CN2640617Y - Motor spraying machine with automatic targetting and variable applicating pesticide - Google Patents
Motor spraying machine with automatic targetting and variable applicating pesticide Download PDFInfo
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- CN2640617Y CN2640617Y CN 03266754 CN03266754U CN2640617Y CN 2640617 Y CN2640617 Y CN 2640617Y CN 03266754 CN03266754 CN 03266754 CN 03266754 U CN03266754 U CN 03266754U CN 2640617 Y CN2640617 Y CN 2640617Y
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Abstract
The utility model discloses an automatic target variable pesticide sprayer, comprising an image detecting device, a spraying device, an assistant signal device, a pesticide liquid supply device and a computer; wherein, the image detecting device, the spraying device and the assistant signal device are respectively connected with the computer, while the pesticide liquid supply device connects to the spraying device; by use of the cooperate working of the image detecting device, the assistant signal device and the computer, the utility model performs automatic target pesticide spraying according to the existence and inexistence of pesticide target; the spraying device consists of more than one spraying units, and each spraying unit consists of more than one spraying poles which are provided with more than one nozzles of the same spraying quantity and switches. Each spraying pole nozzle has different spraying quantity, whose switch realizes connection with the computer by use of the pipe line; while the computer controls the spraying poles by use of the switch, achieving different spraying quantity combinations, and consequently, the utility model is able to adjust the spraying quantity according to the characteristic changing of the pesticide target and the changing of the unit moving speed, thereby achieving the aim of variable pesticide spraying.
Description
Technical field
The utility model relates to the motor-driven spraying machine of a kind of automatic target detection variable farm chemical applying; especially each sprayer unit can and can be regulated the engine-driven atomiser that sprays dosage automatically according to the variation automatic target detection dispenser of the having of dispenser target/nothing, changing features and the unit speed of travel; be applied to the operation that sprays of soups such as agricultural chemicals or bactericide, belong to the equipment for plant protection field.
Background technology
Be applied to the plain edition engine-driven atomiser that soups such as agricultural chemicals or bactericide spray operation at present, adapt to the large tracts of land operation, the effect height; But its in operation process all sprayer units spray the dosage unanimity, and gross area quantitatively sprays continuously in spraying swath, make the validity of the agricultural chemicals of throwing in be difficult to guarantee, the waste and the environmental pollution of soup have been caused, spray dosage and can only adopt the manual method of changing or convert to different discharge rate shower nozzles to realize if will change, can not regulate automatically according to the variation of the having of dispenser target/nothing, changing features and the unit speed of travel and spray dosage.
Technical journal " Journal of Transportation Engineering " (Vol.125, No.4,1999) exercise question of being delivered by Slaughter D.C. etc. of publication has disclosed a kind of intermittently machine system of herbicide spraying of both sides of highway area that is used for for the article of " Precision offset spray system for roadway shoulder weed control "; This system mainly by a NI Vision Builder for Automated Inspection and one fast response intermittent spraying system form, gather image and having, not having and carry out spraying herbicide off and in real time according to weeds.
Sadjadi, (application number is people such as Firooz.A: the machine system that 257257) has disclosed a kind of selectivity herbicide spraying in the United States Patent (USP) of application in 1997, this system surveys plant by the chlorophyll sensor and compares, judges with the image that stores, and carries out the selectivity spraying by the actuating mechanism controls shower nozzle.
Technical journal " Proceedings of SPIE The International Society forOptical Engineering (3543 Nov 4 1,998 1999) " publication by Doruchowski, what Graeorz etc. did, exercise question is the article of " Target detection as a tool of selective sprayapplication on trees and weeds in orchards ", disclosed a kind of selectivity spraying machine system that is used for orchard and field weeding, this device is made up of optical detection system and spraying system, disposed a cover optical detector on each sprayer unit, detector sends the light of two bundle different wave lengths, utilize the catoptrical difference of chlorophyll to differentiate having of target, do not have, spray and stop-spraying by the electron helical pipe valve of control sprayer unit.
Technique scheme can only realize according to different situations spray or do not spray two kinds of selections, and can not realize spraying the adjusting control of dosage (the unit interval amount of spraying).
