KR101478389B1 - Mobile spraying system for controlling pests and controlling temperature and humidity and control method thereof - Google Patents

Abstract

A control system capable of spraying a chemical liquid or water for control of temperature and / or humidity to a crop and automatically moving within a facility such as a greenhouse or a vinyl house, and a mobile dispensing system for temperature and humidity control are disclosed. A mobile dispensing system includes a spreader for storing a chemical solution or water, and spraying a stored chemical solution or water to the outside; A moving body provided with a movable wheel and holding and fixing the spreader; And a guide portion provided in a place for spraying the chemical liquid or water and guiding the movement of the moving body.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile spraying system for controlling temperature and humidity,

The present invention relates to a spraying system for spraying a chemical solution or water for controlling and / or controlling temperature and humidity on a crop in a facility such as a greenhouse or a vinyl house, and more particularly, And / or a chemical or water for temperature and humidity control.

Crops grown in facilities such as greenhouses and vinyl houses are relatively insensitive to insect pests compared to crops grown outdoors. Therefore, sustainable and careful insect pest control is the most important factor in cultivating plants.

Further, in the cultivation of the facility, it is an important task to keep the temperature and humidity in the facility at a temperature and a humidity suitable for the growth of the crop. If the indoor temperature and humidity are not maintained at the optimal temperature and humidity of the crop growth, the growth and development of the crop will be delayed and the harvest time will be delayed, the yield will be lowered, the quality of the harvest will be lowered, It causes various problems.

The insect pest control and the temperature / humidity control work in the facility can be done through the automatic excitation system. The automatic entrainment system is configured to install a plurality of nozzle assemblies in a facility and then spray a chemical or water as a mounted nozzle assembly.

However, such a conventional automatic excitation system has an advantage that it can spray a chemical liquid or water automatically, but there is a problem that the nozzles are frequently clogged due to the solid component of the chemical contained in the chemical liquid.

In addition, although the conventional automatic excavation system has an advantage that it can reduce the labor force somewhat by automatically spraying the chemical solution or the water, it is still pointed out that the manual amount of the amount of air and the direction of the mist must be adjusted according to the temperature and humidity of the room .

In order to solve such a problem, the applicant of the present invention has proposed in Patent Application No. 2002-88272 an ultrasonic wave generating means for preventing a nozzle from being clogged due to a solid component contained in a chemical liquid, And means for adjusting the direction of spraying.

However, such a control system solves the problem of nozzle clogging, manual flow control and manual control of the conventional automatic vibration system, but since it is fixedly installed in one place, Or the amount of water of the water and the direction of the mist can not be precisely controlled. In order to compensate for this, it is necessary to install several control systems at proper intervals, but in this case, the installation cost of the system increases.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a method for controlling a crop and a method for controlling the temperature and humidity of a crop by automatically moving in a facility such as a greenhouse, A water spraying system and a mobile spray system for temperature and humidity control.

Another object of the present invention is to provide a method for automatically detecting where a chemical solution or water is required to be sprayed and / or for controlling temperature and humidity, and automatically moving to a spraying site where a chemical solution or water can be sprayed And a mobile dispensing system for temperature and humidity control.

According to one aspect of the present invention, there is provided a mobile application system for controlling and controlling temperature and humidity, comprising: a spreader for storing a drug solution or water, and spraying a stored drug solution or water to the outside; A moving body provided with a plurality of movable wheels and supporting and fixing the spreader; And a guide portion provided in a place for spraying the chemical liquid or water and guiding the movement of the moving body.

The sprayer includes a liquid storage tank for storing a chemical liquid or water, a fluid nozzle for spraying a chemical liquid or water to the outside, and a chemical liquid or air for applying air pressure to the chemical liquid or water, Compressor. At this time, a spray guide composed of a plate formed with fine ventilation holes may be disposed in front of and below the fluid nozzle so as to prevent the chemical liquid or the water ejected to the outside through the fluid nozzle from falling directly below the front of the fluid nozzle. The liquid storage tank may also include a plurality of reservoirs, each reservoir containing a different liquid. Optionally, the spreader may further comprise a vertical moving part for moving the fluid nozzle up and down, and / or a rotating moving part for rotating the fluid nozzle. The spreader may further include a first ultrasonic generator for applying ultrasonic waves to the chemical solution or water stored in the liquid storage tank, and / or a second ultrasonic generator for applying ultrasonic waves to the chemical solution or water sprayed to the outside through the fluid nozzle . When the liquid storage tank includes a plurality of storage chambers, the spreader may include an ultrasonic oscillation frequency converter for converting the oscillation frequency of ultrasonic waves applied to the chemical solution or water in the first and second ultrasonic generation units according to the type of liquid to be sprayed . The sprayer may further include an air blower blowing air in the same direction as the chemical solution or the water spray direction so that the chemical liquid sprayed from the fluid nozzle or the water can be spread widely while moving to a long distance.

