WO2020220215A1 - 喷头装置、喷洒系统、可移动平台及其喷洒作业方法 - Google Patents

喷头装置、喷洒系统、可移动平台及其喷洒作业方法 Download PDF

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Publication number
WO2020220215A1
WO2020220215A1 PCT/CN2019/085038 CN2019085038W WO2020220215A1 WO 2020220215 A1 WO2020220215 A1 WO 2020220215A1 CN 2019085038 W CN2019085038 W CN 2019085038W WO 2020220215 A1 WO2020220215 A1 WO 2020220215A1
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WO
WIPO (PCT)
Prior art keywords
spray head
spraying
sub
nozzle
liquid
Prior art date
Application number
PCT/CN2019/085038
Other languages
English (en)
French (fr)
Inventor
舒展
黄稀荻
周万仁
Original Assignee
深圳市大疆创新科技有限公司
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
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2019/085038 priority Critical patent/WO2020220215A1/zh
Priority to CN201980009278.6A priority patent/CN111683756A/zh
Publication of WO2020220215A1 publication Critical patent/WO2020220215A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/14—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening
    • B05B1/16—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openings; with strainers in or outside the outlet opening having selectively- effective outlets
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/12—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means capable of producing different kinds of discharge, e.g. either jet or spray
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B1/00—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means
    • B05B1/30—Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides

Definitions

  • the present invention relates to the technical field of sprinklers, in particular to sprinkler devices, spraying systems, movable platforms and spraying methods.
  • the pressure spray system has been widely used in recent years due to its advantages such as uniform spraying, good droplet settlement, wide spray range, and simple structure.
  • the general pressure spraying system is a quantitative spraying system, unless the nozzle is replaced, variable spraying cannot be achieved. As the nozzle replacement can only be done when the spraying operation is not in progress, on the one hand, the operation efficiency is affected, and on the other hand, the demand for changing the flow rate in the spraying operation cannot be met.
  • the spray head in the current spraying device will drip and leak after being closed, so that the liquid in the spraying device is wasted, and the dripping liquid will also pollute the environment.
  • the spraying device in the prior art has the problem that the flow cannot be changed or the liquid drips during the spraying process, resulting in poor user experience.
  • the embodiment of the present invention provides a spray head device, a spray system, a movable platform and a spraying operation method thereof, so as to solve the problem that the spray device cannot change the flow rate or the liquid drips during the spraying process.
  • a spray head device comprising:
  • the first sub-spraying head includes a first water inlet and a first nozzle, and liquid can enter from the first water inlet and spray out through the first nozzle;
  • the second sub-spraying head includes a second water inlet and a second nozzle, and the liquid can enter from the second water inlet and spray out through the second nozzle;
  • the switching device is respectively connected with the first inlet nozzle and the second water inlet nozzle,
  • the switching device controls the liquid to selectively flow in from the first inlet nozzle or the second water inlet nozzle, thereby controlling the liquid to be sprayed through the first sub-spray head or the second sub-spray head;
  • the spraying parameters of the first sub-spraying head are different from the spraying parameters of the second sub-spraying head, and the spraying parameters include at least one of the following: spraying flow rate and spraying width.
  • a spray system including:
  • At least one connecting pipe At least one connecting pipe
  • the pressure device is used to provide pressure to the liquid to eject the liquid from the spray head through the connecting pipe.
  • a movable platform including:
  • an in-flight spraying operation method of an agricultural plant protection machine including:
  • a switching device is controlled to change the spraying parameters of the nozzle device; wherein the switching device is connected with the first sub-sprinkler and the second sub-sprinkler of the nozzle device, and the switching device can control
  • the liquid selectively controls the liquid to be sprayed through the first sub-spray head or the second sub-spray head; in the case of the same hydraulic pressure of the liquid, the spraying parameters of the first sub-spray head are the same as those of the second sub-spray head.
  • the spraying parameters of the sub-sprinklers are different, and the spraying parameters include at least one of the following: spraying flow rate and spraying width.
  • the switching device controls the liquid to be sprayed from the spray head devices with different spraying parameters, so that the flow rate and spray range are changed during the spraying process, and manual replacement is saved.
  • the time of the nozzle can not only improve the spraying efficiency, but also prevent dripping, improve safety and improve user experience.
  • Figure 1 is a schematic diagram of a spray head device of an embodiment of the present invention
  • Figure 2 is an example of an electric valve device according to an embodiment of the present invention.
  • Figure 3 is a schematic diagram of a spraying system according to an embodiment of the present invention.
  • Fig. 4 is an example of the spray system of the embodiment of the present invention.
  • an embodiment of the present invention provides a spray head device.
  • FIG. 1 shows a schematic diagram of a spray head device according to an embodiment of the present invention.
  • the spray head device 100 includes:
  • the first sub-spraying head 110 includes a first water inlet and a first nozzle, and liquid can enter from the first water inlet and spray out through the first nozzle;
  • the second sub-sprinkler 120 includes a second water inlet and a second nozzle, and the liquid can enter from the second water inlet and spray out through the second nozzle;
  • the switching device 130 is respectively connected to the first inlet nozzle and the second water inlet nozzle, and the switching device 130 controls the liquid to selectively flow in from the first inlet nozzle or the second water inlet nozzle, thereby Controlling the liquid to be sprayed via the first sub-sprinkler 110 or the second sub-sprinkler 120;
  • the spraying parameters of the first sub-sprinkler 110 are different from the spraying parameters of the second sub-sprinkler 120, and the spraying parameters include at least one of the following: spraying flow rate, Spray pattern.
  • a spray head device controls the spraying of liquid from sub-spray heads with different spraying parameters at the switching device to realize the spraying method of changing the spraying flow rate or spray width online, which saves the time of manual nozzle replacement and avoids the user from replacing nozzles When in contact with the spraying liquid, safety and spraying efficiency are improved, and user experience is improved.
  • the spraying flow rate of the first sub-sprinkler is greater than the spraying flow rate of the second sub-sprinkler, that is, the first sub-sprinkler is a large flow nozzle, and the second sub-sprinkler is a small nozzle.
  • Flow nozzle; the switching device is respectively connected with the large flow nozzle and the small flow nozzle, and the switching device can perform corresponding spraying operations according to the preset spraying tasks, such as using large flow nozzles and small flow nozzles to spray the same time or different times alternately; switching The device can also perform corresponding spraying operations according to the received control information. For example, a large flow nozzle is currently used for spraying, and after receiving the control information for switching nozzles, it will switch to a small flow nozzle for spraying.
  • the spray pattern of the first sub-sprinkler is larger than the spray pattern of the second sub-sprinkler, that is, the first sub-sprinkler is a large-spray nozzle, and the second sub-sprinkler is Small spray nozzles;
  • the switching device is respectively connected with the large spray nozzles and the small spray nozzles.
  • the switching device can perform corresponding spraying operations according to the preset spraying tasks, such as spraying for the first time with a large spray nozzle Switch to the second spraying time of the small spray nozzle; the switching device can also perform the corresponding spraying operation according to the received control information. For example, if the current small spray nozzle is used for spraying, it will switch to the large spray after receiving the control information of the switching nozzle The spray head sprays.
  • first and second in the first and second sub-sprinklers in the above-mentioned embodiment only distinguish different sub-sprinklers, and do not specifically refer to the sub-sprinklers of a certain type of spraying parameters.
  • the number of sub-sprinklers can also be more than two, and they can be symmetrically distributed or evenly distributed, and they can be set according to actual conditions and needs. There is no restriction on the number and/or distribution of sub-sprinklers.