Giles, D.K.etal (Digital control of flow rate and spray dropletsize from agricultuaral nozzles for precision Agriculture, 729-738) reported a kind of spraying machine system of how much regulating each shower nozzle formulation rate that the electron helical pipe valve opens and closes number of times each second of controlling, the method of utilization pulse width modulation realizes spraying the adjusting control of dosage, but its structure is complicated, and reliability remains further to be improved; J.Kunavat, (Trans of the ASAE such as J.K.schueller, 2000,43 (4): 829-837) reported a kind of machine system that utilizes the control of air shrinking valve to spray dosage, adaptation is controlled the single dosage that sprays, but system need be equipped with a cover compression air supply system, complex structure, cost height in addition.
In sum, existing each sprayer unit of plain edition engine-driven atomiser can only quantitatively spray by gross area in spraying swath continuously, can not regulate automatically according to the variation of the having of dispenser target, nothing and the changing features and the unit speed of travel and spray dosage, and all there is structural deficiency in the above-mentioned system that sprays dosage control that realizes.
The utility model content
Main purpose of the present utility model provides the motor-driven spraying machine of a kind of automatic target detection variable farm chemical applying, this spraying function has/no automatic target detection dispenser according to each sprayer unit dispenser target, and can regulate automatically according to the variation of the variation of dispenser clarification of objective and the unit speed of travel and spray dosage, simple in structure, good reliability, cost is low.
The purpose of this utility model is achieved through the following technical solutions:
The motor-driven spraying machine of a kind of automatic target detection variable farm chemical applying is interconnected by doser, target pair device and control device and to form; Power supply is connected with doser, target pair device and control device respectively, for each device provides power supply; Wherein,
Doser comprises: be used to hold medicine-chest, the administration pump of medicament and pass through pipeline a plurality of sprayer units parallel with one another; Administration pump is serially connected between medicine-chest and the sprayer unit by pipeline, and its effect is: the soup in the medicine-chest is transported to each sprayer unit.In order to make each sprayer unit to the pressure stability between the administration pump, between medicine-chest and administration delivery side of pump, also be provided with overflow passage, string is provided with the overflow control module in this overflow passage; By opening or closing of overflow control module, make the overflow passage on-off, thereby reach the purpose of each sprayer unit of control to pressure stability between the administration pump.
Target pair device is an image collecting device, and this installs corresponding setting with sprayer unit, and optimum is set to: the corresponding sprayer unit of image collecting device; This image collecting device is installed in the place ahead of sprayer unit, is connected with control device by holding wire;
Described control device is connected and composed by computer, input-output unit and image pick-up card at least, and this image pick-up card and input-output unit are connected with computer by corresponding data-signal and the control signal form of bus (for example with) respectively; The input-output unit of administration pump, overflow control module and this control device is electrically connected; The output signal of target pair device also is connected to the input port of image pick-up card.
An important characteristic of the present utility model is: described sprayer unit is composed in parallel by an above spray boom, be equiped with the amount of spraying is identical more than one shower nozzle and spray boom switch on each spray boom respectively, the spray boom switch separately by pipeline be used for control signal that receiving computer sends and be connected according to the input-output unit of the control device of this control signal control spray boom switch motion.
When image acquisition units collects when being sprayed medicament object and density thereof, gathering signal is sent in the computer, this computer is according to predefined spray medicine controlled quentity controlled variable, the signal of the output port of control input-output unit changes, and then control the on off state of the spray boom switch on each spray boom on the sprayer unit independently of one another, and be combined into the different doses that sprays thus, reach the purpose that variable sprays soup.
Further, the amount of spraying that shower nozzle is installed on the different spray boom of the utility model sprayer unit has nothing in common with each other, and then the dose that sprays of each spray boom also has nothing in common with each other, and carries out switch combination on this basis again, then can obtain the control grade of many more spray medicines.Switch on the spray boom can adopt magnetic valve or pneumatic operated valve or hydraulic operated valve one of any.
For the pressure that makes the doser herb liquid is controlled in the suitable scope, also go here and there in the major loop of doser of the present utility model and be provided with flow sensor and/or pressure sensor, the input/output signal of this flow sensor and/or pressure sensor is connected to input-output unit, gather respectively by computer, and, overflow valve and/or administration pump are regulated control accordingly according to the situation of change of flow, pressure.
