WO2021120660A1 - Système de pulvérisation et procédé de commande pour système de pulvérisation - Google Patents

Système de pulvérisation et procédé de commande pour système de pulvérisation Download PDF

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Publication number
WO2021120660A1
WO2021120660A1 PCT/CN2020/110336 CN2020110336W WO2021120660A1 WO 2021120660 A1 WO2021120660 A1 WO 2021120660A1 CN 2020110336 W CN2020110336 W CN 2020110336W WO 2021120660 A1 WO2021120660 A1 WO 2021120660A1
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WO
WIPO (PCT)
Prior art keywords
medicine
spraying
controller
dispensing
spray
Prior art date
Application number
PCT/CN2020/110336
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English (en)
Chinese (zh)
Inventor
李杰孙
彭斌
赵晓童
Original Assignee
广州极飞科技有限公司
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
Publication date
Priority claimed from CN201922302544.4U external-priority patent/CN212345070U/zh
Priority claimed from CN201911320304.5A external-priority patent/CN110859172B/zh
Application filed by 广州极飞科技有限公司 filed Critical 广州极飞科技有限公司
Publication of WO2021120660A1 publication Critical patent/WO2021120660A1/fr

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    • 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
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F33/00—Other mixers; Mixing plants; Combinations of mixers
    • 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

  • This application relates to the technical field of plant protection machines, in particular to a spraying system and a control method of the spraying system.
  • some spraying system control devices can control the movement of the drone or unmanned vehicle body, and the dispensing machine of the drone or unmanned vehicle can dispense medicine according to the set ratio of water and medicine and whether the spraying device sprays operation.
  • the above-mentioned spraying system has a low degree of automation, and the actual spraying area and the spraying area are prone to errors.
  • This application aims to solve one of the technical problems in the related technology at least to a certain extent.
  • one purpose of the present application is to propose a spray system, which has the advantage of high degree of automation.
  • Another object of the present application is to provide a method for controlling a spray system, which also has the advantage of a high degree of automation.
  • the spraying system includes: a first moving device, the first moving device includes a moving body and a power component, the power component is provided on the moving body to drive the moving body to move; a spraying device , The spraying device is provided in the first moving device, the spraying device includes a dispensing device and an atomizing device, the dispensing device is in communication with the atomizing device; a controller, the controller and the The first mobile device is in communication connection.
  • the first mobile device drives the spraying device to move, and the atomizing device sprays the liquid medicine prepared by the dispensing device to the spraying area, thereby Realize the automatic spraying operation, thereby saving labor, and also avoiding the harm of the liquid medicine to the human body.
  • the spraying system further includes a pan/tilt, the pan/tilt is arranged on the first mobile device, the atomization device is arranged on the pan/tilt, and the pan/tilt drives the atomization device to move to Change the spray direction of the atomization device.
  • the controller is communicatively connected with the pan-tilt.
  • the pan/tilt head swings in a first direction relative to the first mobile device, and the pan/tilt head swings in a second direction relative to the first mobile device.
  • the first direction and The second direction is vertical.
  • the controller is communicatively connected with the spraying device, and the spraying device further includes a medicine mixing device, and the medicine mixing device is connected between the dispensing device and the atomizing device.
  • the dispensing device includes: a water tank, a medicine tank, a dispensing machine, a water volume control valve for controlling the amount of water, and a medicine volume control valve for controlling the amount of medicine.
  • the medicine dispensing machine has an initial mixing cavity, and the initial mixing cavity is in communication with the medicine mixing device.
  • the water volume control valve is connected between the water tank and the preliminary mixing cavity, and the water volume control valve is in communication connection with the controller.
  • the medicine quantity control valve is connected between the medicine tank and the initial mixing cavity, and the medicine quantity control valve is in communication connection with the controller.
  • the medicine mixing device has a highest liquid level alarm, and when the highest liquid level alarm gives an alarm, the dispensing machine stops dispensing medicine.
  • the medicine mixing device has a minimum liquid level alarm, and when the minimum liquid level alarm gives an alarm, the medicine dispensing machine is activated and starts to dispense medicine.
  • the atomization device has a particle size control component for adjusting the size of the atomized particle size, and the particle size control component is communicatively connected with the controller.
  • the atomization device has a range control component for controlling the range of the atomized particles, and the range control component is communicatively connected with the controller.
  • the spraying system further includes a surveying and mapping device, and the surveying and mapping device is in communication connection with the controller.
