WO2020086030A2

WO2020086030A2 - A system used in biological control

Info

Publication number: WO2020086030A2
Application number: PCT/TR2019/050768
Authority: WO
Inventors: Hilal ERDOĞAN; Tufan Can ULU; Halil ÜNAL
Original assignee: Erdogan Hilal; Ulu Tufan Can; Uenal Halil
Priority date: 2018-10-01
Filing date: 2019-09-17
Publication date: 2020-04-30
Also published as: WO2020086030A3

Abstract

The invention is a system (1) that allows the nematodes used in the scope of the biological control to be dropped to the desired point, in the desired amount; comprising a drive center (3) that provides actuating to the movement of the system (1), a tank (7) of EPNs in which the peristaltic pump (6) is positioned, a peristaltic pump (6) that allows the system (1) to dosage, a mixing element (9) used in the homogeneous distribution of EPNs used in the system (1), a vertical movement member (8) guiding the elements connected to the lower Z plastic (31) and/or the upper Z plastic (30) on the vertical axis during the application of the mixing element (9) to the top or bottom of the soil, a bridge plate (4), which allows the vertical movement member (8) to move along the axis of depth (X), and a column (5) which moves the bridge plate (4) on the horizontal axis (Y).

Description

A system used in biological control

Technical Field

The present disclosure relates to a robotic system used in biological control.

The present disclosure specifically relates to a system used to release entomopathogenic nematodes, one of the most important groups of living organisms within the scope of biological control, to the desired point, in the desired amount, known to be effective against more than a hundred insects living under the soil.

Prior Art

Today, the most fundamental loss in agricultural production is caused by diseases and detrimental agents on cultivated plants. A large amount of pesticides are used to prevent these losses, which amount to billions of dollars worldwide. Although pesticides are effective in preventing these losses, they cause permanent harm to the environment and human beings due to their unconscious use. Alternative methods to chemical control have been developed for sustainable agriculture. Biological control has an important place among these methods.

EPNs, which are one of the living organisms used in biological control, are now widely applied in the USA and Europe and subsidies for use are given by governments. EPNs are lagging behind in the race with chemical pesticides, as the unit cost is high and cannot be used effectively. In order for biological control agents to be preferred to chemical pesticides, their effectiveness and unit cost must be able to compete with existing drugs.

In current practice, it has been determined that the methods of application to land are not intended to be applied with a machine specifically designed for EPN, but with conventional crop protection machines and irrigation systems used today. As a result of the studies, the most important problems encountered in the application of useful nematodes are found as the inability to make a homogeneous application, the inability to determine the application dose and the inability of the product to pass from irrigation systems to the soil.

In the applications made on soil, various water cans, sprayers or drip irrigation methods are widely used. However, 30-35% of the nematodes applied by drip irrigation can be transferred to the soil, and dose cannot be determined in the applications with water cans. Although EPNs are mostly applied to the soil, some studies also show that they are applied above the soil parts such as leaves and tree trunks. Although positive results were obtained from various laboratory studies and applications, there is no data regarding its effective use in site conditions.

As a result of the literature search, the patent application "A new system that enables us to use entomopathogenic nematodes against above ground insect pests in biological control" with the application number TR2017/22310 has been found. Thanks to the system mentioned in this application, harmful insects above the ground are killed and labor force and cost are reduced by using EPNs. The core of this system is the hydrophilic cloth contaminated with EPN. Harmful insects that come into contact with the cloth die within two days. This system is portable so that EPNs can be moved to the desired region, and a smaller number of EPNs are used depending on the soil application. The application of hydrophilic cloth, which is contaminated with EPN, can be used in greenhouses, fruit and vegetable gardens, urban areas, warehouses and especially in organic farming lands. Although there are methods used for applying EPNs to the soil, no specific application has been found that use systematic and special devices. There is no application similar or relates to a system used to release entomopathogenic nematodes, one of the most important groups of living organisms within the scope of biological control, to the desired point, in the desired amount, known to be effective against more than a hundred insects living under the soil.

As a result, due to the above-mentioned drawbacks and the inadequacy of the existing solutions, an improvement in the technical field has been required. The Purpose of the Invention

The present disclosure is inspired by the existing circumstances and aims to solve the above-mentioned drawbacks.

The main purpose of the invention is to ensure that entomopathogenic nematodes are applied homogeneously to the desired location, in the desired amount. Nematodes need to be mixed continuously during application in order to be applied homogenously. Because EPNs tend to settle down. For homogeneous mixing of EPNs, mixing is done with a robotic system.

