CN207317860U - Self-walking sprayer with spraying rod inter-vehicle information system - Google Patents
Self-walking sprayer with spraying rod inter-vehicle information system Download PDFInfo
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- CN207317860U CN207317860U CN201721289900.8U CN201721289900U CN207317860U CN 207317860 U CN207317860 U CN 207317860U CN 201721289900 U CN201721289900 U CN 201721289900U CN 207317860 U CN207317860 U CN 207317860U
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Abstract
The utility model discloses Self-walking sprayer with spraying rod inter-vehicle information system.The system comprises input display module, information acquisition module, GPS positioning module, data memory module and power supply module；Information acquisition module includes environment information acquisition module, work tool information acquisition module and spraying system information acquisition module.The system is installed on Self-walking sprayer with spraying rod；During equipment operation, sensor and the GPS positioning module work of information acquisition module；The data that core processing module is gathered information acquisition module by operating area method for visualizing obtain operation quality information with the positional information Coordination Treatment that GPS positioning module is gathered；Display screen real-time display handling result；Data memory module stores work data.The system can gather Self-walking sprayer with spraying rod farm work information, and by farm work information visualization, foundation is provided for operation quality evaluation.
Description
Technical field
Equipment for plant protection field of information acquisition is the utility model is related to, is specially a kind of suitable for Self-walking sprayer with spraying rod
Farm work information acquisition system.
Background technology
With the proposition of the slogan such as " economizing on resources ", " preserving the ecological environment ", prevention plant disease pest from comprehensively it is single uniformly
The direction of dispenser toward directional selectivity dispenser is developed, it means that equipment for plant protection is needed towards automation, intelligent and modernization
Direction develop.At present, the research for Self-walking sprayer with spraying rod is concentrated mainly on the design and variable rate spray of spray boom suspension
Aspect, and the job state, working area concern to operating environment and work tool are fewer, especially lack commenting for operation quality
Valency foundation.Therefore, it is current urgent problem to provide operation quality assessment foundation for Self-walking sprayer with spraying rod.
Utility model content
The utility model in view of the above problems, propose a kind of inter-vehicle information system suitable for Self-walking sprayer with spraying rod,
Being capable of monitors environment information, work tool information and spraying system information in real time, there is provided to operating personnel as reference, and
Handling situations are visualized by operation quality method for visualizing and are shown, realizes that job information visualizes, is evaluated for operation quality
Foundation is provided, reference is provided so as to be improved for operation scheme, there is preferable application value.
Concrete scheme is as follows used by the utility model：
Self-walking sprayer with spraying rod inter-vehicle information system, on Self-walking sprayer with spraying rod, including control box, control
Box one side is equipped with capacitance touch liquid crystal display, and the upper left corner of control box is connected with an antenna, and there is an electricity at the control box back side
There are a SD card slot in pond groove, control box side, wherein, core processor is housed inside control box；Core processor is believed with environment
Breath acquisition module is connected；Core processor is connected with work tool information acquisition module；Core processor and spraying system information
Acquisition module is connected；Core processor is connected with data memory module；Core processor is connected with GPS positioning module；At core
Reason device is connected with display module；Power supply module is also equipped with control box.
The core processor by iic bus respectively with environment information acquisition module, work tool information acquisition module
It is connected with spraying system information acquisition module.
The power supply module includes one piece of solar panels, one piece of 9V charged lithium cells, power regulator module, A/D moduluss of conversion
Block and MCU1, wherein, solar panels, charged lithium cells are connected with A/D modular converters, power regulator module respectively；A/D moduluss of conversion
Block is connected with MCU1；Solar panels voltage signal is converted into digital signal through A/D modular converters and sends MCU1 to, works as solar panels
When the voltage value stabilization of offer is in set interval, MCU1 selection solar panels power supplies, otherwise select battery powered；The power supply
Voltage stabilizing module is by supply voltage stabilization in setting value, feed system.
The data memory module includes SD card and SD card module for reading and writing, wherein, at the SD card module for reading and writing and core
Reason device is connected；SD card is connected with SD card module for reading and writing；Store operating environment data, the work tool number of information acquisition module collection
According to, spraying system data and work tool position data.