  • the type of the first sub-spray head and the type of the second sub-spray head may be the same or different.
  • the type of the first sub-spray head and/or the type of the second sub-spray head includes at least one of the following: a pressure spray head and a centrifugal spray head.
  • the pressure nozzle is the nozzle that applies a certain pressure to the liquid by the pressure pump and sprays it out through the pressure nozzle;
  • the centrifugal nozzle is the nozzle that uses the centrifugal force to spray the liquid after the centrifugal nozzle is driven by the motor to rotate at high speed.
  • the type of the first sub-spraying head is the same as that of the second sub-spraying head shown, and both are pressure spraying heads or centrifugal spraying heads.
  • the type of the first sub-sprinkler is different from the type of the second sub-sprinkler shown.
  • the first sub-sprinkler is a pressure nozzle
  • the second sub-sprinkler is a centrifugal nozzle
  • the first sub-sprinkler is a centrifugal nozzle
  • the second The sub nozzle is a pressure nozzle.
  • the water inlet and nozzle of the first sub-spray head and/or the second sub-spray head may be coaxially arranged.
  • the water inlet and nozzles of the first sub-sprinkler and/or the second sub-sprinkler may also be arranged non-coaxially.
  • the nozzle may be located at the side of the sub-sprinkler, and the axis of the water inlet and the nozzle Make a certain angle to each other, such as [0,180] degrees.
  • the switching device may be an electric valve device.
  • the electric valve device 200 includes a first inlet 210, a first outlet 220, a second outlet 230, and an electromagnetic switch 240.
  • the first inlet 210 is located on one side of the electromagnetic switch 240, so
  • the first outlet 220 and the second outlet 230 are located on the other side of the electromagnetic switch 240, and the electromagnetic switch 240 controls the liquid flowing into the first inlet 210 to flow out of the first outlet 220 or the second outlet 230.
  • the electromagnetic switch 240 includes a valve body 241, a valve core 242, an elastic member 243, and an electromagnet 244.
  • the valve body 241 has a first passage and a second passage, The first passage allows the liquid flowing into the first inlet 210 to flow out from the first outlet 220, and the second passage allows the liquid flowing into the first inlet 210 to flow out from the second outlet 230;
  • the valve core 242 is contained in the valve body 241, and is arranged non-parallel to the first passage and the second passage;
  • the elastic member 243 is contained in the valve body 241, and is used for controlling the valve
  • the core 242 is reset;
  • the electromagnet 244 is fixed on the valve body 241, and at least a part of the electromagnet 244 is accommodated in the valve body 241, and the electromagnet 244 is wound with a coil;
  • the elastic The member 243 is fixed on at least a part of the electromagnet 244 and is located between the electromagnet 244 and the valve core 242.
  • the spray head device further includes: a control device, connected to the coil, for controlling the coil to be powered on or off.
  • the electromagnet controls the spool to move to open the first channel; when the coil is de-energized, the electromagnet controls the spool to move to open the second channel. aisle.
  • the current flows through the coil on the electromagnet, and the coil and the electromagnet generate a corresponding magnetic field, which attracts the valve core, and closes the first channel through which the liquid passes, and the second channel
  • the solenoid valve is not supplied with power, no current flows through the coil on the electromagnet, and the coil and electromagnet do not generate a magnetic field.
  • the valve core is reset by the element, the first channel for the liquid to pass through is opened, the second channel is closed, and the liquid flows in from the first inlet, and is ejected from the first outlet after passing through the first channel.
  • the opening or closing of the first channel or the second channel of the solenoid valve can be controlled to control the selective ejection of the liquid from the first sub-spray head or the second sub-spray head. Change the spray flow rate and/or spray width online.
  • the electromagnetic switch is a controllable device
  • different control methods can be used, that is, the type of electromagnetic switch and/or the control method of the electromagnetic switch can be selected according to the needs, so as to realize the control of the electromagnetic switch's energization parameters (such as current size, Current polarity, etc.) to achieve the purpose of opening and/or closing the first outlet and/or the second outlet differently.
  • the first current when the first current is supplied to the solenoid valve device, the first current flows through the coil on the electromagnet, and the coil and the electromagnet generate a corresponding first magnetic field, which attracts the valve core to the first position for supply
  • the first channel through which the liquid passes is closed, the second channel is opened, and the liquid flows in from the first inlet, and is ejected from the second outlet after passing through the second channel;
  • the second current when the second current is supplied to the electromagnetic valve device, the second current and the first The direction of the current is opposite, and the second current flows through the coil on the electromagnet.
  • the coil and the electromagnet generate a corresponding second magnetic field.
  • the direction of the second magnetic field is opposite to the direction of the first magnetic field and pushes the valve core to the second position.
  • the first channel through which the liquid passes is opened, and the second channel is closed.
  • the liquid flows in from the first inlet and is ejected from the first outlet after passing through the first channel; when the solenoid valve device is not supplied with current, the coil on the electromagnet has no current Flow through, the coil and the electromagnet do not generate a magnetic field, the elastic member resets the valve core, the first channel and the second channel are closed, no liquid passes through, that is, no liquid is ejected from the first outlet and the second outlet.
  • the electromagnetic switch by passing currents of different magnitudes to the electromagnetic switch, so that the magnetic core is attracted to different positions, it is possible to open and/or close at least part of the first channel and/or at least part of the second channel, for example, the first channel.
  • the first channel and the second channel are opened at least partially at the same time to realize more spraying methods with different spraying parameters.
  • the first channel and the second channel can be opened at the same time, that is, the first outlet and the second outlet are opened at the same time, so as to realize the maximum spraying flow rate and/or the maximum spraying of the first and second sub-sprinklers at the same time.
  • the spraying method of the frame can be opened at the same time, that is, the first outlet and the second outlet are opened at the same time, so as to realize the maximum spraying flow rate and/or the maximum spraying of the first and second sub-sprinklers at the same time.
  • the energization parameters such as the large current and/or energization time of the electromagnetic switch can be set or changed according to the needs of online or offline (that is, during spraying or non-spraying).
  • the specific current is large and/or There is no restriction on the power-on time.
  • the spray head device further includes: a connecting device comprising a first connecting device and a second connecting device, the first connecting device connects the first outlet and the first sub-spray head, and the second connection The device connects the second outlet and the second sub-spray head.
  • a connecting device comprising a first connecting device and a second connecting device, the first connecting device connects the first outlet and the first sub-spray head, and the second connection The device connects the second outlet and the second sub-spray head.
  • the electromagnetic valve device and the first sub-spray head and the second sub-spray head can be directly connected respectively (that is, no connection device is required), or can be connected through a connection device.
  • the length or connection method of the connecting device can be set as required, and the connecting device can be a rigid material or a flexible material, and the length and material of the connecting device are not limited here.
  • the connecting device is a flexible hose or PVC pipe.
  • the connecting device 140 includes a first connecting device 141 and a second connecting device 142, both of which are rigid material tubes, and one end of the first connecting device 141 and the second connecting device 142 are connected to the switch.
  • the device 130 is connected, the first connecting device 141 and the second connecting device 142 form a certain angle with each other, and the other ends are respectively connected with the first sub-spray head 110 and the second sub-spray head 120. It can be understood that the range of the included angle can be set according to actual needs and is not limited here.
  • the spray head device further includes a supporting device for supporting the connecting device.
  • the supporting device uses a hard material.
  • the supporting device is a supporting frame 150.
  • the supporting frame 150 includes two sub-support legs that match the shapes of the first connecting device 141 and the second connecting device 142, respectively.
  • the leg clips are connected to both ends of the first connecting device 141 and the second connecting device 142 respectively.
