WO2018045636A1 - Système de pulvérisation précis pour cultures - Google Patents

Système de pulvérisation précis pour cultures Download PDF

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Publication number
WO2018045636A1
WO2018045636A1 PCT/CN2016/107104 CN2016107104W WO2018045636A1 WO 2018045636 A1 WO2018045636 A1 WO 2018045636A1 CN 2016107104 W CN2016107104 W CN 2016107104W WO 2018045636 A1 WO2018045636 A1 WO 2018045636A1
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WO
WIPO (PCT)
Prior art keywords
telescopic
telescopic rod
spray
telescopic rods
transport tube
Prior art date
Application number
PCT/CN2016/107104
Other languages
English (en)
Chinese (zh)
Inventor
陈乐春
Original Assignee
数字鹰科技盐城有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 数字鹰科技盐城有限公司 filed Critical 数字鹰科技盐城有限公司
Priority to KR1020187008597A priority Critical patent/KR102103092B1/ko
Publication of WO2018045636A1 publication Critical patent/WO2018045636A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0025—Mechanical sprayers
    • A01M7/0032—Pressure sprayers
    • A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/0053—Mounting of the spraybooms
    • A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/0071—Construction of the spray booms
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems

Definitions

  • the invention relates to the field of plant protection, in particular to a precise spraying system capable of realizing highly automatic application of pesticides.
  • the current pesticide spraying methods mainly include artificial spraying, spraying of pesticide spray vehicles, and spraying of aircraft.
  • Manual spraying requires manual carrying equipment to work in the ridges, which is not only inefficient, but also harmful to the human body with high concentrations of harmful gases.
  • Pesticide spray truck spraying and aircraft spraying can only deal with the scene where the crop height in the working area is relatively uniform.
  • it is easy to cause the liquid medicine to The problem of uneven distribution on the target requires the operator to have superb operation technology, constantly adjust the spray height, and achieve the requirement of uniform drug spray.
  • the present invention provides a self-propelled, fixed-high, accurate crop spraying system for large-area farmland, which can overcome the ground undulation and the growth height of different crops, realize automatic and precise spraying, and reduce large-area farmland. Spraying load and improving spraying efficiency.
  • a precise crop spraying system comprising:
  • Field walking mechanism including N (N ⁇ 2) cars that can walk in the field;
  • the height adjustment mechanism comprises N telescopic rods and N telescopic rods respectively mounted vertically on the top of the N trolleys, and the N telescopic mechanisms are respectively mounted on the N telescopic rods, the telescopic rods
  • the length can be expanded and contracted under the control of the telescopic mechanism
  • a conveying and spraying mechanism comprising a medicine box, a pump, a transportation tube and a spray head, wherein the medicine box and the pump are installed in the trolley, a pump is installed at an outlet of the medicine box, and one end of the telescopic rod is connected; the transportation tube is erected Between the telescopic rods, the two ends of the transport tube are respectively connected to the other of the telescopic rod
  • the nozzle has a plurality of nozzles that are evenly distributed and mounted on the transport tube;
  • the ranging system including the distance measuring device and the main control module, are mounted on the transport tube, and the main control module is electrically connected to the distance measuring device and the telescopic mechanism.
  • a transport tube tensioning mechanism is further included, including an upper hoisting mechanism, a traction rope, and two hoisting mechanisms;
  • the upper hoisting mechanism is mounted on a top of the telescopic rod, and the traction rope has a plurality of One end is connected to the upper hoisting mechanism, and the other end is respectively fixed at different positions of the transport tube; the length of the traction rope can be retracted under the control of the upper hoisting mechanism; the hoisting mechanisms on both sides are installed at Where the telescopic rod is coupled to the transport tube, the length of the transport tube can be retracted under the control of the two side hoisting mechanisms.
  • N positioning modules for ensuring parallel and synchronous movement of the N cars are respectively installed in the N cars.
  • the telescopic rod is an inner hollow sealed waterproof tube, and the medical liquid is transported inside the telescopic rod; or the inner or outer portion of the telescopic rod is mounted with a hose extending along the length of the telescopic rod The drug solution is delivered in the hose.
  • the spray head has a flow control unit therein; when the spray head is outside the two-side hoisting mechanism, the flow control unit is opened to perform work; when the spray head is in the hoisting mechanism on both sides The flow control unit is turned off and no work is performed.
  • the distance measuring device When the invention travels in the field, the distance measuring device synchronously measures the distance from the top of the crop, and feeds back to the main control module, and the main control module controls the movement of the telescopic mechanism, adjusts the height of the transport tube connecting the nozzles, and ensures the distance between the nozzle and the top of the crop. Achieve precision spray. No need for human manipulation, effectively avoiding blind adjustments due to uneven terrain or different crop types, resulting in multiple sprays or leaks, improving spray precision of crop drugs, improving spray uniformity, improving pesticide utilization, and reducing the burden of spraying on large areas of farmland. Improve spray efficiency.