The operating environment information acquisition module includes temperature sensor, processes temperature signal module, humidity sensor, wet
Spend signal processing module and MCU2, wherein, temperature sensor is connected with processes temperature signal module, processes temperature signal module and
MCU2 is connected；Humidity sensor is connected with humidity signal processing module；Humidity signal processing module is connected with MCU2；The temperature
Sensor and humidity sensor difference collecting temperature information and humidity information, after signal processing module is handled, pass through
MCU2 is sent on iic bus, is received by core processor.
The work tool information acquisition module includes hall speed sensor, speed signal processing module and MCU3, its
In, hall speed sensor is connected with speed signal processing module；Speed signal processing module is connected with MCU3；The Hall speed
Sensor picking rate signal is spent, after speed signal processing module processing, is sent to by MCU3 on iic bus, by
Core processor receives.
The spraying system information acquisition module includes sprinkler pressure acquisition module, spray boom height detection module, medicine-chest liquid
Position detection module and MCU4.
The sprinkler pressure acquisition module includes pressure sensor and pressure signal processing module；The spray boom height detection
Module includes ultrasonic sensor and ultrasonic signal processing module；The medicine-chest level sensing module includes medicine-chest level sensing
Device and liquid level signal processing module；Wherein, pressure sensor is connected with pressure signal processing module；Pressure signal processing module with
MCU4 is connected；Ultrasonic sensor is connected with ultrasonic signal processing module；Ultrasonic signal processing module is connected with MCU4；Liquid
Level sensor is connected with liquid level signal processing module；Liquid level signal processing module is connected with MCU4；It is the pressure sensor, described
Ultrasonic sensor and the liquid level sensor gather pressure information, ultrasound information and liquid level information respectively, through the signal
After processing module processing, it is sent on IIC by MCU4, is received by core processor.
The GPS positioning module includes GPS positioning chip, gps signal processing module, radio frequency signal receiver and receives day
Line, wherein, GPS positioning chip is connected with gps signal processing module；Gps signal processing module is connected with core processor；And
The input terminal of GPS chip is connected with radio frequency signal receiver；Reception antenna is also equipped with radio frequency signal receiver；Positioning in real time
The job position of work tool.
Above-mentioned Self-walking sprayer with spraying rod job information acquisition system and operating area method for visualizing, it is characterised in that
Comprise the following steps that：
(1) staff is by handhold GPS measuring apparatus operation boundary of land block key point, and measures spray bar length in advance
With nozzle spraying swath, the Self-walking sprayer with spraying rod inter-vehicle information system is input to；
(2) the Self-walking sprayer with spraying rod on-vehicle information acquisition system is according to the operation boundary of land block key point of institute's typing
Generate job task figure；
(3) the Self-walking sprayer with spraying rod inter-vehicle information system merges the work tool that GPS positioning module collects
Positional information, spray bar length and nozzle spraying swath, generate boom sprayer actual job figure, the boom sprayer actual job figure
Including normal sprinkling region, equipment skidding region, respray region and drain spray region；
(4) the Self-walking sprayer with spraying rod inter-vehicle information system is actual according to the job task figure and boom sprayer
Flow diagram calculates required working area and resprays area, drain spray area respectively, and the rate of respraying and drain spray rate is calculated.
In above-mentioned steps (2), the border key point inputted is needed in the Self-walking sprayer with spraying rod inter-vehicle information system
It is divided into straight border key point and curved boundary key point；Border for straight line portion in system, it is necessary to input two keys
Point；Border for curved portion, it is necessary to input three key points in systems.
In above-mentioned steps (3), the Self-walking sprayer with spraying rod inter-vehicle information system is according to the work tool collected
Positional information generates boom sprayer operation track；Self-walking sprayer with spraying rod inter-vehicle information system is according to spray bar length and nozzle
Spraying swath generates liquid coverage diagram；Point D in liquid coverage diagram using boom sprayer operation track as its movement locus,
Perpendicular to the direction of boom sprayer operation track boom sprayer actual job figure is generated for its direction of motion；Boom sprayer
Overlapping region occurs in actual job figure to be judged to respraying region；Uncovered area is determined as in boom sprayer actual job figure
Drain spray region；If the system detects that vehicle wheel rotational speed is not 0, and equipment positional information is constant, is determined as that work tool skids
Region；Remaining regional determination is normal region.