The moving body may include a support body which is rotatably fixed on the lower side of the moving body and a spatterer on the upper side thereof, a driving motor provided on the supporting body, and a power transmitting portion for transmitting driving force of the driving motor to the wheels.

The guide portion may include a guide rail for guiding the movement of the wheel in engagement with the wheels.

In order to automatically perform the control and / or the temperature and humidity control, the mobile application system moves the moving object to the area requiring spraying according to the temperature and / or humidity of the plurality of areas partitioned in the place to spray the chemical solution or water, And a control unit for controlling the moving body and the spreader so that the chemical liquid or the water can be sprayed onto the required area.

The control unit may include a sensor unit having a plurality of temperature and / or humidity sensors installed in a plurality of areas, respectively, so as to detect temperature and / or humidity in a plurality of areas, and a plurality of temperature and / Judging a region where the measured temperature and / or humidity is lower than the set temperature and / or humidity by comparing and judging the temperature and / or the humidity with a predetermined temperature and / or humidity as a spraying region, and based on the determined spraying region And a controller for controlling the driving motor of the moving body and the air compressor of the spreader so as to move the moving body to spray the chemical liquid or water through the fluid nozzle toward the spraying area. At this time, the controller judges whether the number of application times of spraying the chemical and / or water previously in the spraying required area is smaller than the number of application times of spraying the chemical solution and / or water in the peripheral area before, It can be judged to be a spraying area.

At this time, when the spreader further includes the upper and lower moving parts and / or the rotating moving parts, the controller controls the upper and lower moving parts and / or the rotating moving part so as to dispose the fluid nozzle toward the determined spraying area, It can be moved or rotated.

In addition, when the spreader includes the first ultrasonic generator and / or the second ultrasonic generator, the controller may control the first ultrasonic generator and / or the second ultrasonic generator to apply ultrasonic waves to the chemical solution or water.

Alternatively, in order to control the moving position of the moving object, the sensor unit may further include a plurality of position detecting sensors provided in the moving path of the moving object corresponding to the plurality of areas, respectively, so as to detect the position of the moving object. At this time, the controller can control the driving motor and the air compressor based on the position of the moving object sensed by the position detecting sensors, and determine whether the moving object reaches the determined dispensing area and the dispensing start time.

According to another aspect of the present invention, there is provided a control method for a control system for controlling and controlling temperature and humidity in a mobile dispensing system, comprising: a measurement step of measuring temperature and / or humidity of a plurality of areas partitioned at a place where a chemical solution or water is to be sprayed; Determining a region where the measured temperature and / or humidity is lower than a predetermined temperature and / or humidity by comparing the measured temperature and / or humidity with a predetermined temperature and / or humidity as a spraying region; And a spraying step of spraying a chemical or water through the fluid nozzle by moving a moving object mounted with the sprayer into the determined spraying area.

At this time, in the determination step, it is further determined whether the number of application times of spraying the chemical solution and / or water previously in the determined application area is smaller than the number of application times of spraying the chemical solution and / or water in the peripheral area, And determining whether the number of spraying times is smaller than the number of spraying required areas.

INDUSTRIAL APPLICABILITY As described above, the present invention provides a mobile dispensing system for controlling a temperature and a humidity, and a control method thereof, which uses a moving body for supporting and fixing a spray portion and a guide portion for guiding movement of the moving body. Therefore, in the case of spraying the chemical solution to the crop for the control in a facility such as a greenhouse or a vinyl house, or spraying water for controlling the temperature and the humidity, the moving body equipped with the spreader is moved to a position or area So that a chemical solution or water can be sprayed through the sprayer. Therefore, the sprayer can be easily moved to a position or region where spraying is required, so that the chemical solution or water can be sprayed.

In addition, the present invention relates to a control system for controlling the temperature of a plurality of regions partitioned in a place where a chemical solution or water is to be sprayed, And / or humidity, and an area lower than the set temperature and / or humidity by comparing and judging the temperatures and / or the humidity measured in the sensor unit with a preset temperature and / or humidity And a controller for controlling the spraying of the chemical or water by moving the moving body to the determined spraying area determined by the user, so that the user can directly control the temperature and humidity in the plurality of areas And / or move the moving object equipped with the spreader to a place where the spreader is to be sprayed, and it is not necessary to operate the spreader The system itself can automatically determine whether the temperature and humidity in the plurality of areas are appropriate according to the predetermined humidity and temperature, and move the moving body equipped with the spreader to the spraying area to spray the chemical solution or water . Therefore, the mobile dispensing system and its control method of the present invention can realize a completely unmanned system which does not require user's separate operation for controlling the temperature or the humidity, It is possible to obtain an effect that the spray can be customized.

In addition, the control method and the control method for controlling temperature and humidity of the present invention further determine whether the number of times spraying the chemical solution and / or water is less than the number of spraying the peripheral area in the spraying area where the controller is judged It is judged that only the area with a small number of spraying is judged to be a spraying area, so that it is possible to prevent the chemical solution and / or water, especially the chemical solution, from being excessively sprayed on the crop.