In order to make soup even, between medicine-chest and administration delivery side of pump, also further be provided with and stir the loop, be provided with the stirring valve of opening when sprayer unit quits work and being used for reaching by the soup circulation stirring medicine-chest herb liquid in this stirring loop, the input-output unit of this stirring valve and control device is electrically connected.When not spraying soup work, can open the stirring valve, by the effect of administration pump, produce a soup circulation, cause soup that phenomenons such as precipitation can not take place, keep soup even.When opening sprayer unit, then should stir valve and close, soup still enters each sprayer unit.
In order to make spray value not be subjected to the influence of spraying mechanical movement velocity, described target pair device also further is provided with the velocity sensor that is used to measure the spraying machine movement velocity, this velocity sensor is surveyed the movement velocity of spraying machine, and this velocity output signal is connected to the input-output unit of control device, further be input in the computer, computer is according to rate signal that collects and default matched data, control the action that opens or closes of each spray boom in each sprayer unit, change for dose, reach better variable for the drug effect fruit.
Above-mentioned administration pump transmission mechanism is connected with power source, this transmission mechanism is gearbox or belt pulley, in concrete application, can utilize the equipment of carrying spraying machine, for example: tractor etc., provide the power source of power as administration pump, perhaps, directly utilize the power source of motor as this administration pump.
Generally speaking, can adopt CCD (Charge Coupled Device, charge-coupled image sensor) camera acquisition to be sprayed the image information of object, the distance of this video camera and sprayer unit is at least 2M.In addition, can also further go here and there in the pipeline between medicine-chest and Teat pipette and establish the filter that is used for filtering liquid medicine impurity, protection shower nozzle, reach the purpose of protection pipeline and shower nozzle.
By technique scheme as can be known: each sprayer unit of the present utility model is provided with and sprays the different spray boom of dosage more than one, by the switch control of computer to each spray boom in the sprayer unit, can realize different discharge rate combinations, thereby reach the purpose of variable farm chemical applying; This spraying machine is by its image monitoring device that is provided with, auxiliary signal apparatus and computer cooperating, can not only be according to the having of dispenser target, no automatic target detection dispenser, and can spray dosage according to automatic adjusting of the variation of the variation of dispenser clarification of objective and the unit speed of travel, improve the validity of the soup of throwing in, reduce the waste and the environmental pollution of soup, simple in structure, good reliability.
Description of drawings
Fig. 1 is the structural representation that the utility model embodiment one has two sprayer units;
Fig. 2 is the automatically controlled part theory diagram of the utility model;
Fig. 3 is the functional graphical diagram that the utlity model has five sprayer units;
Fig. 4 is the driving circuit for electromagnetic valve sketch among the utility model Fig. 3;
Fig. 5 is the functional graphical diagram that the utility model embodiment two has five sprayer units.
The specific embodiment
Below, in conjunction with specific embodiments and with reference to accompanying drawing, the utility model is described in further detail.
Embodiment one:
As shown in Figure 1 and Figure 2, the monitoring device of this spraying machine is made up of ccd video camera 8a, 8b, ccd video camera 8a, 8b be installed in spraying machine the place ahead and with the IMAQ card connection of computer 9, be used for the changing features that has that it's too late of monitoring objective.Computer 9 is by power supply 10 power supplies.
The sprayer unit of this spraying machine is made of sprayer unit 13a and sprayer unit 13b; Sprayer unit 13a has been installed in parallel 3 spray boom 13a2a, 13a2b, 13a2c, each spray boom all is equipped with the shower nozzle of one group of identical discharge rate, the shower nozzle discharge rate difference of installing on the different spray booms, liquid feeding end at every spray boom is separately installed with magnetic valve 13a1a, 13a1b, 13a1c, and each magnetic valve is connected with I/O module in being embedded in computer 9 by pressure sensor 12 respectively; The structure of sprayer unit 13b is identical with the structure of sprayer unit 13a.The spray boom of each sprayer unit is configured in the spraying machine rear and keeps distance more than the 2m with ccd video camera 8a, 8b.
The chemicals feeder of this spraying machine by medicine-chest 1, switch 2, filter 3, administration pump 4, stir valve 5, overflow valve 6 and interconnect and form with the pipeline that is connected with other devices.Medicine-chest 1 is used to store soup; Switch 2 is the main line main switch; Filter 3 is used for soup is filtered; Administration pump 4 is used to each sprayer unit that soup is provided, and administration pump 4 is connected by the power section of transmission mechanism with carrying agricultural machinery of the present utility model (for example tractor, seeder etc.); Stir valve 5 and open the back medicine-chest 1 inner liquid medicine is stirred, spray and to stir valve 5 in the operation and close; Overflow valve 6 is used to set up the operating pressure of sprayer unit and keeps certain value, and the operating pressure of administration pump 4 is by overflow valve 6 controls in the spray process.