Compared with prior art, the utility model has the advantages that：
(1) operating status in Self-walking sprayer with spraying rod operation process is obtained；(2) to Self-walking sprayer with spraying rod operation number
According to processing visualization display, foundation is provided for operation quality evaluation；(3) improved for operation scheme after operating personnel and ginseng is provided
Examine.
Brief description of the drawings
Fig. 1 is the modular structure schematic diagram of the utility model.
Fig. 2 is the liquid overlay area schematic diagram in the operation quality method for visualizing of the utility model
Embodiment
Below in conjunction with the accompanying drawings, the utility model is described in further detail.
As shown in the figure, the utility model：A kind of inter-vehicle information system suitable for Self-walking sprayer with spraying rod, including
One control box, on Self-walking sprayer with spraying rod；One side is provided with display screen outside the control box；In the control
There is core processing in portion；The core processor is believed with environment information acquisition module, equipment information acquisition module, spraying system respectively
Breath acquisition module, GPS positioning module are connected；The core processor utilizes operating area method for visualizing by information acquisition module
The Data Fusion of collection, operating personnel is shown to by display screen；The core processor also with data memory module phase
Connection, the data memory module store data；Power supply module is additionally provided with the main control computer box, for the confession to each module
Electricity.
The core processor uses the process chip of model STM32F407, is connected with around the core processing
Display module, GPS positioning module, data memory module, operating environment information acquisition module, work tool information acquisition module and
Spraying system information acquisition module；Wherein described operating environment information acquisition module, the work tool information acquisition module and
The spraying system information acquisition module is communicated by iic bus with the core processor；The core processor is born
Blame the core processing work of whole system：Whole system controls program by the burned core processor of burning program circuit,
The core processor needs, to corresponding module request data, to receive the module of request data instruction by institute according to operating personnel
The data of collection are sent to core processor, calculation of the core processor by received data according to setting by iic bus
Method fusion treatment；Operating personnel are shown to during the fructufy that display screen handles core processor, realize work data
Visualization.
The power supply module include 9V solar panels, 9V charged lithium cells, power regulator module, A/D modular converters and
MCU1；The output terminal of the 9V solar panels draws both threads A and B, A end are connected with A/D modular converters, B ends and MCU phases
Even, while the output terminal extraction both threads A of 9V charged lithium cells and B, A end are connected with A/D modular converters, and B ends are connected with MCU,
A/D modular converters are connected with MCU；The voltage of the voltage of the solar panels and affiliated lithium battery is converted into through A/D modular converters
Digital signal is exported to MCU；When the voltage value stabilization of solar panels output is in set interval, MCU selects the sun
Energy plate is system power supply, otherwise selects the lithium battery to be exported for system power supply eventually through power regulator module to system；When
Not in set interval, MCU1 sends and alarms the voltage of the voltage of the solar panels and the lithium battery to core processor
Signal, alarm signal are shown on a display screen.
The operating environment information acquisition module includes temperature sensor, processes temperature signal module, humidity sensor, wet
Spend signal processing module and MCU2；The temperature sensor uses DS18B20 temperature sensors, small, and precision is high, anti-interference
Ability is strong；The temperature sensor collecting temperature signal, after temperature signal is by Temperature Treatment resume module, is transferred to described
MCU2, and core processor is sent to by iic bus according to core processor demand；The humidity sensor uses
DHT11 humidity sensors, it is small, it is low in energy consumption；The moisture signal that the humidity sensor collects, moisture signal is by humidity
After managing resume module, the MCU2 is transferred to, and core processing is sent to by iic bus according to core processor demand
Device；The core processor processing environment information, driving display screen are shown.
The equipment information acquisition module includes velocity sensor, speed signal processing module and MCU3；Velocity sensor
Using hall speed sensor；Hall sensor, small, sound construction, small power consumption, vibration resistance, suitable for more severe
Environment；Hall sensor is installed on wheel, gathers vehicle wheel rotational speed information, MCU3 processing vehicle wheel rotational speed information, obtains working rig
The travel speed of tool, and the core processor is sent to by iic bus, the core processor driving shows screen display
Show.