In addition, in the case where the control unit of the present invention further includes position sensors for sensing the position of the moving object, the controller controls the moving object based on the position of the moving object detected by the position detecting sensors, It is possible to control the driving motor of the moving body and the air compressor of the spreader by determining the arrival of the guide rail and the spraying start time of the motor, The chemical solution and / or the water can be more accurately sprayed to the spray area than when the position of the moving object is detected by counting the driving time.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic view schematically illustrating the configuration of a control system for controlling and controlling temperature and humidity according to an embodiment of the present invention; Fig.
Figure 2 is an enlarged cross-sectional view of the fluid nozzle of the mobile dispensing system shown in Figure 1,
Figure 3 is a top view illustrating the use of the mobile dispensing system shown in Figure 1,
4 is a flowchart illustrating a control method of the control system and the temperature and humidity control system according to an embodiment of the present invention, and Fig.
5 is a schematic view schematically illustrating the configuration of a control system and a temperature control system for temperature and humidity control according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like elements throughout.

Referring first to FIG. 1, there is schematically illustrated a mobile dispensing system 1 for control and temperature and humidity control according to an embodiment of the present invention.

The mobile dispensing system (1) of the present invention is a mobile dispensing system (1) which automatically moves within a facility such as a greenhouse, a vinyl house, and the like, while spraying a chemical solution or water for controlling the temperature and humidity, System includes a spreader 9, a moving body 72, and a guide portion 74. [

As shown in Fig. 1, the spreader 9 stores a chemical solution or water, and externally distributes the stored chemical solution or water, and has a base plate 10

It is. The base plate 10 is a circular plate, and is configured to be fixedly supported by a support body 73 of a moving body 72, which will be described later.

In addition, the spreader 9 has a lift cylinder 12 installed at the center of the upper surface of the base plate 10. The lift cylinder 12 is a pneumatic cylinder operated by compressed air and includes a cylinder housing 14 fixed vertically to the base plate 10 and an operating rod 16 extending upward from the cylinder housing 14, . Particularly, the operation rod 16 is extended upward or contracted downward by the introduced compressed air, so that the nozzle case 50 fixed to the liquid storage tank 20 and the liquid storage tank 20, which will be described later, And moves up and down to move the fluid nozzle 60, which will be described later, up and down.

The spreader 9 also has a liquid storage tank 20 rotatably installed in the operating rod 16 of the lift cylinder 12 and a liquid storage tank 20 for rotating the liquid storage tank 20. [ And a rotary motor (30) installed between the operation rod (16) and the liquid storage tank (20).

The liquid storage tank 20 is provided with a storage chamber 22 capable of storing a chemical solution for controlling and / or supplying nutrition, and an inlet 24 through which a chemical liquid can be introduced into the storage chamber 22. Here, it is needless to say that the inlet 24 is closed by the cap 26 so as to be selectively opened as required. Meanwhile, water is stored in the storage chamber 22 of the liquid storage tank 20. In this case, water is sprayed to the sprayer 9 to adjust the temperature and humidity in the facility. Hereinafter, the spraying of the chemical liquid will be described as an example.

The liquid storage tank 20 is provided with a top water level sensor 28 and a bottom water level sensor 29 for detecting whether or not the chemical liquid is filled in the storage chamber 22 or exhausted. The upper water level sensor 28 and the lower water level sensor 29 are disposed at the upper and lower portions of the storage chamber 22

It is detected whether the level of the liquid chemical solution is equal to or higher than the set water level or below the set water level and the detected signal is input to the controller 120 of the control unit 100 described later. Here, the controller 120 processes signals input from the upper water level sensor 28 and the lower water level sensor 29 to determine whether the chemical solution stored in the storage chamber 22 is full or exhausted, and then, through a lamp or buzzer Inform the user. At this time, the upper level sensor 28, the lower level sensor 29, and the controller 120 of the controller 100 serve as a storage amount notification means for notifying the stored amount of the chemical liquid.

The rotary motor 30 is fixed to the operating rod 16 of the lift cylinder 12 and has an output shaft 32 fixedly supporting the liquid storage tank 20. The rotation motor 30 rotates the position of the fluid nozzle 60 by rotating the liquid storage tank 20 and the nozzle case 50 fixed to the liquid storage tank 20 under the control of a controller 120 Rotation is the eastern part.

Referring again to Fig. 1, the spreader 9 is provided with a first ultrasonic generator for applying ultrasonic waves to the chemical solution stored in the liquid storage tank 20. The first ultrasonic generator includes an ultrasonic oscillator 40 for generating a high frequency electrical signal and an ultrasonic vibrator 42 for generating ultrasonic waves according to the generated electric signal. In particular, the ultrasonic vibration section 42 is composed of a diaphragm 44 constituting the bottom surface of the liquid storage tank 20 and a plurality of vibrators 46 fixedly installed on the undersurface of the diaphragm 44.