The auxiliary signal apparatus of this spraying machine is made up of the flow sensor 7, pressure sensor 12 and the velocity sensor 11 that are connected with I/O module in being embedded in computer 9 by cable respectively, and flow sensor 7 and pressure sensor 12 are used for to computer 9 output flows and pressure data; Velocity sensor 11 is installed in spraying machine one side, is used to measure the pace of spraying machine and spraying machine sprays the medicine body to quilt distance.
In the spraying operation process, overflow valve 6 is set up the operating pressure of spraying system and is kept certain value, the image pick-up card of the picture signal that ccd video camera 8a, 8b monitor by computer 9 is input in the computer 9 to be handled, be used to judge having or not and changing features of target, one of parameter that its result is moved as control sprayer unit 13a, 13b spraying respectively (being that ccd video camera 8a, 8b are supporting with sprayer unit 13a, 13b respectively); I/O module and the picture signal of ccd video camera 8a, 8b of the monitor signal of flow sensor 7, pressure sensor 12 and velocity sensor 11 by computer 9 is input to synchronously in the computer 9 and handles the same parameter as control sprayer unit 13a, 13b spraying action of its result.
Power module adopts the JUPITER-MM power module that aims at mobile traffic and embed the PC/104 bus of using design.
Image capture module is based on the high speed image acquisition board SysExpanModule/VCM of pci bus, the vision signal of input, through digital decoder, A/D converter, proportional zoom, cutting, look space-variant such as change at processing, pass to by pci bus and pass to the calculator memory real-time storage after the VGA card shows in real time.
What the CPU processing unit adopted is the SCM/SPT module that Sheng Bo company produces, its CPU be a slice X86 compatibility 64 the 6th generation processor, highest running speed can reach 300MHz, in plate, support maximum 128M3.3V SDRAM, its graphic process unit can be supported various LCD and TFT display screen, the built-in video memory of 2M support to 1280 * 1024 kinds of colors, support simultaneously the PS/2 keyboard onboard, the PS/2 mouse, the EIDE interface, the Floppy interface, two go here and there interface in the lump, CF card socket, USB, IrDa, Watchdog, the SCM/SPT module is deferred to the PC/104+ standard, and PC/104 is provided bus.
That the I/O module adopts is the ADT200/ADT600 of the PC/104 bus of Sheng Bo company.This module has following characteristics:
1), 8 road both-ends or 16 tunnel single-ended analog input channels; 12,20 microsecond A/D converters; ± 5V, ± 10V, or 0 to+10V analog input range; Available resistance configuration gain;
2), 24 passages are based on the programmable digital amount I/O of TTL/CMOS 71055 chips;
3) but, three 16 8MHz timer/counter frequency acquisition signals independently.
Pressure sensor connects I/O module both-end analog quantity input, and input cross-over connection 5K precision resistance (output of pressure sensor 4～20mA electric current is transformed in 0～10V scope of I/O module simulation amount input needs), flow sensor and velocity sensor connect the frequency quantity input end of I/O module.
The sprayer unit of spraying machine configuration and supporting with it ccd video camera quantity can increase or reduce as required; Spraying machine as shown in Figure 3 is furnished with 5 sprayer units and supporting ccd video camera thereof, and its operation principle is identical with the spraying machine of being furnished with 2 sprayer units and supporting ccd video camera thereof shown in Figure 1.
As shown in Figure 4,15 digital quantity outputs of computer I/O module connect the input of 15 driving circuit for electromagnetic valve respectively in the spraying machine shown in Figure 3; The output termination magnetic valve of each driving circuit for electromagnetic valve, the COM termination power.
Embodiment two:
As shown in Figure 5, the difference of the spraying machine among this spraying machine and the embodiment one is: be installed in parallel 2 spray booms on each sprayer unit, one group of shower nozzle of different discharge rates is installed respectively on two spray booms, be separately installed with a magnetic valve at every spray boom liquid feeding end, the different open and close combinations of two magnetic valves can realize 4 kinds of assembled state, thereby realize 3 kinds of variations that spray dosage.Other devices and the operation principle of this spraying machine are identical with embodiment one, do not give unnecessary details at this.