Another purpose of the invention is to provide economics. The pump is used to determine the application dose of EPNs. The pump ensures that the desired amount of suspension is drawn from the inside of the programming tank. When the desired plant is reached, the pump works enough to draw the required dose from the tank. In this way, the desired amount of EPN is applied. Thus, unnecessary and excessive use of EPN is avoided and the economy is provided.

Another purpose of the invention is to save time. The controller is used for the application of EPNS to the desired location. The system moves to X, Y, Z coordinates and arrives at the desired position automatically by programmed codes. Therefore, the desired amount of EPN dose is provided at the desired location. Thus, while saving time, high biological control success is achieved due to the homogenous and effective distribution of EPNS.

In order to fulfill the objectives described above, the invention is a system that allows the nematodes used in the scope of the biological control to be dropped to the desired point, in the desired amount; wherein a drive center that provides actuating to the movement of the system, a tank of EPNs in which the peristaltic pump is positioned, a peristaltic pump that allows the system to dosage, a mixing element used in the homogeneous distribution of EPNs used in the system, a vertical movement member guiding the elements connected to the lower Z plastic and/or the upper Z plastic on the vertical axis during the application of the mixing element to the top or bottom of the soil, a bridge plate, which allows the vertical movement member to move along the axis of depth, and a column which moves the bridge plate on the horizontal axis. The structural and characteristic features and all advantages of the invention outlined in the drawings below and in the detailed description made by referring these figures will be understood clearly, therefore the evaluation should be made by taking these figures and detailed explanation into consideration.

Brief Description of the Figures

Figure 1 is the perspective view of the system of the invention.

Figure 2 is the exploded view of the bearing table of the system of the invention.

Figure 3 is the exploded view of the mixing element of the system of the invention. Figure 4 is the exploded view of the peristaltic pump of the system of the invention.

Figure 5 is the exploded view of the vertical movement element of the system of the invention.

Figure 6 is the exploded view of the bridge plate of the system of the invention. Figure 7 is the perspective view of the column of the system of the invention.

Reference Numbers

1 .System

2. Bearing table

3. Drive center

4. Bridge plate

5. Column

6. Peristaltic pump

7. Tank

8. Vertical movement element

9. The mixing element

10. Swing engine

1 1 .Motor fastener 12. Belt pulley mechanism

13. Crankshaft

14. Crank disc

15. Crank plate

16. Swing shaft

17. Swing plate

18.Tank shaft

19. Tank cover

20. Peristaltic pump engine 21.Suction pump upper plate

22. Rotor

23. Suction pump lower plate 24. Silicone hose

25. Plastic bearing

26. Bearing side plate

27. Frame plate

28. Strip car

29. Step motor with ball screw 30. Upper Z plastic

31.Lower Z plastic

32. Induction roller shaft

33. Linear roller

34. Bushing

35. Plastic bushing

36. Microswitch

37. Threaded rod 38. Switch ramp

39. Nozzle

40. Bridge front plate

41 .Bridge rear plate

42. Slide

43. Bridge column connection plate

44. Cable ducting plate

45. Inside column plate

46. Outside column plate

47. Y column plastic

48. Column cross plastic

49. Column car connection plastic 50. Step motor connection plate 51 .Switch plate

52. Step motor

53. Step motor connection plastic 54. Step motor support plastic 55. Stepper motor cross plastic 56. Table connection plastic 57. Switch washer

58. Switch connection plate

59. Table legs

60. Pump body

61 .Hose bed

X. Depth axis

Y. Horizontal axis Z. Vertical axis

Detailed Description of the Invention

In this detailed description, the preferred structures of the system (1 ) of the invention are described only for a better understanding of the subject.

Figure 1 shows a perspective view of the system (1 ) of the invention. A system (1 ) that allows the nematodes used in the scope of the biological control to be dropped to the desired point, in the desired amount, characterized by comprising,

- a drive center (3), which provides actuating to the movement of the system (1 ),

- tank (7) of EPNs in which the peristaltic pump (6) is positioned,

- a peristaltic pump (6) that allows the system (1 ) to dosage,

- a mixing element (9) used in the homogeneous distribution of EPNs used in the system (1 ),

- a vertical movement member (8) guiding the elements connected to the lower Z plastic (31 ) and/or the upper Z plastic (30) on the vertical axis (Z) during the application by the mixing element (9) to the top or bottom of the soil,

- a bridge plate (4), which allows the vertical movement member (8) to move along the axis of depth (X),

- a column (5) which moves the bridge plate (4) on the horizontal axis (Y).