The first ultrasonic wave generating unit serves to stir the chemical liquid by applying the generated ultrasonic vibration energy to the liquid stored in the storage chamber 22. Particularly, ultrasonic waves are applied to the drug lumps contained in the drug liquid, thereby breaking up the drug lumps into small particles. The operation and configuration of the ultrasonic wave generator are already known, and a detailed description thereof will be omitted.

1, the spreader 9 includes a nozzle case 50 fixedly mounted on the upper surface of the liquid storage tank 20, a fluid nozzle 60 fixed around the nozzle case 50, And an air compressor (70) for supplying high-pressure compressed air to the nozzle (60). The nozzle case 50 is fixed to the upper surface of the liquid storage tank 20 via a support shaft 50a and is provided with an operation chamber 52. The nozzle case 50 is configured to rotate at the same time as the liquid storage tank 20 is rotated by the rotation motor 30. The support shaft 50a for supporting the nozzle case 50 is configured to be coaxial with the output shaft 32 of the rotation motor 30 for rotating the liquid storage tank 20, 50 are rotated about the same vertical axis as the liquid storage tank 20.

The fluid nozzle 60 is fixed around the nozzle case 50 and has a nozzle body 62 as shown in Fig. The nozzle body 62 has an internal flow path 64. The internal flow path 64 has an inlet 65 for introducing high pressure compressed air and an inlet 65 for introducing the introduced compressed air And has a nozzle hole 66. In addition, the inner flow path 64 is provided with a liquid flow inlet 67 through which the chemical liquid can be introduced. The compressed air introduction port 65 is connected to the air compressor 70 through a connection pipe 65a and the liquid introduction port 67 is connected to the liquid storage tank 20 through a connection pipe 67a. The fluid nozzle hole 66 is configured to face the outside of the nozzle case 50. The connection pipe 67a is formed so that the outer surface of the connection pipe 67a is closed to prevent the connection pipe 67a from being clogged when the sprinkler 9 is initially driven to freeze the part of the chemical solution remaining in the connection pipe 67a after spraying the medicinal solution during the winter season, For example, it is preferable to wind with an infrared heating tape 68.

The fluid nozzle 60 is connected to the fluid nozzle hole 66 by passing the introduced compressed air through the internal flow path 64 as the air compressor 70 is operated and high-pressure compressed air is introduced into the compressed air introduction port 65, . As the high-pressure compressed air passes through the throat portion of the internal flow path 64, the liquid is sucked into the inlet 67 by a siphon effect and the chemical liquid of the sucked liquid storage tank 20 is compressed And discharged into the fluid nozzle hole 66 to be made into fine particles. As a result, the fluid nozzle 60 serves to spray the chemical liquid of the liquid storage tank 20 into small particles while sucking it. Here, the fluid nozzle (60)

As the case 50 rotates, the chemical liquid particles are evenly sprayed on the crops around the circumference while being rotated at the same time.

On the other hand, the nozzle 60 is provided with a second ultrasonic generator for applying ultrasonic waves to the chemical liquid discharged through the fluid nozzle hole 66. [ The second ultrasonic generator includes an ultrasonic oscillator 80 for generating a high frequency electric signal and an ultrasonic vibrator 82 for generating ultrasonic waves according to the generated electric signal. Particularly, the ultrasonic vibration section 82 has a structure in which the vibrator 84 installed in the nozzle body 62, and the vibrator (not shown) so as to extend through the internal flow path 64 of the nozzle body 62 and toward the fluid nozzle hole 66, And a horn 86 provided in the horn 84.

The second ultrasonic wave generator generates fine particles of the chemical liquid by applying the generated ultrasonic vibration energy to the chemical liquid passing through the fluid nozzle hole 66. Particularly, it is configured to apply ultrasonic waves to the drug scale of the drug solution and the solid component of the wetting agent adhering to the periphery of the fluid nozzle hole 66, thereby breaking the solid component of the scale and the wetting agent into small particles. This feature prevents the fluid nozzle hole 66 from being clogged by the scale of the medicine attached to the fluid nozzle hole 66 and the solid component of the wetting agent, and at the same time, maximizes the efficiency of the mist.

Referring again to FIG. 1, the sprayer 9 further includes an air blowing unit for blowing the chemical liquid sprayed from the fluid nozzle 60 in the same direction as the spraying direction. The blower may be implemented by a blowing fan 90 installed in the nozzle case 50 so as to be disposed behind the fluid nozzle 60. This air blowing fan 90 is arranged behind the fluid nozzle 60 and blows the high pressure air in the same direction as the spraying direction of the chemical liquid so that the chemical liquid sprayed from the fluid nozzle 60 can move to a farther place And at the same time spread to a wider area. The air blowing fan 90 is configured to be installed in the operating chamber 52 of the nozzle case 50 so that air blown into the inner wall 54 of the operating chamber 52 flows from the operating chamber 52 A wire mesh 56 is provided so as to be discharged around the nozzle 60. Here, the blowing fan 90 is configured to be controlled by the controller 120 of the control unit 100, which will be described later. At this time, the inverter 120 is controlled to convert the digital signal transmitted from the controller 120 into an analog signal, : 92).