It should be noted that at last: above embodiment is only unrestricted in order to the explanation the technical solution of the utility model, although the utility model is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement the technical solution of the utility model, and not breaking away from the spirit and scope of technical solutions of the utility model, it all should be encompassed in the middle of the claim scope of the present utility model.
Claims (9)
1, the motor-driven spraying machine of a kind of automatic target detection variable farm chemical applying is interconnected by doser, target pair device and control device and to form; Power supply is connected with doser, target pair device and control device respectively; Wherein,
Doser comprises: medicine-chest, administration pump and more than one by pipeline sprayer unit parallel with one another; Administration pump is serially connected between medicine-chest and the sprayer unit by pipeline; Be provided with overflow passage between medicine-chest and administration delivery side of pump, string is provided with the overflow control module in this overflow passage;
Target pair device is an image collecting device, and this device is corresponding with sprayer unit, and is installed in the place ahead of sprayer unit, is connected with control device by holding wire;
Control device is connected and composed by computer, input-output unit and image pick-up card at least, and this image pick-up card is connected with computer with control signal by corresponding data-signal respectively with input-output unit; The input and output end unit of administration pump, overflow control module and control device is electrically connected; The output signal of target pair device is connected to the input port of image pick-up card.
It is characterized in that:
Described sprayer unit is composed in parallel by an above spray boom, be equiped with the amount of spraying is identical more than one shower nozzle and spray boom switch on each spray boom respectively, the spray boom switch separately by pipeline be used for control signal that receiving computer sends and be connected according to the input-output unit of the control device of this control signal control spray boom switch motion.
2, the motor-driven spraying machine of automatic target detection variable farm chemical applying according to claim 1 is characterized in that: in the described same sprayer unit on the different spray booms shower nozzle of installing spray the dosage difference.
3, the motor-driven spraying machine of automatic target detection variable farm chemical applying according to claim 1 is characterized in that: described spray boom switch is magnetic valve or pneumatic operated valve or hydraulic operated valve.
4, the motor-driven spraying machine of automatic target detection variable farm chemical applying according to claim 1, it is characterized in that: also go here and there in the major loop of described doser and be provided with flow sensor and/or pressure sensor, the input/output signal of this flow sensor and/or pressure sensor is connected to input-output unit.
5, the motor-driven spraying machine of automatic target detection variable farm chemical applying according to claim 1, it is characterized in that: also further be provided with between described medicine-chest and the administration delivery side of pump and stir the loop, be provided with the stirring valve of opening when sprayer unit quits work and being used for reaching by the soup circulation stirring medicine-chest herb liquid in this stirring loop, the input-output unit of this stirring valve and control device is electrically connected.
6, the motor-driven spraying machine of automatic target detection variable farm chemical applying according to claim 1, it is characterized in that: described target pair device also further is provided with the velocity sensor that is used to measure the spraying machine movement velocity, and the output signal of this velocity sensor is connected to the input-output unit of control device.
7, the motor-driven spraying machine of automatic target detection variable farm chemical applying according to claim 1, it is characterized in that: described image collecting device is a ccd video camera, the distance of this video camera and sprayer unit is at least 2m.
8, the motor-driven spraying machine of automatic target detection variable farm chemical applying according to claim 1 is characterized in that: also further go here and there in the pipeline between medicine-chest and Teat pipette and be provided with the filter that is used for filtering liquid medicine impurity, protection shower nozzle.