  • the support frame 150 can also be connected to the switching device 130 or other parts of the nozzle device at one end, and the other end is clamped to the connecting device.
  • the spray head device 100 in FIG. 1 includes:
  • the first sub-spray head 110 includes a first water inlet and a first nozzle, and liquid can enter from the first water inlet and be sprayed out through the first nozzle; the type of the first sub-spray head may be pressure Nozzle or centrifugal nozzle;
  • the second sub-spray head 120 includes a second water inlet and a second nozzle.
  • the liquid can enter from the second water inlet and spray out through the second nozzle;
  • the type of the second sub-spray head can be It is a pressure nozzle or a centrifugal nozzle; and the type of the first sub nozzle and the type of the second sub nozzle can be the same or different;
  • the spraying parameters of the first sub-sprinkler 110 are different from the spraying parameters of the second sub-sprinkler 120, and the spraying parameters include at least one of the following: spraying flow rate, Spray width
  • the switching device 130 includes an electric valve device, which is respectively connected to the first inlet and the second water inlet.
  • the switching device 130 controls the liquid to selectively enter the first inlet or the second inlet.
  • the water nozzle flows in to control the liquid to be sprayed through the first sub-sprinkler 110 or the second sub-sprinkler 120;
  • the electric valve device includes: a first inlet, a first outlet, a second outlet, and an electromagnetic switch, the first inlet is located on one side of the electromagnetic switch, and the first outlet and the second outlet are located on the On the other side of the electromagnetic switch, the electromagnetic switch controls the liquid flowing into the first inlet to flow out from the first outlet or the second outlet;
  • the electromagnetic switch includes: a valve body with a first passage And a second channel, the first channel for the liquid flowing into the first inlet to flow out from the first outlet, and the second channel for the liquid flowing into the first inlet to flow out from the second outlet; valve The valve core is contained in the valve body and is arranged non-parallel to the first channel and the second channel; an elastic member, the elastic member is contained in the valve body, and is used to The valve core is reset; an electromagnet, the electromagnet is fixed on the valve body, and at least a part of the electromagnet is contained in the valve body, the electromagnet is wound with a coil; the spring is fixed on the At least
  • a control device (not shown) connected to the coil for controlling the coil to be energized or de-energized; when the coil is energized, the electromagnet controls the spool to move to open the first passage; When the coil is de-energized, the electromagnet controls the movement of the valve core to open the second passage;
  • the connecting device 140 includes a first connecting device and a second connecting device.
  • the first connecting device connects the first outlet with the first sub-spray head, and the second connecting device connects the second outlet with the Second sub-sprinkler
  • the supporting device 150 is used to support the connecting device 140;
  • the liquid flows to the first inlet of the electromagnetic switch in the switching device 130.
  • the control device controls the coil of the electromagnetic switch to be energized, the valve core of the electromagnetic switch Suction, the first channel for the liquid to pass is closed, the second channel is opened, the liquid flows in from the first inlet, and flows out from the second outlet after passing through the second channel; the liquid flowing out through the second outlet flows to the second connecting device
  • the second water inlet nozzle of the second sub-sprinkler sprays out through the second nozzle; when the coil of the solenoid switch controlled by the control device is de-energized, the elastic member resets the valve core, and the first channel for the liquid to pass is opened, and the second channel Closed, the liquid flows in from the first inlet, and flows out from the first outlet after passing through the first channel; the liquid flowing out through the first outlet flows through the first connecting device to the first water inlet of the first sub-sprinkler, and passes through the first nozzle
  • the spray head device of the embodiment of the present invention controls the liquid to be sprayed from the spray head devices with different spraying parameters through the switching device, realizes the change of the flow rate and the spray width during the spraying process, saves the time of manual nozzle replacement, and improves the spraying efficiency. Improved security and improved user experience.
  • FIG. 3 shows a schematic diagram of a spraying system according to an embodiment of the present invention.
  • the spraying system 300 includes: at least one spray head device 310. At least one connecting pipe 320; and a pressure device 330.
  • the specific structure of the spray head device 310 may adopt the structure of the spray head device of the foregoing embodiments, and the pressure device 330 is used to provide pressure to the liquid so that the liquid is sprayed from the spray head device 310 through the connecting pipe 320.
  • the spraying system further includes:
  • the controller is electrically connected to the switching device, and is used to control the switching device to be in the first state or the second state.
  • the switching device controls the liquid from the The first inlet nozzle flows in, so as to control the liquid to be sprayed through the first sub-spraying head;
  • the switching device controls the liquid to flow in from the second inlet nozzle, thereby controlling the liquid Spray through the second sub-sprinkler.
  • the controller automatically controls the switching device according to the preset spraying task to perform the spraying operation according to the preset spraying task.
  • the controller may include a processor for controlling the switching device according to the preset spraying task.
  • the controller may further include a memory for storing the preset spraying task. It can be understood that the preset spraying tasks can be set as required.
  • the spraying system further includes: a wireless communication device, which is electrically connected to the controller, and configured to receive a user's spray head control instruction, and send the spray head control instruction to the controller , To control the switching device.
  • a wireless communication device which is electrically connected to the controller, and configured to receive a user's spray head control instruction, and send the spray head control instruction to the controller , To control the switching device.
  • the wireless communication device can be set independently or in the controller.
  • the wireless communication device may also receive the preset spraying task, and store the spraying task in the memory.
  • the preset spraying tasks can be received before or during the spraying operation, so that not only the online spraying flow or the spraying mode with variable spraying width can be realized, but the spraying mode or spraying task can also be changed online. Users can set according to personal needs, which not only improves the spraying efficiency, but also provides more flexibility and further improves the user experience.
  • the spraying system further includes: a ground control terminal, configured to communicate with the wireless communication device, and the user can send the spray head control instruction through the ground control terminal.
  • a ground control terminal configured to communicate with the wireless communication device, and the user can send the spray head control instruction through the ground control terminal.
  • the wireless communication device can be communicatively connected with the ground control terminal.
  • the manner in which the wireless communication device can communicate with the ground control terminal may be a line-of-sight communication method or a non-line-of-sight communication method.
  • the line-of-sight communication method can be WIFI, Bluetooth, etc.
  • the non-line-of-sight communication method can be a communication network such as 2G, 3G, 4G, and 5G.
  • a nozzle control instruction is sent through the ground control terminal, and the nozzle device controls the switching device according to the nozzle control instruction.
  • FIG. 4 shows an example of a spray system according to an embodiment of the present invention.
  • the movable platform body is equipped with a spray head device, a controller, a wireless communication device, a pressure device, and a liquid storage device (such as a water tank).
  • the spray head device includes an electromagnetic valve and a spray head body.
  • the water flows to the electromagnetic valve through the connecting pipe through the pressure device, and the control device controls the opening and/or closing of the first sub-sprinkler body and/or the second sub-sprinkler body by controlling the electromagnetic valve.
  • the user sends the nozzle control instruction to the wireless communication device through the ground control terminal, and the wireless communication device sends the nozzle control instruction to the control device.
  • the control device controls the switching device according to the nozzle control instruction, thereby realizing the first sub The sprinkler body and/or the second sub-sprinkler body controls spraying.
  • the ground control terminal may also send the preset spraying task.
  • the nozzle control instruction includes at least one of the following: turn on the first sub nozzle and/or open the second sub nozzle, close the first sub nozzle and/or close the second sub nozzle, and switch to the first sub nozzle.
  • the spraying system starts to perform the spraying operation.
  • the user can set a preset spraying task or nozzle control command according to the actual spraying environment, and send it to the wireless communication device through the ground control terminal, and the wireless communication device will set the preset spraying task or nozzle control command.