  • the spraying system further includes a second mobile device, and the surveying and mapping device is provided in the second mobile device.
  • the second mobile device is an aircraft.
  • the first mobile device is an aircraft, a mobile boat, or a mobile vehicle.
  • the spray system further includes a medication feedback device, and the medication feedback device is communicatively connected with the controller.
  • the spraying system includes the spraying system described in any one of the above; the control method includes: acquiring surveying and mapping information, and formulating the travel route and the location of the first mobile device.
  • the atomization particle size of the atomization device, and the spray range of the atomization device are examples of the spraying system described in any one of the above;
  • the first mobile device drives the spraying device to move, and the atomizing device sprays the liquid medicine prepared by the dispensing device to the spraying area,
  • the first mobile device drives the spraying device to move, and the atomizing device sprays the liquid medicine prepared by the dispensing device to the spraying area
  • control method of the spray system further includes: a drug application feedback device, which adjusts the spray direction and spray range of the atomization device according to the information of the drug feedback device.
  • the controller controls the dispensing amount of the dispensing device according to the real-time travel route.
  • Fig. 1 is a schematic structural diagram of a spraying system according to an embodiment of the present application
  • Figure 2 is a schematic structural diagram of a spraying system according to an embodiment of the present application.
  • Fig. 3 is a structural block diagram of a spraying system according to an embodiment of the present application.
  • Fig. 4 is a flowchart of a control method of a spray system according to an embodiment of the present application.
  • the first mobile device 110 The first mobile device 110,
  • Dispensing device 121 water tank 1211, medicine tank 1212, dispensing machine 1213,
  • the spraying system 100 includes a first moving device 110, a spraying device 120 and a controller.
  • the first mobile device 110 may be a carrier platform for loading the spraying device 120 and the controller.
  • the spraying device 120 and the controller move with the first mobile device 110 to spray the spraying area. operation.
  • the first mobile device 110 may be a carrier platform on which the spraying device 120 and the controller are loaded.
  • the first mobile device 110 includes a mobile body and a power component, and the power component is provided on the mobile body to drive the mobile body to move.
  • the spraying device 120 is provided in the first mobile device 110.
  • the spraying device 120 includes a dispensing device 121 and an atomizing device 123, and the dispensing device 121 and the atomizing device 123 are in communication.
  • the controller communicates with the first mobile device 110.
  • the controller receives the signal and drives the first moving device 110 to move, the first moving device 110 drives the spraying device 120 to move, and the atomizing device 123 sprays the liquid prepared by the dispensing device 121 to the spraying area.
  • the first mobile device 110 drives the spraying device 120 to move, and the atomizing device 123 sprays the liquid medicine prepared by the dispensing device 121 on Spraying area, which can realize automatic spraying operation, thereby saving labor, and also avoiding the harm of liquid medicine to human body.
  • the spraying system 100 further includes a pan/tilt 130, the pan/tilt 130 is set on the first mobile device 110, the atomization device 123 is located on the pan/tilt 130, and the pan/tilt 130 drives the atomization device 123 moves to change the spray direction of the atomization device 123. Therefore, the movement of the first mobile device 110 can drive the movement of the pan-tilt 130, and the pan-tilt 130 can drive the atomization device 123 to move to change the spray direction of the atomization device 123, thereby expanding the spraying range of the atomization device 123, which is beneficial to Improve the spraying efficiency of the spraying system 100.
  • the controller is in communication connection with the pan-tilt 130.
  • the controller can control the automatic work of the pan-tilt 130, thereby improving the degree of automation of the spraying system 100.
  • the atomization device 123 can swing relative to the pan-tilt 130 in a first direction (the direction shown by the arrow F1 in FIG. 1), and the pan-tilt 130 can also be relatively Since the first mobile device 110 swings in a second direction (the direction shown by the arrow F2 in FIG. 1), the first direction and the second direction are perpendicular.
  • the swing of the pan/tilt 130 can drive the swing of the atomization device 123.
  • the atomization device 123 can swing in a first direction (the direction shown by the arrow F1 in FIG. 1) relative to the pan/tilt 130, and the pan/tilt 130 is relative to the first direction.
  • a mobile device 110 can swing in a second direction (the direction shown by arrow F2 in FIG. 1).
  • the spraying range of the atomizing device 123 is enlarged, and spraying in three dimensions is achieved.
  • the controller is in communication connection with the spraying device 120.