  • Figure 1 is a schematic view showing the structure of an embodiment of the present invention.
  • FIG. 2 is a schematic block diagram of an embodiment of the present invention.
  • composition of an embodiment of the present invention is as follows:
  • the field walking mechanism includes two small cars that can walk in the field.
  • the positioning module 2 is installed on the trolley, and positioning by GPS, differential method, Beidou, etc. can ensure that the two trolleys 1 maintain parallel and synchronous movement.
  • the height adjustment mechanism includes two telescopic rods 3 and two telescopic mechanisms 4. Two telescopic rods 3 are vertically mounted on the top of the two carts 1, and two telescopic mechanisms 4 are respectively mounted on the two telescopic rods 3.
  • the length of the telescopic rod 3 can be expanded and contracted under the control of the telescopic mechanism 4.
  • the telescopic rod 3 itself is a sealed waterproof tube, and the inside is hollow, and the liquid medicine can be directly transported inside the telescopic rod 3.
  • the telescopic rod 3 itself is not transported by the pharmaceutical industry, but a hose extending along the length of the telescopic rod 3 is mounted inside or outside the telescopic rod 3 through which the liquid medicine is transported.
  • the conveying and spraying mechanism includes a medicine box 5, a pump 6, a transport tube 7, and a spray head 8.
  • the medicine box 5 and the pump 6 are installed in two carts 1, the pump 6 is installed at the outlet of the medicine box 5, and the outlet of the medicine box 5 is connected to one end of the telescopic rod 3.
  • the transport pipe 7 is erected between the two telescopic rods 3, and the other ends of the two telescopic rods 3 are respectively connected at both ends of the transport pipe 7.
  • the nozzle 8 is a controllable flow nozzle having a plurality of evenly distributed installations on the transport tube 7. Each nozzle 8 has an independent flow control unit 9 therein.
  • the flow control unit 9 of the spray head 8 When the spray head 8 is outside the hoisting mechanism 12 on both sides, the flow control unit 9 of the spray head 8 is opened, and the spray head 8 can perform work; when the spray head 8 is entangled into the hoisting mechanism 12 on both sides, the flow control unit of the spray head 8 9 is closed, the nozzle 8 does not operate, and the pesticide is prevented from leaking into the hoisting mechanism 12 on both sides.
  • the transport tube tensioning mechanism includes an upper hoisting mechanism 10, a traction rope 11 and two hoisting mechanisms 12.
  • the upper hoisting mechanism 10 and the traction rope 11 function to pull up or down the transport tube 7, and the function of the hoisting mechanism 12 on both sides is to control the length of the transport tube 7.
  • the upper hoisting mechanism 10 is mounted on the top of the two telescopic rods 3, and the traction ropes 11 have a plurality of traction ropes 11 One end is connected to the upper hoist 10 mechanism, and the other end is fixed at different positions of the transport tube 7, and the length of the traction rope 11 can be retracted under the control of the upper hoisting mechanism 10.
  • the hoisting mechanism 12 on both sides is installed at the junction of the two telescopic rods 3 and the transport pipe 7, and the length of the transport pipe 7 can be retracted under the control of the hoisting mechanism 12 on both sides.
  • the ranging system includes a distance measuring device 13 and a main control module 14.
  • the distance measuring device 13 and the main control module 14 are mounted on the transport pipe 7 or on the spray head 8.
  • the main control module 14 is electrically connected to the distance measuring device 13 and the telescopic mechanism 4, the upper hoisting mechanism 10, and the hoisting mechanisms 12 on both sides.
  • the pesticide in the medicine box 5 is hit into the transport pipe 7 by the pump 6, the spray head 8 starts to work, the pesticide is sprayed, and the two cars 1 start to move synchronously.
  • the main control module 14 controls the work of the telescopic mechanism 4, and adjusts the height of the transport pipe 7 up and down to make the transport pipe 7
  • the distance from the top of the crop is kept constant (for example, 10 cm, which can be adjusted according to the application requirements of different crops and different medicaments).
  • the transport tube 7 When the distance between the two carts 1 is similar, the transport tube 7 will sag in the middle, and the traction rope 11 is pulled up by the upper hoisting mechanism 10, and the transport tube 7 is pulled up. However, if only the upper hoist 10 and the traction rope 11 are pulled, the transport pipe 7 will be slightly bent downward by the force of gravity. Therefore, the cooperation of the hoisting mechanism 12 is required, and the length of the transport pipe 7 is controlled by the hoisting mechanism 12 on both sides, so that the transport pipe 7 is tensioned, and the transport pipe 7 is maintained in a straight state at a certain level, while the transport pipe 7 is on the transport pipe 7. Each of the spray heads 8 remains vertically downward.
  • the white “arrow” in Figure 2 indicates the pesticide transport line, and the black “arrow” indicates the control line.
  • the above embodiment uses two cars, and the distance between the two cars has a limit value, which cannot be far away. This is because if the two cars are too far apart, the gravity on the transport pipe will be too large. Even if the tensioning mechanism is used, the gravity can be overcome to ensure the tension of the transport tube. Therefore, when facing a larger area of the spraying task, it is necessary to carry out lateral reproduction in units of the structure of the above embodiment, and set three, four or more vehicles in parallel synchronous movement to cover a larger spraying area. .