Even if the chemical liquid sprayed through the fluid nozzle 60 is diffused forward by the air blowing fan 90, a large part of the chemical liquid sprayed due to the nature of the chemical liquid in which the liquid is the mainstream, . However, since the spreader 9 of the present invention is moved by the moving body 72 and the guide portion 74 as described later, in consideration of the movement of the spreader 9, It is not planted. Therefore, not only the chemical liquid falling immediately in front of the nozzle case 50 but also the periphery of the guide portion 74 is always drained, resulting in damage of the electric parts of the mobile application system 1 over a long period of time .

In order to prevent such a problem, a chemical solution sprayed through the fluid nozzle 60 is guided to the front lower portion of the front surface of the nozzle case 50 so that the chemical solution does not fall directly forward to the front of the nozzle case 50, (69). The spraying guide 69 is provided so as to extend forwardly from the lower portion of the nozzle case 50 and is composed of a plate having fine ventilation holes to prevent the spraying particles from lumping and liquefying together even if the spraying liquid falls on it.

The moving body 72 is for supporting and fixing the spreader 9 and moving the spreader 9 to a sprayed position and includes a support body 73, a drive motor 78, and a power transmission portion 79.

The support body 73 is formed of a rectangular plate member. A plurality of, for example, four wheels 76 are rotatably fixed to the lower side of the support body 73. The wheels 76 share two rotary shafts 76a in the front and rear and one end of the rotary shaft 76a in the front and rear sides (left and right in FIG. 2) And are supported rotatably on four supporting brackets 77 (shown one by one back and forth) protruding at a predetermined interval from each other. These wheels 76 are formed so that the bottom surface of the wheels 76 can be moved over the guide rails 75 by engaging with the guide rails 75 of the guide portions 74 described later. The base plate 10 of the spreader 9 is fixed on the upper side of the support main body 73 as described above so that the spreader 8 is mounted and supported on the support main body 73.

The drive motor 78 is installed adjacent to one side of the support main body 73, for example, the rotational shaft 76a of the rear wheel 76 on the rear lower surface.

The power transmitting portion 79 is for transmitting the driving force of the driving motor 78 to the wheels 76 and includes a driving gear 78b formed on the driving shaft 78a of the driving motor 78, A driven gear 76b formed on the driven gear 76a and a power transmission gear 79a arranged to mesh with the driven gear 78b and the driven gear 76b. The shaft of the power transmission gear 79a is rotatably supported between the drive gear 78b and the driven gear 76b to a support portion (not shown) of the support body 73. [

The driving force of the driving motor 78 is transmitted to the rotary shaft 76a of the rear wheel 76 through the power transmitting portion 79 so that the rear wheel 76 Moves forward or backward over the guide rail 75 to move the support body 73 forward or backward.

3, the guide portion 74 is for guiding the movement of the support body 73 of the moving body 72 and is provided at a place where a chemical solution or water is to be sprayed, that is, a facility such as a greenhouse or a vinyl house R. The guide portion 74 includes a guide rail 75 that engages with the wheels 76 to guide the movement of the wheels 76. The guide rail 75 is formed in an elliptic endless track shape. However, the shape of the guide rail 75 is not limited to this, and may be formed in other shapes such as a straight line shape according to the type of the facility.

1, the mobile dispensing system 1 of the present invention includes a plurality of areas 117 (Fig. 1) partitioned in a facility R such as a greenhouse, a vinyl house, and the like so as to automatically perform control and / The driving motor 78 of the moving body 72 is moved to a region where spraying is required according to the temperature and / or humidity of the fluid nozzle 60 (see FIG. 3) And a control unit 100 for controlling the air compressor 70, the rotary motor 30, the lift cylinder 12, and the air blowing fan 90 of the spreader 9. The controller 100 includes a sensor unit 10 having a plurality of temperatures and / or humidity sensors 110 installed in a plurality of regions 117 so as to detect temperature and / or humidity in the plurality of regions 117, ) And comparing the measured temperature and / or humidity measured from the plurality of temperature and / or humidity sensing sensors 110 with a predetermined temperature and / or humidity with respect to the humidity and comparing the measured temperature and / or humidity with the preset temperature and / It is judged that the lower region is the spraying required region and the moving body 72 is moved based on the determined spraying required region. Then, by adjusting the amount of chemical solution, the spray direction, the mist height, The rotation motor 30, the lift cylinder 12, and the blowing fan 90 (not shown) of the spreader 9 and the air blowing fan 90 And a controller 120 for controlling the controller 120. [

Here, the temperature and / or the humidity sensor for measuring the temperature and / or the humidity to be used for determining whether or not each region 117 needs to be sprayed may be composed of only the humidity sensor when spraying the chemical solution for the control , And a temperature sensor for temperature control such as cooling. However, since it is possible to judge whether or not the spraying is necessary by using both the temperature and the humidity both during the control and the temperature control, the temperature and / or the humidity sensor 110 can detect the temperature And a humidity sensor.