  • the spraying task or nozzle control instruction is sent to the controller, and the controller controls the switching device according to the preset spraying task or nozzle control instruction to pass the first sub-sprinkler and/or the first sub-sprinkler according to the preset spraying task or nozzle control instruction.
  • the second nozzle sprays liquid is sent to the controller, and the controller controls the switching device according to the preset spraying task or nozzle control instruction to pass the first sub-sprinkler and/or the first sub-sprinkler according to the preset spraying task or nozzle control instruction.
  • the ground control terminal includes at least one of the following: a remote control, a mobile phone, a tablet computer, and a ground base station.
  • a movable platform including:
  • the spray head device is mounted on the movable platform body; wherein, the specific structure of the spray head device can adopt the structure of the spray head device of the foregoing embodiments.
  • a movable platform including: a movable platform body and a spraying system.
  • the spraying system is mounted on the movable platform body; wherein, the specific structure of the spraying system may be the spraying system of the foregoing embodiments.
  • the movable platform includes an unmanned aerial vehicle or a ground vehicle.
  • the ground vehicle can be a ground robot, agricultural machine, etc.
  • the movable platform is an unmanned aerial vehicle
  • the movable platform body includes a central body and a plurality of arms, and the plurality of arms are fixedly connected or rotatably connected with the central body.
  • the movable platform body further includes a landing gear.
  • the water tank can be connected to the central body or the landing gear.
  • the spray head device can be connected to the arm or the central body.
  • the spray head device and/and spray system according to the present invention can be used for automatic spraying.
  • the spray head device and/or spray device of the embodiment of the present invention can be applied to a mobile platform, and the spray head device and/or spray device can be installed on the platform body of the mobile platform.
  • the mobile platform with sprinkler devices and/or spray devices can spray the external environment, for example, for plant irrigation or chemical liquid spraying in agriculture and forestry.
  • the mobile platform includes at least one of an unmanned aerial vehicle and a ground vehicle. When the nozzle device and/or spraying device are applied to an unmanned aerial vehicle, the platform body is the fuselage of the unmanned aerial vehicle.
  • the platform body is the body of the car.
  • the car can be a self-driving car or a semi-automatic driving car, and there is no restriction here.
  • the platform body is the body of the remote control car.
  • the platform body is a robot.
  • an in-flight spraying operation method of an agricultural plant protection machine including:
  • a switching device is controlled to change the spraying parameters of the nozzle device; wherein the switching device is connected with the first sub-sprinkler and the second sub-sprinkler of the nozzle device, and the switching device can control
  • the liquid selectively controls the liquid to be sprayed through the first sub-spray head or the second sub-spray head; in the case of the same hydraulic pressure of the liquid, the spraying parameters of the first sub-spray head and the second sub-sprinkler