The spraying system information acquisition module include pressure sensor, pressure signal processing module, ultrasonic sensor,
Ultrasonic signal processing module, liquid level sensor and liquid level signal processing module and MCU4；Wherein, each nozzle is connected with jet pipe
Place is provided with a pressure sensor, and pressure sensor uses pipe pressure sensor, and accuracy is high, reliability is high, structure
Simply, intelligent, the pipe pressure sensor gathers pressure signal, after pressure signal is handled by pressure signal processing module,
The MCU4 is transferred to, and core processor is sent to by iic bus according to core processor demand；Ultrasonic sensor
On spray boom, for measuring the height of spray boom, the ultrasonic sensor gathers ultrasonic signal, and ultrasonic signal is by surpassing
After acoustic signal processing module processing, the MCU4 is transferred to, and be sent to by iic bus according to core processor demand
Core processor；Liquid level sensor uses float-ball type sensor, floating ball type liquid level sensor is placed in medicine-chest, the liquid level
Sensor gathers liquid level signal, after liquid level signal is handled by liquid level signal processing module, is transferred to the MCU4, and according to core
Heart processor demand is sent to core processor by iic bus, and the core processor handles spraying system information, and driving is aobvious
Display screen is shown.
The core processor analyzes and processes the pressure information of received each nozzle, according to interval judgement set in advance
Whether nozzle blocks, corresponding on display screen if received value in the section of setting, shows that nozzle works normally
Nozzle state is shown as green light phase；If received value shows that nozzle blocks, at core not in the section of setting
Manage device and produce an alarm signal, corresponding nozzle state is shown as red light phase on display screen.
The GPS positioning module includes GPS positioning chip, gps signal processing module and antenna, wherein, the GPS positioning
Chip uses the positioning chip of model NEO-7M, and the GPS positioning chip is connected with the gps signal processing module, described
Gps signal processing module is connected with core processor, and the input terminal of the GPS chip is connected with radio frequency signal receiver, institute
State and reception antenna is also equipped with radio frequency signal receiver, the antenna that receives should be mounted in spray boom on whole boom sprayer
Geometry point midway.
The core processor is by work tool information, spraying system information and GPS positioning use processing, and generation is just
Normal region, respray region, drain spray region and skidding region, and calculates the rate of respraying and drain spray rate；Shown in real time by display screen
Show to staff.
The data memory module includes a SD storage card and SD card module for reading and writing；Wherein, the SD card module for reading and writing
It is connected with core processor；SD card is connected with SD card module for reading and writing；The data and GPS positioning that described information acquisition module collects
The data that module collects are stored in SD card, are improved for the analysis of later operation quality and operation scheme and are provided foundation.
Above-mentioned Self-walking sprayer with spraying rod job information acquisition system and operating area method for visualizing, it is characterised in that
Comprise the following steps that：
(1) staff is by handhold GPS measuring apparatus operation boundary of land block key point, and measures spray bar length in advance
With nozzle spraying swath, the Self-walking sprayer with spraying rod inter-vehicle information system is input to；
(2) the Self-walking sprayer with spraying rod inter-vehicle information system is generated according to the operation boundary of land block key point of institute's typing
Job task figure；
(3) the work tool position that the Self-walking sprayer with spraying rod inter-vehicle information system fusion GPS positioning module collects
Confidence breath, spray bar length and nozzle spraying swath, generate boom sprayer actual job figure, and the boom sprayer flow diagram is included just
Often spray region, equipment skidding region, respray region and drain spray region；
(4) the Self-walking sprayer with spraying rod inter-vehicle information system is actual according to the job task figure and boom sprayer
Flow diagram calculates required working area and resprays area, drain spray area respectively, and the rate of respraying and drain spray rate is calculated.
In above-mentioned steps (1), the Self-walking sprayer with spraying rod inter-vehicle information system needs the key of operation boundary of land block
Point, the spray bar length of work tool and nozzle spraying swath, staff needs the landform border of operation needed for analysis, by operation landform
Border be divided into two classes：Straight border and curved boundary；Staff is adopted by handhold GPS equipment in two endpoints of straight border
Collect two gps signals, gathered in curved boundary and three gps signals are a little gathered on two endpoints and curve, it is defeated after collection
Enter system；And work tool spray bar length and nozzle spraying swath are measured, inputs the system.
In above-mentioned steps (2), the key point for needing to input in the Self-walking sprayer with spraying rod inter-vehicle information system is divided into
Straight border key point and curved boundary key point；Gathered straight border key point and curved side are inputted in the system
Boundary's key point；The system generates job task figure according to key point, and operating personnel can see whole need in operation process
Want the region of operation.