Particularly, the controller 120 is equipped with an electronic circuit using a microprocessor. The controller 120 controls the temperature of each of the plurality of regions 117 and the input signals inputted from the humidity sensor 110 in advance to a memory (not shown) If it is determined that the spraying of each area 117 is necessary as the value is greater or smaller than the reference value, and if it is determined that the specific area is a spraying area requiring spraying, The driving motor 78 of the spreader 9 and the air compressor 70 of the spreader 9, the rotary motor 30, the lift cylinder 12 and the blowing fan 90 are controlled to move the moving body 72 to a specific area The moving amount or distance, the amount of the chemical solution in the spraying area, the direction of spraying, the height of the mist, and the width of the mist. At this time, in order to prevent the chemical liquid from being excessively sprayed onto a specific region, the controller 120 controls the flow rate of the input signal (input signal) input from each temperature and humidity sensor 110, And a preset reference value, it is further determined whether the number of times of spraying with the chemical solution previously sprayed in the spraying required area is smaller than the number of spraying times previously sprayed with the chemical solution in the peripheral area, It can be judged to be a spraying area. For this purpose, the controller 120 counts the number of times of spraying each time the chemical solution is sprayed on each area 117, and stores the counted number in the memory.

More specifically, as shown in FIGS. 3 and 4, when the temperature and humidity sensor 110 measures the temperature and humidity of each area 117 (S1), the controller 120 measures The temperature and humidity values of the respective regions 117, that is, the respective temperatures corresponding to the measured temperature and humidity values, and the input signals of the humidity sensor 110 are compared with predetermined reference values of temperature and humidity, A low region is searched (S2). At this time, if the temperature in the '117a' area a little away from the spreader 9 and the temperature and humidity sensed by the humidity sensor 110 are lower than the preset reference value temperature and humidity, the controller 120 ' 117a 'is determined to be a spraying area. Then, the controller 120 further determines whether the number of times of application of the chemical solution previously sprayed in the spraying area 117a determined to be the primary is less than the number of application times of spraying the chemical solution in the front and back and left and right peripheral areas (S3 ). As a result of the determination, if the number of times of application of the application area 117a is larger than the number of applications of the peripheral area, the controller 120 determines that the application area 117a, which is determined primarily, And returns to step S2 to compare the measured temperature and humidity with preset reference values of temperature and humidity to continue searching for an area lower than a preset reference value.

If it is determined in step S3 that the number of spraying of the spraying area 117a is smaller than the number of spraying of the surrounding area, the controller 120 determines that the spraying area 117a, And it is judged that the spraying is practically necessary.

Next, the controller 120 controls the driving motor 78 of the moving body 72 and the air compressor 70 of the spreader 9, the rotary motor 30, the lift cylinder 12, and the blowing fan 90 The moving body 72 is moved to the spraying area 117a and the chemical spraying area 117a is sprayed with the chemical solution or water through the fluid nozzle 60 at step S4.

That is, the controller 120 drives the drive motor 78 of the moving body 72 to move the spreader 9 to the spraying area 117a. At this time, the controller 120 controls the movement of the moving body 72 based on the current position where the moving body 72 has traveled and stopped and the position of the detection sensor 110 in the distribution required area 117a, It is possible to determine the drive time corresponding to the distance to travel to the drive motor 78a and drive the drive motor 78 for the determined drive time.

In this case, the temperature and humidity sensor 110 is separated from the moving path of the moving body 72, and the actual mounting position of the temperature and humidity sensor 110 and the guide rail 75 of the guide portion 74 When the actual installation length is different from the design, the moving body 72 may not be able to accurately move to the spraying necessary area 117a. 3, the sensor unit 109 may selectively detect the position of the moving body 72 in correspondence with the respective areas 117 so as to detect the position of the moving body 72, And a plurality of position sensors 95 installed in the middle of the guide rail 74. The position detection sensor 95 may be an ultrasonic sensor, a photosensor, or the like, which can detect the movement of the material. At this time, the controller 120 controls the position of the moving object 72 sensed by the position sensing sensors 95 installed corresponding to the distribution area 117a, that is, the input signals inputted from the position sensing sensors 95 It is possible to determine whether or not the moving body 72 has reached the spraying area 117a.

As described above, when the moving object 72 reaches the dispensing necessary area 117a, the controller 120 operates the rotating motor 30 in Fig. 1 to direct the fluid nozzle 60 to the dispensing necessary area 117a 1, the lift cylinder 12 is extended to increase the height of the fluid nozzle 60, and at the same time, the blowing fan 90 is rotated at a high speed (for example, The lift cylinder 12 is shrunk to weaken the height of the fluid nozzle 60. At the same time, the blowing fan 90 is rotated at a low speed, The drug solution is transported to the near side.