  • the spraying parameters of the sub-sprinklers are different, and the spraying parameters include at least one of the following: spraying flow rate and spraying width.
  • the specific structure of the spray head device may adopt the structure of the spray head device of the foregoing embodiments.
  • the specific structure of the switching device may adopt the structure of the switching device of the foregoing embodiments.
  • the switching device controls the liquid to be sprayed from the spray head devices with different spraying parameters, so that the flow rate and spray range are changed during the spraying process, and manual replacement is saved.
  • the time of the nozzle can not only improve the spraying efficiency, but also prevent dripping, improve safety and improve user experience.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Pest Control & Pesticides (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
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Abstract

一种喷头装置、喷洒系统、可移动平台及其喷洒作业方法，喷头装置（100）包括：第一子喷头（110）、第二子喷头（120）以及切换装置（130），切换装置（130）分别与第一进水嘴和第二进水嘴连通，并控制液体选择性地经由第一子喷头（110）或第二子喷头（120）喷洒；在相同的液体的液压的情况下，第一子喷头（110）的喷洒参数与第二子喷头（120）的不同，喷洒参数包括如下至少一种：喷洒流量、喷幅。通过切换装置控制液体由不同喷洒参数的喷头装置喷出，在喷洒过程中改变流量和喷幅，节省了手动更换喷嘴的时间，提高喷洒效率，防止漏滴，提高了安全性，改善了用户体验。

Description

喷头装置、喷洒系统、可移动平台及其喷洒作业方法 技术领域
本发明涉及喷头技术领域，尤其涉及喷头装置、喷洒系统、可移动平台及其喷洒作业方法。
背景技术
压力式喷洒系统由于具备喷洒均匀、雾滴沉降性好、喷幅广、结构简单等优点，近年来被广泛应用。一般的压力式喷洒系统都是定量喷洒系统，除非更换喷嘴，否则无法实现变量喷洒。由于更换喷嘴只能在没有进行喷洒作业时进行，一方面影响了作业效率，另一方面无法满足喷洒作业中改变流量的需求。此外，现在的喷洒装置中的喷头在关闭后会有液体滴漏，使得喷洒装置中的液体被浪费，而滴漏的液体还会对环境造成污染。
因此，现有技术中的喷洒装置存在无法在喷洒过程中改变流量或者液体滴漏的问题，导致用户体验差。
发明内容
本发明实施例提供一种喷头装置、喷洒系统、可移动平台及其喷洒作业方法，以解决喷洒装置存在无法在喷洒过程中改变流量或者液体滴漏的问题。
根据本发明实施例的第一方面，提供了一种喷头装置，所述喷头装置包括：
第一子喷头，包括第一进水嘴和第一喷嘴，液体能够从所述第一进水嘴进入，并通过所述第一喷嘴喷出；
第二子喷头，包括第二进水嘴和第二喷嘴，所述液体能够从所述第二进水嘴进入，并通过所述第二喷嘴喷出；
切换装置，分别与所述第一进入嘴和所述第二进水嘴连通，
其中，所述切换装置控制液体选择性地从所述第一进入嘴或所述第二进水嘴流入，从而控制所述液体经由所述第一子喷头或所述第二子喷头喷洒；
在相同的所述液体的液压的情况下，所述第一子喷头的喷洒参数与所述第二子喷头的喷洒参数不同，所述喷洒参数包括如下至少一种：喷洒流量，喷幅。
根据本发明实施例的第二方面，提供了一种喷洒系统，所述喷洒系统包括:
至少一个如第一方面所述的喷头装置；
至少一个连接管道；
压力装置，用于向液体提供压力使所述液体经过连接管道由所述喷头喷出。
根据本发明实施例的第三方面，提供了一种可移动平台，包括：
可移动平台本体；
位于所述可移动平台本体上的至少一个如第一方面所述的喷头装置；和/或，位于所述可移动平台本体上的至少一个如第二方面所述的喷洒系统。
根据本发明实施例的第四方面，提供了一种农业植保机的飞行喷洒作业方法，包括：
接收喷头控制指令；
根据所述喷头控制指令，控制一切换装置，以改变喷头装置的喷洒参数；其中，所述切换装置与所述喷头装置的第一子喷头以及第二子喷头相连通，所述切换装置能够控制液体选择性地控制所述液体经由所述第一子喷头或所述第二子喷头喷洒；在相同的所述液体的液压的情况下，所述第一子喷头的喷洒参数与所述第二子喷头的喷洒参数不同，所述喷洒参数包括如下至少一种：喷洒流量，喷幅。
本发明实施例的喷头装置、喷洒系统、可移动平台及其喷洒作业方法，通过切换装置控制液体由不同喷洒参数的喷头装置喷出，实现在喷洒过程中改变流量和喷幅，节省了手动更换喷嘴的时间，既可以提高喷洒效率，又可以防止漏滴，提高了安全性，改善了用户体验。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述 中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例的喷头装置的示意图；
图2是本发明实施例的电动阀门装置的示例；
图3是本发明实施例的一种喷洒系统的示意图；
图4是本发明实施例的喷洒系统的示例。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
随着无人机植保行业的逐渐成熟与普及，对于喷洒质量的要求越来越高，而现有的喷洒方式普遍都是定量喷洒不能改变喷幅，当遇到不同面积的喷洒对象或者需要改变喷洒方向如转弯时，无法避免重喷/漏喷的问题，而重喷会造成喷洒液体的浪费，若喷洒液体是化学液体则会造成污染环境；漏喷更会严重降低了喷洒效果。基于现有的喷洒方式，要想改变喷洒方式只能停止喷洒作业来进行喷头的更换，在更换喷头时，用户不可避免的与喷洒的液体接触，存在一定安全隐患，这些都会造成用户体验差。这种方式不仅影响喷洒作业效率，也不能满足在喷洒作业过程中改变喷洒流量和喷幅的需求。
基于上述考虑，本发明实施例提供了一种喷头装置，参见图1，图1示出了本发明实施例的喷头装置的示意图。如图1所示，所述喷头装置100包括：
第一子喷头110，包括第一进水嘴和第一喷嘴，液体能够从所述第一进水嘴进入，并通过所述第一喷嘴喷出；
第二子喷头120，包括第二进水嘴和第二喷嘴，所述液体能够从所述第二进水嘴进入，并通过所述第二喷嘴喷出；
切换装置130，分别与所述第一进入嘴和所述第二进水嘴连通，所述切换装置130控制液体选择性地从所述第一进入嘴或所述第二进水嘴流入，从而控制所述液体经由所述第一子喷头110或所述第二子喷头120喷洒；
其中，在相同的所述液体的液压的情况下，所述第一子喷头110的喷洒参 数与所述第二子喷头120的喷洒参数不同，所述喷洒参数包括如下至少一种：喷洒流量，喷幅。
根据发明实施例的一种喷头装置通过在切换装置控制液体从不同喷洒参数的子喷头喷洒，以实现在线改变喷洒流量或喷幅的喷洒方式，节省了手动更换喷头的时间，避免了用户更换喷嘴时接触喷洒液体，提高了安全性和喷洒效率，改善了用户体验。