Figure 2 shows a exploded view of the bearing table (2) of the system (1 ) of the invention. The bearing table (2) contains the microswitch (36), slide (42), cable ducting plate (44), table connection plastic (56), switch washer (57), switch connection plate (58), table legs (59) where the system (1 ) and/or all its elements are positioned. Also, the bearing table (2) is made of aluminum profile.

The operation of the system (1 ) is examined mechanically, electrical-electronics and software. When examined mechanically, all plate parts of the system (1 ) are made of 2 mm of aluminum and the plastic parts are made of Delrin which is 20 mm of thermoplastic material. In this way, the system (1 ) is both lightweight and robust in structure. The Delrin material is suitable for machining, and it has an aesthetic appearance together with aluminum. All parts of the system (1 ) are connected to each other by bolt and nut fasteners. Thus, it is easy to assemble and quick to disassemble.

Figure 3 shows exploded views of the mixing element (9) of the system (1 ) of the invention, and Figure 4 shows the peristaltic pump (6) of the system (1 ) of the invention. EPNs need to be continuously mixed by the mixing element (9). Because nematodes tend to settle down. Accordingly, the mixing element (9) comprises;

- the swing plate (17) in which the tank (7) and the tank cover (19) is positioned, preventing the foreign substances from entering the tank (7),

- a tank shaft (18) which allows the swing plate (17) to shake the tank (7) and to distribute the EPNs in the liquid homogeneously,

- a crankshaft (13) transmitting movement to the tank shaft (18) by crank a plate (15),

- the crank disk (14) positioned on the crankshaft (13) and converts the circular movement of the crankshaft (15) that is out of the center into linear movement with the movement taken from the crankshaft (13),

- swing shaft (16) which allows movement on the vertical axis (Z) by connecting to swing plate (17) and crankshaft (13),

- belt pulley mechanism (12) that transfers motion to the crankshaft (13),

- swing motor (10) which provides actuating to the belt pulley mechanism (12),

- and a motor fastener (1 1 ) which secures the swing motor (10) to the frame plate (27) which allows movement on the bridge plate (4).

The mixing element (9), which is actuated by the swing motor (10) using the belt pulley mechanism (12) that turns the circular movement over the system (1 ) into linear motion and which contains the tank (7) on it, is provided to continuously mix EPNs within the tank (7). Thus, a homogeneous distribution is realized while the precipitation is prevented.

With the peristaltic pump (6), the desired number of EPNs are absorbed from the tank (7), without damaging the nematodes and in the desired amount of water containing, and left to the soil surface or below. The peristaltic pump (6) has at least one pump body (60), and comprises a suction pump upper plate (21 ) and suction pump lower plate (23) connecting the peristaltic pump (6) to the system (1 ), a peristaltic pump motor (20) providing EPN suction from the tank (7), a rotor (22) which transmits liquid by rotating to the peristaltic pump motor (20) and a hose bed (61 ) positioned on the suction pump bottom plate (23) and bearing the silicone hose (24).

Figure 5 shows an exploded view of the vertical movement element (8) of the system (1 ) of the invention, Figure 6 of the bridge plate (4) and Figure 7 of the column (5). The system (1 ) operates on the slides and with engines suitable for these slides. The slides are placed on the bridge plate (4) to provide movement on the depth axis (X). The slides are positioned on the bearing table (2) for movement on the horizontal axis (Y). The bridge plate (4) includes the bridge front plate (40), the bridge rear plate (41 ), and the slide (42). And the slides (42) are preferably positioned on the bridge plate (4) and the bearing table (2) two for each in order to provide movement on the depth axis (X) and the horizontal axis (Y).

Upward or downward movement in the vertical axis (Z) is provided by the round linear rollers which are connected to the vertical movement element (8). Vertical movement element (8) comprises;

- plastic bearing (25), which enables the movement of the system (1 ) on the depth axis (X) and horizontal axis (Y),

- the bearing side plate (26) positioned on the plastic bearing (25) and to which the frame plate (27), the mixing element (9) and/or the tank (7) are connected,

- strip car (28) providing movement on depth axis (X) by being positioned to the frame plate (27) and/or plastic bearing (25),

- step motor with ball screw (29), which provides actuating to the movement of the threaded rod (37) on the vertical axis (Z), - threaded rod (37) connected between the upper Z plastic (30) and lower Z plastic (31 ), which allows it to be positioned on the vertical movement element (8),

- the induction roller shaft (32) which is connected to the lower Z plastic (31 ) and passes through the linear roller (33) and providing movement in the vertical axis (Z) by the drive it receives from the step motor with ball screw (29),

- bushing plastic (35) for mounting microswitches (36) by mounting with bushing (34) which is connected to the step motor with ball screw (29), - microswitch (36), which allows the control data of depth axis (X), the horizontal axis (Y) and/or vertical axis (Z) movements to be transferred to CNC control board and dosing data to arduino system receiver,

- switch ramp (38), which is connected to the threaded rod (37) for limiting dosing and the maximum position on the vertical axis (Z),

- and a nozzle (39) which is positioned at the other end of the silicone hose (24) connected to the tank (7) by passing through the hose bed (61 ) and spraying the liquid mixture with EPN.