3, the controller 120 adjusts the rotational speed of the rotating motor 30 so that the fluid nozzle 60 is positioned in the width direction a and the length direction b of the spraying area 117a So that it can spray the chemical solution or water evenly. That is, the regions 117 may have different widths and lengths due to their characteristics. Therefore, the controller 120 controls the rotation motor 30 so that the angular velocity of the fluid nozzle 60 is reduced in the longitudinal direction (b) portion of the spraying area 117a, The rotation motor 30 is controlled so that the angular velocity of the fluid nozzle 60 is increased.

Then, when the temperature of the spraying area 117a and the input signal inputted from the humidity sensor 110 reach the reference value, the controller 120 stops the operation of the air compressor 70 to stop the spraying of the chemical liquid or water .

These operations (S1-S4) are repeated every time a temperature and a humidity value measured by the temperature and humidity sensor 110 are lower than a preset reference value.

As a result, the control unit 100 having the above-described structure controls the temperature of each region 117 in response to the temperature and humidity sensing signals of the regions 117 in the facility R inputted from the respective temperature and humidity sensing sensors 110, The moving body 72 is moved to the spraying area 117a by controlling the driving motor 78 of the moving body 72 and the moving body 72 is moved from the spraying area 117a to the side of the sprayer 9 And controls the air compressor 70, the rotary motor 30, the lift cylinder 12 and the blowing fan 90 so as to control the amount of the chemical solution in the spraying area 117a, the spray direction, . Accordingly, the control unit 100 automatically adjusts the amount of chemical solution, the direction of spraying, the height of the mist, and the width of the fog by customizing each of the areas 117 to control the crops in the facility R, Humidity can be controlled efficiently. Particularly, when water is sprayed using the mobile dispensing system 1 of the present invention, the temperature and humidity of the respective areas 117 in the facility R can be kept constant at all times, , The temperature and humidity in the facility (R) can be made optimal for the growth of the crop.

In the present invention, the temperature and humidity sensing sensor 110 and / or the position sensing sensor 95 for sensing the temperature and humidity of the respective regions 117 may be constituted by a wireless sensing sensor, I can move it. In addition, the present invention further includes a wireless receiver 130 for receiving output signals of the temperature and humidity sensor 110 and / or the position sensor 95 output from the wireless signal. The wireless receiver 130 inputs the output signals of the received temperature and humidity sensor 110 and / or the position sensor 95 to the controller 120. Of course, the temperature and humidity sensor 110 and the controller 120 may be directly connected to each other by wire.

Fig. 5 schematically illustrates a configuration of a control system 1 'according to another embodiment of the present invention and a control system 1' for temperature and humidity control. The mobile dispensing system 1 'of this embodiment is similar to the one illustrated in FIG. 1 except that a plurality of liquid storage tanks 20' are provided, for example, first and second storage rooms 22 and 22 ' Is the same as the mobile dispensing system (1). The liquid storage tank 20 'includes first and second storage chambers 22 22' separated by a diaphragm 21 so as to store different liquids, for example, a chemical liquid and water, respectively, And inlet ports 24 and 24 'through which the chemical solution can be introduced into the storage chambers 22 and 22'.

The first and second reservoir chambers 22 and 22 'are connected to the fluid nozzle 60 through the first and second connection pipes 67a and 67b, respectively. Only the chemical liquid stored in one of the first and second storage chambers 22 and 22 'is selectively supplied to the fluid nozzle 60 when the air compressor 70 is driven, respectively, at the inlet sides of the first and second connection pipes 67a and 67b. And first and second lock valves 67a 'and 67b' for introducing the lock valves 67a 'and 67b'. Here, the first and second lock valves 67a 'and 67b' may be constituted by a manually operated manual lock valve or an electronically controlled valve which can be controlled by the controller 120.

The first and second storage chambers 22 and 22 'are respectively provided with first and second storage chambers 22 and 22' for detecting whether or not the chemical solution is filled in or exhausted from the first and second storage chambers 22 and 22 ' The upper water level sensors 28 and 28 'and the first and second lower water level sensors 29 and 29' are installed. The first and second upper water level sensors 28 and 28 'and the first and second lower water level sensors 29 and 29' are arranged in such a manner that the water level of the chemical liquid Detects whether the water level is equal to or lower than the set water level, and inputs the detected signal to the controller 120 of the controller 100, which will be described later.