在一个实施例中，在相同的所述液体的液压的情况下，第一子喷头的喷洒流量大于第二子喷头的喷洒流量，即第一子喷头为大流量喷头，第二子喷头为小流量喷头；切换装置分别与所述大流量喷头和小流量喷头连通，切换装置可以根据预设的喷洒任务相应的喷洒作业，如采用大流量喷头和小流量喷头交替喷洒相同时间或不同时间；切换装置也可以根据接收到的控制信息进行相应的喷洒作业，如当前采用大流量喷头喷洒，接收到切换喷头的控制信息后，切换至小流量喷头进行喷洒。
在一个实施例中，在相同的所述液体的液压的情况下，第一子喷头的喷幅大于第二子喷头的喷幅，即第一子喷头为大喷幅喷头，第二子喷头为小喷幅喷头；切换装置分别与所述大喷幅喷头和小喷幅喷头连通，同样地，切换装置可以根据预设的喷洒任务相应的喷洒作业，如采用大喷幅喷头喷洒第一时间后切换至小喷幅喷头喷洒第二时间；切换装置也可以根据接收到的控制信息进行相应的喷洒作业，如当前采用小喷幅喷头喷洒，接收到切换喷头的控制信息后，切换至大喷幅喷头进行喷洒。
可以理解，上述实施例第一子喷头和第二子喷头中的“第一”、“第二”仅为区分不同的子喷头，而不是特指某一类型喷洒参数的子喷头。
需要说明的是，根据本发明实施例提供的一种喷头装置，子喷头的个数还可以是多于两个，且可以是对称分布或均匀分布，可以根据实际情况和需要进行设置，在此对子喷头的个数和/或分布不做限制。
可选地，所述第一子喷头的类型与所述第二子喷头的类型可以相同或不同。
可选地，所述第一子喷头的类型和/或所述第二子喷头的类型包括如下至少一种：压力喷头，离心喷头。其中，压力喷头是通过压力泵对液体施加一定的压力经由压力喷头喷射出去的喷头；离心喷头是通过电机带动离心喷头 高速旋转将液体带出后利用离心力喷洒的喷头。
在一个实施例中，第一子喷头的类型与所示第二子喷头的类型相同，均为压力喷头或离心喷头。
在一个实施例中，第一子喷头的类型与所示第二子喷头的类型不同，第一子喷头为压力喷头，第二子喷头为离心喷头；或第一子喷头为离心喷头，第二子喷头为压力喷头。
在一个实施例中，第一子喷头和/或第二子喷头的进水嘴和喷嘴可以共轴设置。
在一个实施例中，第一子喷头和/或第二子喷头的进水嘴和喷嘴也可以不共轴设置，例如，喷嘴可以设于子喷头的侧方位置，进水嘴和喷嘴的轴线互成一定角度，如[0，180]度。
选地，所述切换装置可以是电动阀门装置。
在一个实施例中，参见图2，图2示出了根据本发明实施例的电动阀门装置的示例。如图2所示，所述电动阀门装置200包括：第一进口210、第一出口220、第二出口230和电磁开关240，所述第一进口210位于所述电磁开关240的一侧，所述第一出口220和第二出口230位于所述电磁开关240的另一侧，所述电磁开关240控制流入所述第一进口210的液体从所述第一出口220或第二出口230流出。
在一个实施例中，继续参见图2，所述电磁开关240包括：阀体241、阀芯242、弹性件243、和电磁铁244，所述阀体241上具有第一通道和第二通道，所述第一通道供流入所述第一进口210的液体从所述第一出口220流出，所述第二通道供流入所述第一进口210的液体从所述第二出口230流出；所述阀芯242容纳于所述阀体241内，且与所述第一通道和所述第二通道均非平行设置；所述弹性件243容纳于所述阀体241内，用于对所述阀芯242进行复位；所述电磁铁244固定于所述阀体241上，且所述电磁铁244的至少一部分容纳于所述阀体241内，所述电磁铁244上绕有线圈；所述弹性件243固定于所述电磁铁244的至少一部分上并位于所述电磁铁244与所述阀芯242之间。在图2所示的实施例中，弹性件243为压缩弹簧。可替代的，在其他实施例中，弹性件243也可以为金属弹片、橡胶弹性件等。
可选地，所述喷头装置还包括：控制装置，连接于所述线圈，用于控制所 述线圈得电或失电。
可选地，当所述线圈得电时，所述电磁铁控制所述阀芯移动以打开第一通道；当所述线圈失电时，所述电磁铁控制所述阀芯移动以打开第二通道。
在一个实施例中，当向电磁阀门提供电源时，电流流过电磁铁上的线圈，线圈和电磁铁产生相应的磁场，将阀芯吸合，供液体通过的第一通道关闭，第二通道打开，液体则由第一进口流入，通过第二通道后由第二出口喷出；当不向电磁阀门提供电源时，电磁铁上的线圈没有电流流过，线圈和电磁铁不产生磁场，弹性件将阀芯复位，供液体通过的第一通道打开，第二通道关闭，液体则由第一进口流入，通过第一通道后由第一出口喷出。通过调节线圈上的电流大小和/或极性，可控制电磁阀门的第一通道或第二通道打开或关闭即可控制液体选择性得由第一子喷头或第二子喷头喷出，从而实现在线改变喷洒的流量和/或喷幅。
其中，由于电磁开关是可控装置，可以采用不同的控制方式，即可以根据需要选择电磁开关的类型和/或设置电磁开关的控制方式，以实现通过控制电磁开关的通电参数(如电流大小，电流极性等)来达到不同打开和/或关闭第一出口和/或第二出口的目的。
在一个实施例中，当向电磁阀门装置提供第一电流时，第一电流流过电磁铁上的线圈，线圈和电磁铁产生相应的第一磁场，将阀芯吸合至第一位置，供液体通过的第一通道关闭，第二通道打开，液体则由第一进口流入，通过第二通道后由第二出口喷出；当向电磁阀门装置提供第二电流时，第二电流与第一电流方向相反，第二电流流过电磁铁上的线圈，线圈和电磁铁产生相应的第二磁场，第二磁场的方向与第一磁场的方向相反，将阀芯推离至第二位置，供液体通过的第一通道打开，第二通道关闭，液体则由第一进口流入，通过第一通道后由第一出口喷出；当不向电磁阀门装置提供电流时，电磁铁上的线圈没有电流流过，线圈和电磁铁不产生磁场，弹性件将阀芯复位，第一通道和第二通道均关闭，没有液体通过即第一出口和第二出口没有液体喷出。
在一个实施例中，通过向电磁开关通入不同大小的电流，使得磁芯吸合至不同位置，可以实现打开和/或关闭至少部分第一通道和/或至少部分第二通道，例如，第一通道和第二通道同时打开至少部分以实现更多不同喷洒参数的喷洒方式。
在一个实施例中，第一通道和第二通道可以同时打开，即第一出口和第二出口同时打开，以实现第一子喷头和第二子喷头同时喷洒的最大喷洒流量和/或最大喷幅的喷洒方式。
需要说明的是，电磁开关的电流大和/或通电时间等通电参数均可以根据在线或离线(即喷洒过程中或非喷洒过程中)的需要进行设置或改变，在此对具体的电流大和/或通电时间不做限制。
可选地，所述喷头装置还包括：连接装置，包括第一连接装置和第二连接装置，所述第一连接装置连接所述第一出口与所述第一子喷头，所述第二连接装置连接所述第二出口与所述第二子喷头。
其中，电磁阀门装置和第一子喷头、第二子喷头可以分别直接连接(即不需要连接装置)，也可以通过连接装置连接。可以理解，连接装置的长度或连接方式可以根据需要进行设置，且连接装置可以是硬性材料也可以是柔性材料，在此对连接装置的长度和材料均不做限制。
在一个实施例中，连接装置是柔性软管或PVC管。
在一个实施例中，参见图1，连接装置140包括第一连接装置141和第二连接装置142，二者均为硬性材料管，第一连接装置141和第二连接装置142的一端都与切换装置130连通，第一连接装置141和第二连接装置142互成一定夹角，另一端分别与第一子喷头110、第二子喷头120连通。可以理解，所述夹角的范围可以根据实际需要设置，在此不做限制。
可选地，所述喷头装置还包括：支撑装置，用于支撑所述连接装置。
在一个实施例中，支撑装置采用硬性材料。
在一个实施例中，参见图1，支撑装置为支撑架150，所述支撑架150包括两个分别与第一连接装置141和第二连接装置142的形状相匹配的子支撑腿，两个子支撑腿卡分别接在第一连接装置141和第二连接装置142的两端。此外，所述支撑架150还可以一端连接于切换装置130或喷头装置的其他部分，另一端卡接于连接装置。
再次参见图1，以具体示例对本发明实施例的一种喷头装置的工作过程进行说明。图1中的喷头装置100包括：
第一子喷头110，包括第一进水嘴和第一喷嘴，液体能够从所述第一进水 嘴进入，并通过所述第一喷嘴喷出；所述第一子喷头的类型可以是压力喷头或离心喷头；
第二子喷头120，包括第二进水嘴和第二喷嘴，所述液体能够从所述第二进水嘴进入，并通过所述第二喷嘴喷出；所述第二子喷头的类型可以是压力喷头或离心喷头；且所述第一子喷头的类型与所述第二子喷头的类型可以相同，也可以不同；
其中，在相同的所述液体的液压的情况下，所述第一子喷头110的喷洒参数与所述第二子喷头120的喷洒参数不同，所述喷洒参数包括如下至少一种：喷洒流量，喷幅；
