unit 17 is horizontally arranged at the autonomous centre position of spraying robot ' chassis 18, its length with
Autonomous spraying robot ' chassis 18 width is equal；Support 16 is fixedly mounted on T-shaped screw mandrel guide rail slide unit 17 and can be in slide unit
Upper to slide, single channel ventilating duct 8 is connected by head 5 with support 16 and in the upper end of support 16, the axial flow blower 6 and shower nozzle 9
The rear end of single channel ventilating duct 8 and front group are separately mounted into blast system；The laser range sensor 14 passes through right angle
Support bar 15 is fixedly mounted on support 16 and with shower nozzle 9 in same vertical plane；The Temperature Humidity Sensor 3 is arranged on branch
The middle position of frame 16；The wind speed wind direction sensor is 4, two horizontal centres installed in the air duct rear end of axial flow blower 6
The two ends of axis；Two other is arranged on the two ends on the vertical central axis of the air duct rear end of axial flow blower 6；The angle sensor
Device is separately mounted to head 5 and the interface of support 16, support 16 and the interface of single channel ventilating duct 8；Described image collector 2,
Touch-screen 19, buzzer 20 are arranged on the autonomous top of spraying robot ' chassis 18；The crop letter obtained according to image acquisition device 2
Breath judges the density degree of crop, and feeds back to controller immediately, and control stepper motor 4 drives support 16 in T-shaped screw mandrel guide rail
Moved on slide unit 17, the distance between adjusting shower nozzle 9 and crop are come with this.Electric proportional-regulation valve is controlled by controller simultaneously
Opening degree carry out the flow of regulating liquid medicine.The wind speed wind direction sensor 7 is used for measuring the wind direction and wind speed of extraneous natural wind, root
The level come according to wind direction between adjusting shower nozzle 9 and crop and vertical spray angle, the wind of axial flow blower 6 is adjusted according to wind speed
Amount.Digiplex can be controlled to autonomous spraying robot ' control system under normal circumstances, especially in urgent feelings
Start remote manual control pattern under condition to be intervened；Touch-screen 19 is used for inputting spray parameters and shows what detection module was transmitted
Information.
The course of work and dispenser control method of the spraying control system coordinated movement of various economic factors are as follows：
(1) temperature and humidity information of the real-time detection operation environment of Temperature Humidity Sensor 3, and feed back to controller immediately,
Controller is made whether to carry out the instruction of spraying operation according to the signal detected in real time.
Humiture wherein to operating environment all sets limit value, and when humiture is less than limit value, controller makes beginning
The instruction of spraying；When humiture is higher than limit value, the alarm of buzzer 20 simultaneously stops spraying operation immediately.
(2) receive after spraying operation instruction, image acquisition device 2 starts collection crop map picture and handled, then according to pre-
The threshold value first set immediately begins to differentiate the density (canopy gap length) of crop, and result is fed back into controller immediately, when
When being judged to dredging, controller will reduce electric proportional-regulation valve opening degree reduction medicinal liquid flow, while controlling guide rail motor 1 to drive
Support 16 toward away from the movement of crop direction to increase the distance between shower nozzle 9 and crop.When being determined as close, controller increase electricity
Dynamic ratio adjusting valve opening degree improves medicinal liquid flow, while controlling guide rail motor 1 to drive support 16 toward close to the movement of crop direction
To reduce the distance between shower nozzle 9 and crop.
Wherein to have preset judgement interval for image processing system, when decision content need not then make a change in interval,
When the upper limit (lower limit) that decision content is more than (being less than) interval assert that crop canopies is close (thin), controller increase (reduction) electronic ratio
Example regulating valve opening degree improves medicinal liquid flow (reduction medicinal liquid flow), and controls guide rail motor 1 to drive support 16 toward close to crop
Move to reduce the distance between (increase) shower nozzle 9 and crop in direction (away from crop direction)；In addition, controller controls guide rail
The distance between shower nozzle 9 and crop after motor 1 is moved is equal with the distance that laser sensor 14 is detected to ensure to adjust
Accuracy, with the distance between crop be 1m under the initial normal operating conditions of shower nozzle 9.
The wind direction signals for the extraneous natural wind that (3) four wind speed wind direction sensors 7 are received simultaneously feed back to controller, control
Device integrates four signal messages and the on this basis adjusting shower nozzle 9 of 12 driving electric pull bar of control push-and-pull motor 11 and crop
Vertical spray angle, while the adjusting shower nozzle 9 of 4 rotary platform of stepper motor 5 and the horizontal spraying angle of crop.Four wind speed and directions
The wind velocity signal for the extraneous natural wind that sensor 7 is received simultaneously feeds back to controller, four signal messages of controller synthesis and with
This is, according to the frequency of frequency converter is adjusted so as to adjust the air quantity of axial flow blower 6, when extraneous wind speed is larger, to increase axial flow blower
6 air quantity；When extraneous wind speed is smaller, axial flow blower 6 is operated under the normal condition of setting.