In order to selectively agitate the chemical solutions stored in the first and second storage chambers 22 and 22 'by applying ultrasonic vibration energy having a different oscillation frequency to the first and second storage chambers 22 and 22' And an ultrasonic oscillation frequency conversion unit 44 for selectively converting the oscillation frequency of the high frequency electric signal generated in the ultrasonic oscillation unit 40 under the control of the controller 120 according to the kind of the chemical liquid. Accordingly, the controller 120 selectively converts the oscillation frequency of the high-frequency electric signal applied to the first and second storage chambers 22 and 22 'through the ultrasonic oscillation frequency conversion unit 44 periodically or externally The chemical solution stored in the first and second reservoir chambers 22 and 22 'may be alternately stirred or selectively stirred.

The mobile dispensing system 1 'configured in this way is configured so that the liquid storage tank 20' has a plurality of storage compartments 22 and 22 ' 1), it is possible to reduce the inconvenience of replacing the chemical liquid to be sprayed.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the appended claims. It is therefore intended that all reasonable modifications and equivalents to the present invention be within the scope of the present invention.

1, 1 ': Mobile Spraying System 9: Spreader
20, 20 ': Liquid storage tank 22, 22': Storage room
60: fluid nozzle 69: spray guide
72: Moving body 73: Support body
74: guide part 76: wheel
78 drive motor 79: power transmission part
95: Position sensor 100:
109: Sensor part 110: Temperature and humidity sensor
117: area

Claims (14)

A spreader for storing a drug solution or water and spraying the stored drug solution or water to the outside;
A moving body provided with a plurality of movable wheels and supporting and fixing the spreader;
The moving body is moved to a region where spraying is required according to at least one of the temperature and the humidity of the plurality of regions partitioned in the place where the chemical liquid or water is required to be sprayed so that the chemical liquid or the water can be sprayed to the necessary region through the fluid nozzle A controller for controlling the moving body and the spreader; And
And a guiding part installed in a place for spraying the chemical or water, and guiding the movement of the moving body. The apparatus as claimed in claim 1,
A liquid storage tank for storing the chemical or water;
A fluid nozzle for spraying the chemical liquid or water to the outside; And
And an air compressor that applies air pressure to the chemical or water so that the chemical or water stored in the liquid storage tank is ejected to the outside through the fluid nozzle. 3. The system of claim 2, wherein the spreader further comprises a spray guide disposed below the fluid nozzle and including a plate defining fine vent holes. 3. The system of claim 2, wherein the liquid storage tanks each comprise a plurality of reservoirs for storing different liquids. The spreading system according to claim 2, wherein the spreader further comprises at least one of a vertically moving part for vertically moving the fluid nozzle and a rotationally moving part for rotating the fluid nozzle. The mobile terminal according to claim 2,
A support body rotatably fixed on the lower side and mounted on the upper side of the support body;
A drive motor provided on the support body; And
And a power transmission unit for transmitting the driving force of the driving motor to the wheels. The mobile dispensing system according to claim 1, wherein the guide unit includes a guide rail that engages with the wheels to guide movement of the wheels. delete 7. The apparatus of claim 6,
A sensor unit having at least one of a plurality of temperature sensors and a plurality of humidity sensors installed in the plurality of regions so as to detect at least one of the temperature and the humidity in the plurality of regions; And
And comparing at least one of the temperature and humidity measured from at least one of the plurality of temperature sensors and the plurality of humidity sensors with at least one of a preset temperature and humidity, Is determined as a spraying area, and the driving motor of the moving body and the sprayer are moved so as to spray the chemical or water through the fluid nozzle toward the spraying area by moving the moving body based on the determined spraying area And a controller for controlling the air compressor. [12] The method of claim 9, wherein the controller determines whether the spray number of spraying the chemical and / or water in the determined spraying area is smaller than the spray number of spraying the chemical and / And determines only the area having the small number of times of spraying as the spraying area. 10. The method of claim 9,
Wherein the spreader further comprises at least one of a vertically movable portion for moving the fluid nozzle up and down and a rotationally movable portion for rotating the fluid nozzle,
Wherein the controller controls at least one of the up-and-down moving unit and the rotary moving unit to move the fluid nozzle up and down or rotate the fluid nozzle so as to dispose the fluid nozzle toward the determined spraying- . 10. The system according to claim 9, wherein the sensor unit further comprises a plurality of position sensors installed on the moving path of the moving object corresponding to the plurality of areas, respectively, so as to detect the position of the moving object. A measuring step of measuring at least one of a temperature and a humidity of a plurality of areas partitioned at a place where a chemical solution or water is to be sprayed;
Comparing at least one of the measured temperature and humidity with at least one of a preset temperature and humidity and determining a region where at least one of the measured temperature and humidity is lower than at least one of the preset temperature and humidity as a spraying required region ; And
And a spraying step of spraying the drug solution or water to the spraying area through a fluid nozzle by moving a moving object on which the sprayer is mounted as the determined spraying area. 14. The method according to claim 13, wherein the determining step determines whether the number of times the chemical and / or water has been previously sprayed is less than the number of times the chemical and / Further comprising the step of determining that only the area having the small number of times of spraying is determined to be the spraying-required area.

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