The belt pulley system is used for the movement in the horizontal axis (Y). The chain-wheel system is used for movement in the depth axis (X). Since the step motor with ball screw (29) in the vertical axis (Z) is a worm screw shaft, it is fixed by means of a bushing (34) and its up and down movement is provided.

The connection between the horizontal axis (Y) and the depth axis (X) is made via the column (5). The column (5) comprises; - a bridge column connection plate (43) connecting the bridge plate (4) and the column (5),

- Y column plastic (47) which is connected to the bridge column connection plate (43), positioned between the inner column plate (45) and/or outer column plate (46), - column cross plastic (48), which is positioned between the inner column plate (45) and the outer column plate (46), forming a chain-crossing slot,

- column car connection plastic (49), which allows mounting of strip cars (28) that guide the movement of the column (5),

- step motor connection plate (50), which enables the step motor (52) to be fixed to the column (5) at three points by step motor connection plastic (53), step motor support plastic (54) and/or step motor cross plastic (55),

- switch plate (51 ), which allows the positioning of microswitches (36), which transmits the movement and/or position data of the column (5), to the column (5),

- cable ducting plate (44) for positioning cables for energy and communication of step motors (52) and/or microswitches (36).

The step motor (52) is preferably positioned so that there is in one number providing movement on the depth axis (X) and in two number providing the movements on the horizontal axis (Y).

When examined electrically and electronically, the energy of the system (1 ) is obtained from 220 V monophase sockets. The electricity from here, coming to the drive center (3) reaches the control board or microprocessor. By means of step motors, the system (1 ) moves on the planes of the vertical axis (Z), the horizontal axis (Y) or depth axis (X). Step motors are controlled by CNC Control Board. CNC Control Board and Arduino microprocessor are located in the drive center (3). The switches are located on the aluminum table for the horizontal axis (Y), next to the bridge plate (4) where the tank (7) is transported for the depth axis (X), and in the plastic part connected to the bridge plate (4) for the vertical axis (Z).

Thanks to the programmed G-codes, the system (1 ) moves to the desired position. System (1 ) provides communication with Arduino microprocessor via micro switches. Arduino microprocessor gives movement to the peristaltic pump (6). The DC motor in the peristaltic pump (6) is connected to the Arduino microprocessor. The vertical movement element (8) moves up and down on the vertical axis (Z). The switch is activated when the desired position on the desired height are achieved and the peristaltic pump (6) is operated until the desired dosing by giving movement to with the microprocessor.

When examined as a software perspective, while the vertical motion element (8) moves up and down on the vertical axis (Z), it is known that in which at the plant or at the point the system (1 ) is via the switches. Peristaltic pump (6) is operated for the period determined time according to this data. Thus nematodes are left in the same amount to each point. However, it is also possible to apply different amounts of nematodes on each point via the system (1 ) software when desired.

Claims

1. A system (1 ) that allows the nematodes used in the scope of the biological control to be dropped to the desired point, in the desired amount, characterized by comprising ; a drive center (3), which provides actuating to the movement of the system (1 ), a peristaltic pump (6) that allows the system (1 ) to dosage, tank (7) of EPNs in which the peristaltic pump (6) is positioned, a mixing element (9) used in the homogeneous distribution of EPNs used in the system (1 ), positioned at the bottom of the tank (7), a vertical movement member (8) guiding the elements connected to the lower Z plastic (31 ) and/or the upper Z plastic (30) on the vertical axis (Z) during the application by the mixing element (9) to the top or bottom of the soil, a bridge plate (4), which allows the vertical movement member (8) to move along the axis of depth (X), a column (5) which moves the bridge plate (4) on the horizontal axis (Y).

2. A system according to Claim 1 , characterized by comprising ; a bearing table (2) contains the micro switch (36), slide (42), cable ducting plate (44), table connection plastic (56), switch washer (57), switch connection plate (58), table legs (59) where the system (1 ) and/or all its elements are positioned.