切换装置130，包括电动阀门装置，分别与所述第一进入嘴和所述第二进水嘴连通，所述切换装置130控制液体选择性地从所述第一进入嘴或所述第二进水嘴流入，从而控制所述液体经由所述第一子喷头110或所述第二子喷头120喷洒；
其中，所述电动阀门装置包括：第一进口、第一出口、第二出口和电磁开关，所述第一进口位于所述电磁开关的一侧，所述第一出口和第二出口位于所述电磁开关的另一侧，所述电磁开关控制流入所述第一进口的液体从所述第一出口或第二出口流出；所述电磁开关包括：阀体，所述阀体上具有第一通道和第二通道，所述第一通道供流入所述第一进口的液体从所述第一出口流出，所述第二通道供流入所述第一进口的液体从所述第二出口流出；阀芯，所述阀芯容纳于所述阀体内，且与所述第一通道和所述第二通道均非平行设置；弹性件，所述弹性件容纳于所述阀体内，用于对所述阀芯进行复位；电磁铁，所述电磁铁固定于所述阀体上，且所述电磁铁的至少一部分容纳于所述阀体内，所述电磁铁上绕有线圈；所述弹簧固定于所述电磁铁的至少一部分上并位于所述电磁铁与所述阀芯之间；
控制装置(未示出)，连接于所述线圈，用于控制所述线圈得电或失电；当所述线圈得电时，所述电磁铁控制所述阀芯移动以打开第一通道；当所述线圈失电时，所述电磁铁控制所述阀芯移动以打开第二通道；
连接装置140，包括第一连接装置和第二连接装置，所述第一连接装置连接所述第一出口与所述第一子喷头，所述第二连接装置连接所述第二出口与所述第二子喷头；
支撑装置150，用于支撑所述连接装置140；
基于所述喷头装置100的结构，所述喷头装置100在喷洒作业时，液体流至切换装置130中电磁开关的第一进口，当控制装置控制电磁开关的线圈得电，使得电磁开关的阀芯吸合，供液体通过的第一通道关闭，第二通道打开，液体则由第一进口流入，通过第二通道后由第二出口流出；经第二出口流出的液体经过第二连接装置流至第二子喷头的第二进水嘴，通过所述第二喷嘴喷出；当控制装置控制电磁开关的线圈失电，弹性件将阀芯复位，供液体通过的第一通道打开，第二通道关闭，液体则由第一进口流入，通过第一通道后由第一出口流出；经第一出口流出的液体经过第一连接装置流至第一子喷头的第一进水嘴，通过所述第一喷嘴喷出。
由此可知，本发明实施例的喷头装置通过切换装置控制液体由不同喷洒参数的喷头装置喷出，实现在喷洒过程中改变流量和喷幅，节省了手动更换喷嘴的时间，提高了喷洒效率，提高了安全性，改善了用户体验。
需要说明的是，根据本发明的实施例，相同作用的具体实现方式之间可以相互替代。除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。
根据本实用新型实施例的第二方面，提供了一种喷洒系统，参见图3，图3示出了本发明实施例的一种喷洒系统的示意图，所述喷洒系统300包括:至少一个喷头装置310、至少一个连接管道320；以及压力装置330。
其中，喷头装置310的具体结构可以采用上述各实施例的喷头装置的结构，压力装置330用于向液体提供压力使所述液体经过连接管道320由所述喷头装置310喷出。
可选地，所述喷洒系统还包括：
控制器，所述控制器与所述切换装置电连接，用于控制所述切换装置处于第一状态或第二状态，在所述第一状态时，所述切换装置控制所述液体从所述第一进入嘴流入，从而控制所述液体经由所述第一子喷头喷洒；在所述第二状态时，所述切换装置控制所述液体从所述第二进入嘴流入，从而控制所述液体经由所述第二子喷头喷洒。
可选地，所述控制器根据预设的喷洒任务，自动控制所述所述切换装置，以按照预设的喷洒任务进行喷洒作业。
在一个实施例中，所述控制器可以包括处理器，用于根据所述预设的喷洒任务控制切换装置。
在一个实施例中，所述控制器还可以包括存储器，用于存储所述预设的喷洒任务。可以理解，所述预设的喷洒任务可以根据需要进行设置。
可选地，所述喷洒系统还包括：无线通信装置，所述无线通信装置与所述控制器电连接，用于接收用户的喷头控制指令，并将所述喷头控制指令发送给所述控制器，以控制所述切换装置。可以理解，所述无线通信装置可以独立设置，也可以设置于控制器中。
在一个实施例中，无线通信装置还可以接收所述预设的喷洒任务，并将所述喷洒任务存储于存储器。例如，预设的喷洒任务可以在执行喷洒作业之前接收，也可以在喷洒作业过程中接收，这样不仅可以实现在线喷洒流量或喷幅可变的喷洒方式，还可以在线更改喷洒模式或喷洒任务，用户可以根据个人需要进行设置，不仅提高了喷洒效率，还提供了更多的灵活性，进一步提高了用户体验。
可选地，所述喷洒系统还包括：地面控制端，用于与所述无线通信装置通信连接，用户能够通过所述地面控制端发送所述喷头控制指令。
可选地，所述无线通信装置能够与所述地面控制终端通信连接。具体地，所述无线通信装置能够与所述地面控制终端通信方式可以为视距通信方式，或者非视距通信方式。视距通信方式可以为WIFI、蓝牙等。非视距通信方式可以为2G、3G、4G、5G等通信网络。
其中，通过所述地面控制端发送喷头控制指令，所述喷头装置根据所述喷头控制指令控制所述切换装置。
在一个实施例中，参见图4，图4示出了根据本发明实施例的喷洒系统的示例。如图4所示，可移动平台本体上搭载了喷头装置、控制器、无线通信装置、压力装置、液体储存装置(如水箱)，所述喷头装置包括电磁阀门和喷头体，所述水箱中的水通过压力装置通过连接管道流至电磁阀门，控制装置通过控制电磁阀门以控制第一子喷头体和/或第二子喷头体的打开和/或关闭。此外，用户通过所述地面控制端发送所述喷头控制指令至无线通信装置，无线通信装 置将该喷头控制指令发送至控制装置，所述控制装置根据喷头控制指令控制切换装置，从而实现第一子喷头体和/或第二子喷头体进行喷洒的控制。
在一个实施例中，地面控制端还可以发送所述预设的喷洒任务。
在一个实施例中，所述喷头控制指令包括以下至少一种：打开第一子喷头和/或打开第二子喷头，关闭第一子喷头和/或关闭第二子喷头，切换至第一子喷头和/或切换至第二子喷头。
在一个实施例中，喷洒系统开始执行喷洒作业，用户可以根据实际喷洒环境设置预设的喷洒任务或喷头控制指令，并通过所述地面控制端发送至无线通信装置，无线通信装置将该预设的喷洒任务或喷头控制指令发送给控制器，控制器根据该预设的喷洒任务或喷头控制指令控制切换装置，以按照该预设的喷洒任务或喷头控制指令通过第一子喷头和/或第二子喷头喷洒液体。
可选地，所述地面控制端包括如下至少一种：遥控器，手机，平板电脑，地面基站。
根据本发明实施例的第三方面，提供了一种可移动平台，包括：
可移动平台本体以及喷头装置。
喷头装置搭载在所述可移动平台本体上；其中，喷头装置的具体结构可以采用上述各实施例的喷头装置的结构。
另外，提供了一种可移动平台，包括：可移动平台本体以及喷洒系统。
喷洒系统搭载在所述可移动平台本体上；其中，所述喷洒系统的具体结构可以为上述各实施例的喷洒系统。
可选地，所述可移动平台包括无人飞行器、或者地面载具。地面载具可以为地面机器人，农用机等。
在一个实施例中，所述可移动平台为无人飞行器，所述可移动平台本体包括中心体以及多个机臂，所述多个机臂与所述中心体固定连接或者可转动连接。
进一步地，所述可移动平台本体还包括起落架。水箱可以连接在中心体或所述起落架上。喷头装置可以连接在机臂或中心体上。
根据本发明的喷头装置和/和喷洒系统可以用于自动喷洒。在一种实施例中，本发明实施例的喷头装置和/或喷洒装置可应用于移动平台，喷头装置和/ 或喷洒装置可安装在移动平台的平台本体。具有喷头装置和/或喷洒装置的移动平台可对外部环境进行喷洒，例如，用于农业、林业等植物灌溉或药液喷洒。在某些实施例中，移动平台包括无人飞行器、地面载具的至少一种。当喷头装置和/或喷洒装置应用于无人飞行器时，平台本体为无人飞行器的机身。当喷头装置和/或喷洒装置应用于汽车时，平台本体为汽车的车身。该汽车可以是自动驾驶汽车或者半自动驾驶汽车，在此不做限制。当喷头装置和/或喷洒装置应用于遥控车时，平台本体为遥控车的车身。当喷头装置和/或喷洒装置应用于机器人时，平台本体为机器人。
根据本发明实施例的第四方面，提供了一种农业植保机的飞行喷洒作业方法，包括：
接收喷头控制指令；
根据所述喷头控制指令，控制一切换装置，以改变喷头装置的喷洒参数；其中，所述切换装置与所述喷头装置的第一子喷头以及第二子喷头相连通，所述切换装置能够控制液体选择性地控制所述液体经由所述第一子喷头或所述第二子喷头喷洒；在相同的所述液体的液压的情况下，所述第一子喷头的喷洒参数与所述第二子喷头的喷洒参数不同，所述喷洒参数包括如下至少一种：喷洒流量，喷幅。