9, the motor-driven spraying machine of automatic target detection variable farm chemical applying according to claim 1, it is characterized in that: described administration pump transmission mechanism is connected with power source, this transmission mechanism is gearbox or belt pulley, and this power source is the power-equipment or the motor of carrying spraying machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03266754 CN2640617Y (en) | 2003-07-07 | 2003-07-07 | Motor spraying machine with automatic targetting and variable applicating pesticide |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03266754 CN2640617Y (en) | 2003-07-07 | 2003-07-07 | Motor spraying machine with automatic targetting and variable applicating pesticide |
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| CN2640617Y true CN2640617Y (en) | 2004-09-15 |
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| CN 03266754 Expired - Fee Related CN2640617Y (en) | 2003-07-07 | 2003-07-07 | Motor spraying machine with automatic targetting and variable applicating pesticide |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101690923A (en) * | 2009-10-10 | 2010-04-07 | 华南农业大学 | Microcomputer based control device for constant-pressure atomization of pipeline |
| CN101927220A (en) * | 2010-07-05 | 2010-12-29 | 中国农业大学 | Accurate intelligent targeted spraying machine |
| CN102017938A (en) * | 2010-10-19 | 2011-04-20 | 中国农业大学 | Greenhouse suspended self-propelled target-oriented sprayer system and operation method thereof |
| CN102428904A (en) * | 2011-09-20 | 2012-05-02 | 上海交通大学 | Automatic targeting and variable atomizing flow control system for weeding robot |
| CN102613162A (en) * | 2012-04-23 | 2012-08-01 | 西北农林科技大学 | Self-propelled automatically targeting precise pesticide spraying machine |
| CN103988824A (en) * | 2014-04-18 | 2014-08-20 | 浙江大学 | Automatic targeting and spraying system based on binocular vision technology |
| CN103999841A (en) * | 2014-04-18 | 2014-08-27 | 浙江大学 | Automatic targeting and spraying system |
| CN104069970A (en) * | 2014-06-10 | 2014-10-01 | 潍坊美奥农业科技有限公司 | Agriculture intelligent spraying machine |
| CN104115809A (en) * | 2014-07-24 | 2014-10-29 | 中国农业大学 | Toward-target spraying machine and method for crops in field |
| CN107581184A (en) * | 2017-10-27 | 2018-01-16 | 济南大学 | A kind of orchard wind spraying aid type intelligence plant protection device |
| CN109984118A (en) * | 2019-04-30 | 2019-07-09 | 农业农村部南京农业机械化研究所 | A kind of adaptive device for administration of drugs |
| US11738362B2 (en) | 2020-04-03 | 2023-08-29 | Cnh Industrial America Llc | System and method for monitoring agricultural sprayer operation using spray fan shape |
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2003
- 2003-07-07 CN CN 03266754 patent/CN2640617Y/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101690923A (en) * | 2009-10-10 | 2010-04-07 | 华南农业大学 | Microcomputer based control device for constant-pressure atomization of pipeline |
| CN101690923B (en) * | 2009-10-10 | 2013-05-01 | 华南农业大学 | Microcomputer based control device for constant-pressure atomization of pipeline |
| CN101927220A (en) * | 2010-07-05 | 2010-12-29 | 中国农业大学 | Accurate intelligent targeted spraying machine |
| CN102017938A (en) * | 2010-10-19 | 2011-04-20 | 中国农业大学 | Greenhouse suspended self-propelled target-oriented sprayer system and operation method thereof |
| CN102428904A (en) * | 2011-09-20 | 2012-05-02 | 上海交通大学 | Automatic targeting and variable atomizing flow control system for weeding robot |
| CN102613162A (en) * | 2012-04-23 | 2012-08-01 | 西北农林科技大学 | Self-propelled automatically targeting precise pesticide spraying machine |
| CN103988824A (en) * | 2014-04-18 | 2014-08-20 | 浙江大学 | Automatic targeting and spraying system based on binocular vision technology |
| CN103999841A (en) * | 2014-04-18 | 2014-08-27 | 浙江大学 | Automatic targeting and spraying system |
| CN104069970A (en) * | 2014-06-10 | 2014-10-01 | 潍坊美奥农业科技有限公司 | Agriculture intelligent spraying machine |
| CN104115809A (en) * | 2014-07-24 | 2014-10-29 | 中国农业大学 | Toward-target spraying machine and method for crops in field |
| CN104115809B (en) * | 2014-07-24 | 2016-05-18 | 中国农业大学 | A kind of field crops sprays machine and spraying method to target |
| CN107581184A (en) * | 2017-10-27 | 2018-01-16 | 济南大学 | A kind of orchard wind spraying aid type intelligence plant protection device |
| CN109984118A (en) * | 2019-04-30 | 2019-07-09 | 农业农村部南京农业机械化研究所 | A kind of adaptive device for administration of drugs |
| CN109984118B (en) * | 2019-04-30 | 2024-04-05 | 农业农村部南京农业机械化研究所 | Self-adaptive medicine applying device |
| US11738362B2 (en) | 2020-04-03 | 2023-08-29 | Cnh Industrial America Llc | System and method for monitoring agricultural sprayer operation using spray fan shape |
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