3. A system (1 ) according to Claim 2, characterized by comprising ; the bearing table is made of (2) aluminum profile.

4. A system (1 ) according to Claim 1 , characterized by comprising; the peristaltic pump (6) have at least one pump body (60), a suction pump upper plate (21 ) connecting the peristaltic pump (6) to the system (1 ), and suction pump lower plate (23) that allows mounting of the peristaltic pump (6),

peristaltic pump motor (7) that provides EPN suction from the tank (20), a rotor (22) which transmits liquid by rotating to the peristaltic pump motor (20),

a hose bed (61 ) positioned on the suction pump bottom plate (23) and bearing the silicone hose (24).

5. A system (1 ) according to Claim 1 , characterized by comprising; the mixing element (9) have

- the swing plate (17) in which the tank (7) and the tank cover (19) is positioned, preventing the foreign substances from entering the tank (7), a tank shaft (18) which allows the swing plate (17) to shake the tank (7) and to distribute the EPNs in the liquid homogeneously,

a crankshaft (13) transmitting movement to the tank shaft (18) by crank plate (15),

the crank disk (14) that is out of the center positioned on the crankshaft (13) and converts the circular movement of the crankshaft (15) into linear movement with the movement taken from the crankshaft (13), swing shaft (16) which allows movement on the vertical axis (Z) by connecting to swing plate (17) and crankshaft (13),

belt pulley mechanism (12) that transfers motion to the crankshaft (13), swing motor (10) which provides actuating to the belt pulley mechanism

(12),

and a motor fastener (1 1 ) which secures the swing motor (10) to the frame plate (27) which allows movement on the bridge plate (4).

6. A system (1 ) according to Claim 1 , characterized by comprising; the vertical movement element (8) have

plastic bearing (25), which enables the movement of the system (1 ) on the depth axis (X) and horizontal axis (Y), the bearing side plate (26) positioned on the plastic bearing (25) and to which the frame plate (27), the mixing element (9) and/or the tank (7) are connected,

strip car (28) providing movement on depth axis (X) by being positioned to the frame plate (27) and/or plastic bearing (25),

step motor with ball screw (29), which provides actuating to the movement of the threaded rod (37) on the vertical axis (Z),

threaded rod (37) connected between the upper Z plastic (30) and lower Z plastic (31 ), which allows it to be positioned on the vertical movement element (8),

the induction roller shaft (32) which is connected to the lower Z plastic (31 ) and passes through the linear roller (33) and providing movement in the vertical axis (Z) by the drive it receives from the step motor with ball screw (29),

- bushing plastic (35) for mounting micro switches (36) by mounting with bushing (34) which is connected to the step motor with ball screw (29), micro switch (36), which allows the control data of depth axis (X), the horizontal axis (Y) and/or vertical axis (Z) movements to be transferred to CNC control board and dosing data to Arduino system receiver, - switch ramp (38), which is connected to the threaded rod (37) for limiting dosing and the maximum position on the vertical axis (Z), and a nozzle (39) which is positioned at the other end of the silicone hose (24) connected to the tank (7) by passing through the hose bed (61 ) and spraying the liquid mixture with EPN.

7. A system (1 ) according to Claim 1 , characterized by comprising; the bridge plate (4) have the bridge front plate (40), the bridge rear plate (41 ), and the slide (42).

8. A system (1 ) according to Claim 1 or Claim 7, characterized by comprising;

the slides (42) are preferably positioned on the bridge plate (4) and the bearing table (2) two for each in order to provide movement on the depth axis (X) and the horizontal axis (Y).

9. A system (1 ) according to Claim 1 characterized by comprising; the column (5) have

- a bridge column connection plate (43) connecting the bridge plate (4) and the column (5),

Y column plastic (47) which is connected to the bridge column connection plate (43), positioned between the inner column plate (45) and/or outer column plate (46),

- column cross plastic (48), which is positioned between the inner column plate (45) and the outer column plate (46), forming a chain-crossing slot, column car connection plastic (49), which allows mounting of strip cars (28) that guide the movement of the column (5),

step motor connection plate (50), which enables the step motor (52) to be fixed to the column (5) at three points by step motor connection plastic

(53), step motor support plastic (54) and/or step motor cross plastic (55), switch plate (51 ), which allows the positioning of micro switches (36), which transmits the movement and/or position data of the column (5), to the column (5),

- cable ducting plate (44) for positioning cables for energy and communication of step motors (52) and/or micro switches (36).

10. A system (1 ) according to Claim 1 or Claim 9, characterized by comprising;

the step motor (52) is preferably positioned as one in number such as providing movement on the depth axis (X) and as two number providing the movements on the horizontal axis (Y).