The wind direction signals for the extraneous natural wind that wherein four wind speed wind direction sensors 7 are received simultaneously feed back to controller, control
Device processed integrates four signal messages and the on this basis adjusting shower nozzle 9 of 12 driving electric pull bar of control push-and-pull motor 11 and crop
Vertical spray angle, adjusted while the adjusting shower nozzle 9 of 4 rotary platform of stepper motor 5 and the horizontal spraying angle of crop, needed for this
Level and vertical spray angle it is all equal with the angle measured by two angular transducers 10 (13) to ensure adjustment respectively
Accuracy.As shown in Figure 4,5, the extraneous natural wind wind direction signals obtained are integrated according to four wind speed wind direction sensors 7,
Under the three-dimensional coordinate of solid space, wind direction is divided into I, II, III, IV, V, VI, VII, VIII under eight regions i.e. three-dimensional coordinate
This eight octant regions, wherein coordinate central point are blast system positions；Especially will be it is emphasized that in three-dimensional boundary
It is that wind direction is divided into four regions in two-dimensional level face in the xoy planes of face：Front, rear, left side, right side.In rectangular co-ordinate
It is expressed as in system：45 °~135 °；135 °~225 °；225 °~315 °；315 °~45 °.
Wherein because eight regions are on coordinate central point, only to I, II, III, IV, this four regions are done
Specific to illustrate, when wind direction is from I, II, III, IV region, the spray angle of vertical direction adaptive should be adjusted up；Its
In when wind direction from I, IV region when, the opposite direction regulation in the direction that moves forward that horizontal spraying angle should be adaptive；When wind direction comes
From II, III region when, direction regulation that what horizontal spraying angle should be adaptive move forward；Should be adaptive wherein at I, II region
Increase air quantity；Adaptive reduction air quantity is answered at III, IV region.
Claims (4)
1. a kind of wind send smart spraying robotic spray coordinated control system, on autonomous spraying robot ' chassis, including
Controller processing module, communication module, input and display module, police instruction module；Communication module, input and display module,
Police instruction module is connected with controller module respectively, it is characterised in that：It is additionally provided with air-assisted spraying control module and detection mould
Block；Air-assisted spraying control module and detection module are also connected with controller module respectively；Wherein air-assisted spraying control module bag
Include single channel ventilating duct, axial flow blower, shower nozzle, guide rail motor, T-shaped screw mandrel guide rail slide unit, support, stepper motor, head, push-and-pull
Motor, electric push rod, magnetic valve, electric proportional-regulation valve, frequency converter；Detection module includes laser range sensor, wind speed
Wind transducer, angular transducer, Temperature Humidity Sensor, image acquisition device；
T-shaped screw mandrel guide rail slide unit is horizontally arranged at autonomous spraying robot ' chassis centre position, its length and autonomous atomizer machine
People's chassis width is equal；Guide rail motor is arranged on autonomous spraying robot ' chassis and is connected with T-shaped screw mandrel guide rail slide unit left end
Connect；Support is fixedly mounted on T-shaped screw mandrel guide rail slide unit and can slided under the drive of guide rail motor on slide unit；Stepper motor
Linked together with head and below head, single channel ventilating duct is connected by head with support and in pedestal upper end；Institute
State axial flow blower and shower nozzle be separately mounted to single channel ventilating duct rear end and front group into blast system；The push-and-pull motor with
Electric push rod is connected, and push-and-pull motor bottom is connected with support, and electric push-and-pull is done top and is connected with single channel ventilating duct；Institute
Laser range sensor is stated to be fixedly mounted on support by right angle support bar and with shower nozzle in same vertical plane；The temperature
Humidity sensor is arranged on support middle position；The wind speed wind direction sensor is 4, and two are arranged on axial flow blower air duct
The two ends of the horizontal center line axis of rear end；Two other is arranged on two on the vertical central axis of axial flow blower air duct rear end
End；The angular transducer is separately mounted at head and carriage interface, support and air duct interface；Image acquisition device is arranged on
Above autonomous spraying robot ' chassis and positioned at chassis front end.
2. a kind of wind as claimed in claim 1 send smart spraying robotic spray coordinated control system, it is characterised in that：Control
Device processing module includes controller, and controller uses monolithic STC12C5A60S2 process chips；Communication module includes wireless remote
Device, field navigation positioning system are controlled, Digiplex and field navigation positioning system are connected with controller respectively；Input and display
Module includes touch-screen, and touch-screen is connected with controller；Police instruction module includes buzzer；Touch-screen, buzzer are arranged on
Above autonomous spraying robot ' chassis and positioned at the extreme end of chassis.