In above-mentioned steps (3), when the boom sprayer operation, the real-time Collecting operation equipment of GPS positioning module
Positional information, the work that the Self-walking sprayer with spraying rod inter-vehicle information system collects in real time according to the GPS positioning module
Industry equipment positional information generates the operation track of boom sprayer.
In above-mentioned steps (3), when work tool is entered in the job task region, the vehicle-mounted letter of boom sprayer
Breath acquisition system generates liquid coverage diagram, i.e. liquid coverage diagram according to the spray bar length l and nozzle spraying swath d inputted
It is a length of L=l+d/2+d/2, width is the region of W=d, and region both ends are the figure of semicircle, and point D is the geometry of liquid coverage diagram
Center, as shown in Figure 2；Point D in the liquid coverage diagram using the boom sprayer operation track as its movement locus,
Perpendicular to the direction of the boom sprayer operation track boom sprayer actual job figure is generated for its direction of motion.
In above-mentioned steps (3), the Self-walking sprayer with spraying rod inter-vehicle information system is by boom sprayer actual job figure
It is middle generation overlapping region be judged to respraying region, be shown as navy blue；The Self-walking sprayer with spraying rod inter-vehicle information system will
Uncovered area is judged to respraying region in boom sprayer actual job figure, is shown as white；When the self-propelled spray boom sprays
Mist machine on-vehicle information system detectio is not 0 to vehicle wheel rotational speed, and when equipment be Information invariability, is determined as work tool skidding,
The regional determination where work tool is skidding region at this time, shown in red；Regional determination is normal sprinkling region, is shown as
Blueness.
In above-mentioned steps (4), system-computed goes out to respray the area in region and drain spray region, using respray region area with it is total
The ratio of area calculates the rate of respraying；Drain spray rate is calculated using the ratio of drain spray region area and the gross area.
Claims (6)
1. Self-walking sprayer with spraying rod inter-vehicle information system, on Self-walking sprayer with spraying rod, it is characterised in that：The car
Carrying information system includes a control box, and control box includes a core processor and power supply module, core processor respectively with
Environment information acquisition module, work tool information acquisition module are connected, spraying system information acquisition module, data memory module phase
Even, GPS positioning module is connected, display module is connected；
The operating environment information acquisition module includes temperature sensor, processes temperature signal module, humidity sensor, humidity letter
Number processing module and MCU2, wherein, temperature sensor is connected with processes temperature signal module, processes temperature signal module and MCU2
It is connected；Humidity sensor is connected with humidity signal processing module；Humidity signal processing module is connected with MCU2；The temperature sensing
Device and humidity sensor difference collecting temperature information and humidity information, after signal processing module is handled, are sent out by MCU2
It is sent on iic bus, is received by core processor；
The work tool information acquisition module includes hall speed sensor, speed signal processing module and MCU3, wherein, suddenly
You are connected at velocity sensor with speed signal processing module；Speed signal processing module is connected with MCU3；The Hall speed passes
Sensor picking rate signal, after speed signal processing module processing, is sent on iic bus, by core by MCU3
Processor receives；
The spraying system information acquisition module includes sprinkler pressure acquisition module, spray boom height detection module, the inspection of medicine-chest liquid level
Survey module and MCU4；
The sprinkler pressure acquisition module includes pressure sensor and pressure signal processing module；The spray boom height detection module
Including ultrasonic sensor and ultrasonic signal processing module；The medicine-chest level sensing module include medicine-chest liquid level sensor and
Liquid level signal processing module；Wherein, pressure sensor is connected with pressure signal processing module；Pressure signal processing module and MCU4
It is connected；Ultrasonic sensor is connected with ultrasonic signal processing module；Ultrasonic signal processing module is connected with MCU4；Liquid level passes
Sensor is connected with liquid level signal processing module；Liquid level signal processing module is connected with MCU4；The pressure sensor, the ultrasound
Wave sensor and the liquid level sensor gather pressure information, ultrasound information and liquid level information respectively, through the signal processing
After resume module, it is sent on IIC by MCU4, is received by core processor,
Core processor is responsible for the core processing work of whole system：Whole system control program is burned by burning program circuit
The core processor, the core processor need, to corresponding module request data, to receive number of request according to operating personnel
The data gathered are sent to core processor by iic bus according to the module of instruction, the core processor will be received
Data are handled according to the algorithm fusion of setting.