可选地，喷头装置的具体结构可以采用上述各实施例的喷头装置的结构。
可选地，切换装置的具体结构可以采用上述各实施例的切换装置的结构。
本发明实施例的喷头装置、喷洒系统、可移动平台及其喷洒作业方法，通过切换装置控制液体由不同喷洒参数的喷头装置喷出，实现在喷洒过程中改变流量和喷幅，节省了手动更换喷嘴的时间，既可以提高喷洒效率，又可以防止漏滴，提高了安全性，改善了用户体验。
本领域的技术人员可以理解，除了特征之间相互排斥之外，可以采用任何组合对本说明书(包括伴随的权利要求、摘要和附图)中公开的所有特征以及如此公开的任何方法或者设备的所有过程或单元进行组合。除非另外明确陈述，本说明书(包括伴随的权利要求、摘要和附图)中公开的每个特征可以由 提供相同、等同或相似目的的替代特征来代替。
此外，本领域的技术人员能够理解，尽管在此所述的一些实施例包括其它实施例中所包括的某些特征而不是其它特征，但是不同实施例的特征的组合意味着处于本实用新型的范围之内并且形成不同的实施例。例如，在权利要求书中，所要求保护的实施例的任意之一都可以以任意的组合方式来使用。
本发明实施例中所使用的技术术语仅用于说明特定实施例而并不旨在限定本发明。在本文中，单数形式“一”、“该”及“所述”用于同时包括复数形式，除非上下文中明确另行说明。进一步地，在说明书中所使用的用于“包括”和/或“包含”是指存在所述特征、整体、步骤、操作、元件和/或构件，但是并不排除存在或增加一个或多个其它特征、整体、步骤、操作、元件和/或构件。
在所附权利要求中对应结构、材料、动作以及所有装置或者步骤以及功能元件的等同形式(如果存在的话)旨在包括结合其他明确要求的元件用于执行该功能的任何结构、材料或动作。本发明的描述出于实施例和描述的目的被给出，但并不旨在是穷举的或者将被发明限制在所公开的形式。在不偏离本发明的范围和精神的情况下，多种修改和变形对于本领域的一般技术人员而言是显而易见的。本发明中所描述的实施例能够更好地揭示本发明的原理与实际应用，并使本领域的一般技术人员可了解本发明。
本发明中所描述的流程图仅仅为一个实施例，在不偏离本发明的精神的情况下对此图示或者本发明中的步骤可以有多种修改变化。比如，可以不同次序的执行这些步骤，或者可以增加、删除或者修改某些步骤。本领域的一般技术人员可以理解实现上述实施例的全部或部分流程，并依本发明权利要求所作的等同变化，仍属于发明所涵盖的范围。

Claims (21)

  1. 一种喷头装置，其特征在于，所述喷头包括：
    第一子喷头，包括第一进水嘴和第一喷嘴，液体能够从所述第一进水嘴进入，并通过所述第一喷嘴喷出；
    第二子喷头，包括第二进水嘴和第二喷嘴，所述液体能够从所述第二进水嘴进入，并通过所述第二喷嘴喷出；
    切换装置，分别与所述第一进入嘴和所述第二进水嘴连通，所述切换装置控制液体选择性地从所述第一进入嘴或所述第二进水嘴流入，从而控制所述液体经由所述第一子喷头或所述第二子喷头喷洒；
    其中，在相同的所述液体的液压的情况下，所述第一子喷头的喷洒参数与所述第二子喷头的喷洒参数不同，所述喷洒参数包括如下至少一种：喷洒流量，喷幅。
  2. 如权利要求1所述的喷头装置，其特征在于，所述第一子喷头的类型与所述第二子喷头的类型相同或不同。
  3. 如权利要求2所述的喷头装置，其特征在于，所述第一子喷头的类型包括如下至少一种：压力喷头，离心喷头。
  4. 如权利要求2所述的喷头装置，其特征在于，所述第二子喷头的类型包括如下至少一种：压力喷头，离心喷头。
  5. 如权利要求1所述的喷头装置，其特征在于，所述切换装置为电动阀门装置。
  6. 如权利要求5所述的喷头装置，其特征在于，所述电动阀门装置包括：第一进口、第一出口、第二出口和电磁开关，所述第一进口位于所述电磁开关的一侧，所述第一出口和第二出口位于所述电磁开关的另一侧，所述电磁开关控制流入所述第一进口的液体从所述第一出口或第二出口流出。
  7. 如权利要求6所述的喷头装置，其特征在于，所述电磁开关包括：
    阀体，所述阀体上具有第一通道和第二通道，所述第一通道供流入所述第一进口的液体从所述第一出口流出，所述第二通道供流入所述第一进口的液体从所述第二出口流出；
    阀芯，所述阀芯容纳于所述阀体内，且与所述第一通道和所述第二通道均非平行设置；
    弹性件，所述弹性件容纳于所述阀体内，用于对所述阀芯进行复位；
    电磁铁，所述电磁铁固定于所述阀体上，且所述电磁铁的至少一部分容纳于所述阀体内，所述电磁铁上绕有线圈；所述弹性件固定于所述电磁铁的至少一部分上并位于所述电磁铁与所述阀芯之间。
  8. 如权利要求7所述的喷头装置，其特征在于，当所述线圈得电时，所述电磁铁控制所述阀芯移动以打开第一通道；当所述线圈失电时，所述电磁铁控制所述阀芯移动以打开第二通道。
  9. 如权利要求1所述的喷头装置，其特征在于，所述喷头装置还包括：
    连接装置，包括第一连接装置和第二连接装置，所述第一连接装置连接所述第一出口与所述第一子喷头，所述第二连接装置连接所述第二出口与所述第二子喷头。
  10. 如权利要求9所述的喷头装置，其特征在于，所述喷头装置还包括：
    支撑装置，用于支撑所述连接装置。
  11. 如权利要求7所述的喷头装置，其特征在于，所述喷头装置还包括：
    控制装置，电连接于所述线圈，用于控制所述线圈得电或失电。
  12. 一种喷洒系统，其特征在于，所述喷洒系统包括:
    至少一个如权利要求1-11中任一项所述的喷头装置；
    至少一个连接管道；以及
    压力装置，用于向液体提供压力使所述液体经过连接管道由所述喷头喷 出。
  13. 如权利要求12所述的喷洒系统，其特征在于，所述切换装置为电动阀门装置。
  14. 如权利要求12所述的喷洒系统，其特征在于，所述喷洒系统还包括：
    控制器，所述控制器与所述切换装置电连接，用于控制所述切换装置处于第一状态或第二状态，在所述第一状态时，所述切换装置控制所述液体从所述第一进入嘴流入，从而控制所述液体经由所述第一子喷头喷洒；在所述第二状态时，所述切换装置控制所述液体从所述第二进入嘴流入，从而控制所述液体经由所述第二子喷头喷洒。
  15. 如权利要求14所述的喷洒系统，其特征在于，所述喷洒系统还包括：无线通信装置，所述无线通信装置与所述控制器电连接，用于接收用户的喷头控制指令，并将所述喷头控制指令发送给所述控制器，以控制所述切换装置。
  16. 如权利要求15所述的喷洒系统，其特征在于，所述喷洒系统还包括：地面控制端，用于与所述无线通信装置通信连接，用户能够通过所述地面控制端发送所述喷头控制指令。
  17. 如权利要求16所述的喷洒系统，其特征在于，所述地面控制端包括如下至少一种：遥控器，手机，平板电脑，地面基站。
  18. 如权利要求14所述的喷洒系统，其特征在于，所述控制器根据预设的喷洒任务，自动控制所述所述切换装置，以按照预设的喷洒任务进行喷洒作业。
  19. 一种可移动平台，其特征在于，包括：
    可移动平台本体；
    搭载于所述可移动平台本体上的至少一个如权利要求1-11中任一项所述 的喷头装置；和/或，至少部分搭载于所述可移动平台本体上的至少一个如权利要求12-18所述的喷洒系统。
  20. 如权利要求19所述的可移动平台，其特征在于，所述可移动平台包括无人飞行器、或者地面载具。
  21. 一种农业植保机的飞行喷洒作业方法，其特征在于，包括：
    接收喷头控制指令；
    根据所述喷头控制指令，控制一切换装置，以改变喷头装置的喷洒参数；其中，所述切换装置与所述喷头装置的第一子喷头以及第二子喷头相连通，所述切换装置能够控制液体选择性地控制所述液体经由所述第一子喷头或所述第二子喷头喷洒；在相同的所述液体的液压的情况下，所述第一子喷头的喷洒参数与所述第二子喷头的喷洒参数不同，所述喷洒参数包括如下至少一种：喷洒流量，喷幅。
PCT/CN2019/085038 2019-04-29 2019-04-29 喷头装置、喷洒系统、可移动平台及其喷洒作业方法 WO2020220215A1 (zh)

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