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Catching Or Destruction (AREA)

Abstract

L'invention concerne un système de pulvérisation précis pour cultures, comprenant N chariots (1) (N est supérieur ou égal à 2) capables de parcourir le champ, N tiges télescopiques (3) montées verticalement sur le dessus des N chariots (1), et N mécanismes télescopiques (4) montés sur les N tiges télescopiques (3). Des réservoirs de pesticide (5) et des pompes (6) sont montées dans les chariots (1) ; un tuyau de transmission (7) est monté entre les tiges télescopiques (3) ; de multiples buses de pulvérisation (8) sont réparties uniformément sur le tuyau de transmission (7) ; un dispositif de mesure de distance (13) et un module de commande principal (14) sont montés sur le tuyau de transmission (7) ; le module de commande principal (14) est connecté électriquement au dispositif de mesure de distance (13) et aux mécanismes télescopiques (4). Le système peut maintenir les distances entre les buses de pulvérisation (8) et le haut des plantes cultivées, ce qui permet d'obtenir une pulvérisation précise sans manipulation manuelle, d'éviter efficacement une pulvérisation excessive ou manquée provoquée par un ajustement humain à l'aveugle dû à un terrain non lisse ou à différents types de cultures, ce qui permet d'améliorer la précision de pulvérisation de pesticide pour les cultures, l'uniformité de pulvérisation et le taux d'utilisation de pesticide, de réduire la charge de pulvérisation de grands terrains agricoles, et d'améliorer l'efficacité de pulvérisation.
PCT/CN2016/107104 2016-09-06 2016-11-24 Système de pulvérisation précis pour cultures WO2018045636A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020187008597A KR102103092B1 (ko) 2016-09-06 2016-11-24 농작물 정밀살포시스템

Applications Claiming Priority (2)

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CN201610803667.4A CN106234341A (zh) 2016-09-06 2016-09-06 一种农作物精准喷洒系统
CN201610803667.4 2016-09-06

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WO2018045636A1 true WO2018045636A1 (fr) 2018-03-15

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KR (1) KR102103092B1 (fr)
CN (1) CN106234341A (fr)
WO (1) WO2018045636A1 (fr)

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CN108279108A (zh) * 2018-04-16 2018-07-13 农业部南京农业机械化研究所 田间雾滴飘移模拟测试装置
CN109964905A (zh) * 2019-03-19 2019-07-05 安徽农业大学 基于果树识别定位的自走对靶施药机器人及其控制方法
CN109984118A (zh) * 2019-04-30 2019-07-09 农业农村部南京农业机械化研究所 一种自适应施药装置
CN110038757A (zh) * 2019-04-28 2019-07-23 内蒙古煤易通科技有限公司 一种基于物联网的汽运车辆环保抑尘剂自动喷淋装置
CN110356557A (zh) * 2019-08-22 2019-10-22 山东理工大学 搭载可变浓度配药施药模块的变量喷施植保无人机
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Publication number Priority date Publication date Assignee Title
CN108279108A (zh) * 2018-04-16 2018-07-13 农业部南京农业机械化研究所 田间雾滴飘移模拟测试装置
CN108279108B (zh) * 2018-04-16 2023-12-05 农业部南京农业机械化研究所 田间雾滴飘移模拟测试装置
CN109964905A (zh) * 2019-03-19 2019-07-05 安徽农业大学 基于果树识别定位的自走对靶施药机器人及其控制方法
CN109964905B (zh) * 2019-03-19 2024-05-10 安徽农业大学 基于果树识别定位的自走对靶施药机器人及其控制方法
CN110038757A (zh) * 2019-04-28 2019-07-23 内蒙古煤易通科技有限公司 一种基于物联网的汽运车辆环保抑尘剂自动喷淋装置
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