3. a kind of wind as claimed in claim 1 send smart spraying robotic spray coordinated control system, it is characterised in that：It is described
Magnetic valve be used for controlling the opening and closing of medicinal liquid flow, electric proportional-regulation valve is used for changing the size of medicinal liquid flow；Become
Frequency device is used for adjusting the air quantity of axial flow blower；Magnetic valve, electric proportional-regulation valve and frequency converter are all connected with controller.
4. a kind of wind as claimed in claim 1 send smart spraying robotic spray coordinated control system, it is characterised in that：Image
Collector is arranged on autonomous spraying robot ' chassis front end at T-shaped screw mandrel guide rail slide unit 500mm, for gathering crop in advance
Image information simultaneously controls guide rail motor action；Type screw mandrel guide rail slide unit effective travel is 900mm, and support and blast system are initial
Position is in T-shaped screw mandrel guide rail slide unit centre position；The adjustable rotating angle of blast system is 360 °, and vertically adjustable angle is：Face upward
Angle is in the range of 60 °, the angle of depression in the range of 30 °, fan delivery 2000m3/h—3500m3/ h is adjustable, initial normal operation
Under be set as 2700m3/h。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620630142.0U CN206507106U (en) | 2016-06-23 | 2016-06-23 | A kind of wind send smart spraying robotic spray coordinated control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620630142.0U CN206507106U (en) | 2016-06-23 | 2016-06-23 | A kind of wind send smart spraying robotic spray coordinated control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206507106U true CN206507106U (en) | 2017-09-22 |
Family
ID=59860928
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620630142.0U Withdrawn - After Issue CN206507106U (en) | 2016-06-23 | 2016-06-23 | A kind of wind send smart spraying robotic spray coordinated control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN206507106U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105941379A (en) * | 2016-06-23 | 2016-09-21 | 江苏大学 | Coordinated atomization control system of pneumatic intelligent atomizing robot and chemical applying method |
| CN108684634A (en) * | 2018-03-28 | 2018-10-23 | 山东农业大学 | Spraying control method and system based on volume characteristic anticipation |
| CN109944814A (en) * | 2019-02-13 | 2019-06-28 | 江苏大学 | Blast system is used in a kind of test of plant protection spraying machine tool float of mist droplet |
| US20210186005A1 (en) * | 2019-12-21 | 2021-06-24 | Verdant Robotics Inc. | Agricultural delivery system to apply one or more treatments with micro-precision to agricultural objects autonomously |
| CN114419988A (en) * | 2021-11-16 | 2022-04-29 | 杭州天毅文化传播有限公司 | Culture propaganda intelligent device based on real-time data feedback and propaganda system thereof |
| CN114558714A (en) * | 2022-02-14 | 2022-05-31 | 湖南九九智能环保股份有限公司 | Intelligent spraying control system capable of achieving accurate positioning |
| CN115968773A (en) * | 2023-02-20 | 2023-04-18 | 聊城大学 | Wisdom agricultural is with piece plant pollination device |
-
2016
- 2016-06-23 CN CN201620630142.0U patent/CN206507106U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105941379A (en) * | 2016-06-23 | 2016-09-21 | 江苏大学 | Coordinated atomization control system of pneumatic intelligent atomizing robot and chemical applying method |
| CN105941379B (en) * | 2016-06-23 | 2019-08-02 | 江苏大学 | A kind of wind send smart spraying robotic spray coordinated control system and application method |
| CN108684634A (en) * | 2018-03-28 | 2018-10-23 | 山东农业大学 | Spraying control method and system based on volume characteristic anticipation |
| CN108684634B (en) * | 2018-03-28 | 2023-06-02 | 山东农业大学 | Spray control method and system based on volume characteristic prejudgment |
| CN109944814A (en) * | 2019-02-13 | 2019-06-28 | 江苏大学 | Blast system is used in a kind of test of plant protection spraying machine tool float of mist droplet |
| US20210186005A1 (en) * | 2019-12-21 | 2021-06-24 | Verdant Robotics Inc. | Agricultural delivery system to apply one or more treatments with micro-precision to agricultural objects autonomously |
| CN114419988A (en) * | 2021-11-16 | 2022-04-29 | 杭州天毅文化传播有限公司 | Culture propaganda intelligent device based on real-time data feedback and propaganda system thereof |
| CN114558714A (en) * | 2022-02-14 | 2022-05-31 | 湖南九九智能环保股份有限公司 | Intelligent spraying control system capable of achieving accurate positioning |
| CN115968773A (en) * | 2023-02-20 | 2023-04-18 | 聊城大学 | Wisdom agricultural is with piece plant pollination device |
| CN115968773B (en) * | 2023-02-20 | 2024-03-08 | 聊城大学 | Wisdom is slice planting thing pollination device for agricultural |
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