2. Self-walking sprayer with spraying rod inter-vehicle information system as claimed in claim 1, it is characterised in that：The control box one side
Equipped with capacitance touch liquid crystal display, the core processor melts the data that information acquisition module gathers according to the algorithm of setting
Conjunction is handled, and operating personnel is shown to by display screen；The upper left corner of control box is connected with an antenna, and the control box back side has one
There are a SD card slot in battery case, control box side.
3. Self-walking sprayer with spraying rod inter-vehicle information system as claimed in claim 1, it is characterised in that：The power supply module bag
One piece of solar panels, one piece of 9V charged lithium cells, power regulator module, A/D modular converters and MCU1 are included, wherein, solar panels,
Charged lithium cells are connected with A/D modular converters, power regulator module respectively；A/D modular converters are connected with MCU1；Solar panels electricity
Pressure signal is converted into digital signal through A/D modular converters and sends MCU1 to, when the voltage value stabilization that solar panels provide is being set
When in section, MCU1 selection solar panels power supplies, otherwise select battery powered；The power regulator module stablizes supply voltage
In setting value, feed system.
4. Self-walking sprayer with spraying rod inter-vehicle information system as claimed in claim 1, it is characterised in that：The data store mould
Block includes SD card and SD card module for reading and writing, wherein, the SD card module for reading and writing is connected with core processor；SD card is read and write with SD card
Module is connected；Store operating environment data, work tool data, spraying system data and the working rig of information acquisition module collection
Has position data.
5. Self-walking sprayer with spraying rod inter-vehicle information system as claimed in claim 1, it is characterised in that：The GPS positioning mould
Block includes GPS positioning chip, gps signal processing module, radio frequency signal receiver and reception antenna, wherein, GPS positioning chip with
Gps signal processing module is connected；Gps signal processing module is connected with core processor；And the input terminal of GPS chip is connected with and penetrates
Frequency signal receiver；Reception antenna is also equipped with radio frequency signal receiver；The job position of real-time position work implement, it is described
Reception antenna is mounted in the geometric center position of the spray boom of Self-walking sprayer with spraying rod.
6. Self-walking sprayer with spraying rod inter-vehicle information system as claimed in claim 1, it is characterised in that：Hall speed sensor
On the wheel of Self-walking sprayer with spraying rod, vehicle wheel rotational speed information is gathered；Pressure sensor is installed on nozzle and connects with jet pipe
Meet place；Ultrasonic sensor is installed on spray boom；Liquid level sensor uses float-ball type sensor, and floating ball type liquid level sensor is put
Put in the medicine-chest of Self-walking sprayer with spraying rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721289900.8U CN207317860U (en) | 2017-10-09 | 2017-10-09 | Self-walking sprayer with spraying rod inter-vehicle information system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721289900.8U CN207317860U (en) | 2017-10-09 | 2017-10-09 | Self-walking sprayer with spraying rod inter-vehicle information system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207317860U true CN207317860U (en) | 2018-05-04 |
Family
ID=62428867
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721289900.8U Expired - Fee Related CN207317860U (en) | 2017-10-09 | 2017-10-09 | Self-walking sprayer with spraying rod inter-vehicle information system |
Country Status (1)
| Country | Link |
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| CN (1) | CN207317860U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107631756A (en) * | 2017-10-09 | 2018-01-26 | 江苏大学 | Self-walking sprayer with spraying rod inter-vehicle information system and operation quality method for visualizing |
| CN110533893A (en) * | 2019-10-11 | 2019-12-03 | 上海海事大学 | A kind of pesticide spraying warning device |
-
2017
- 2017-10-09 CN CN201721289900.8U patent/CN207317860U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107631756A (en) * | 2017-10-09 | 2018-01-26 | 江苏大学 | Self-walking sprayer with spraying rod inter-vehicle information system and operation quality method for visualizing |
| CN107631756B (en) * | 2017-10-09 | 2023-12-15 | 江苏大学 | Vehicle-mounted information system of self-propelled boom sprayer and operation quality visualization method |
| CN110533893A (en) * | 2019-10-11 | 2019-12-03 | 上海海事大学 | A kind of pesticide spraying warning device |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180504 Termination date: 20181009 |