  • the spraying device 120 further includes a drug mixing device 122, and the drug mixing device 122 is connected between the dispensing device 121 and the atomizing device 123.
  • the spraying device 120 can be used to realize the spraying function of the spraying system 100: the dispensing device 121 preliminarily mixes the pesticide formulation and water in a certain proportion; the mixing device 122 receives the preliminarily mixed liquid medicine of the dispensing device 121, and the liquid medicine is being mixed.
  • the medicine device 122 mixes more fully and evenly, and the medicine mixing device 122 stores the configured medicine liquid; the atomizing device 123 draws the medicine liquid from the medicine mixing device 122 to atomize it, and sprays the spraying area.
  • the dispensing device 121 allocates a certain amount of liquid medicine to the mixing device 122 for storage. When the storage amount is exactly equal to the remaining amount of medicine required for the operation, the dispensing device 121 stops working, thereby ensuring that After the spraying operation is completed, there is no redundant liquid medicine in the mixing device 122.
  • the dispensing device 121 includes a water tank 1211, a medicine tank 1212, a dispensing machine 1213, a water volume control valve, and a medicine volume control valve.
  • the water tank 1211 can be used to store the clean water required for the preparation of the liquid medicine
  • the medicine tank 1212 can be used to store the pesticide preparations required for the preparation of the liquid medicine
  • the dispensing machine 1213 can be used to extract the water in the water tank 1211 according to a set ratio.
  • the water volume control valve is used to control the pumping volume
  • the chemical volume control valve is used to control the pumping volume.
  • the dispensing machine 1213 has an initial mixing cavity, and the initial mixing cavity is in communication with the medicine mixing device 122.
  • the water volume control valve is connected between the water tank 1211 and the initial mixing cavity, and the water volume control valve is in communication with the controller.
  • the water volume control valve can communicate or disconnect between the water tank 1211 and the initial mixing cavity according to the control signal of the controller. Control; the medicine volume control valve is connected between the medicine tank 1212 and the initial mixing cavity, and the medicine volume control valve is in communication with the controller.
  • the medicine volume control valve can be based on the control signal of the controller between the medicine tank 1212 and the initial mixing cavity Connect or disconnect to control.
  • the following examples illustrate the working process of the water tank 1211, the medicine tank 1212, the medicine dispenser 1213, the water volume control valve and the medicine volume control valve.
  • the water tank 1211 and the medicine tank 1212 respectively store the clean water and pesticide preparations required for the preparation of the liquid medicine, and the controller controls the dispensing machine 1213 to draw the clean water and pesticide preparations into the initial mixing cavity according to a set ratio.
  • the amount of water and pesticide preparations is controlled by the water volume control valve and the drug volume control valve.
  • the liquid medicine can be mixed initially in the initial mixing cavity or fully mixed.
  • the mixing device 122 receives the dispensing device 121 for initial mixing
  • the medicine mixing device 122 stores the configured liquid medicine; when the medicine liquid is fully mixed in the initial mixing cavity, the medicine mixing device 122 receives the dispensing
  • the device 121 configures the completed liquid medicine and stores the prepared liquid medicine.
  • the medicine mixing device 122 has a maximum liquid level alarm, and when the maximum liquid level alarm alarms, the dispensing machine 1213 stops dispensing the medicine.
  • the spraying system 100 starts spraying operations, it can automatically plan the speed and travel route of the first mobile device 110 in real time. Starting from the starting point, the dispensing machine 1213 starts to draw clean water from the water tank 1211 and from the medicine tank 1212 in a certain proportion. Pesticide preparations are dispensed.
  • the medicine mixing device 122 stores the prepared liquid medicine and feeds back its capacity in real time. During the working process, the medicine mixing device 122 reaches the maximum liquid level and the signal is fed back to the controller, and the controller controls the maximum liquid level alarm. , The dispensing machine 1213 stops dispensing.
  • the medicine mixing device 122 with the highest liquid level alarm can be configured to quantitatively configure the liquid medicine, so as to prevent the configured liquid medicine amount from exceeding the maximum capacity of the medicine mixing device.
  • the medicine mixing device 122 has a minimum liquid level alarm.
  • the dispensing machine 1213 is activated and starts dispensing. Specifically, during the spraying operation of the spraying system 100, the liquid medicine is continuously consumed.
  • a signal is fed back to the controller, and the controller controls the minimum liquid level alarm. Alarm, the dispensing machine 1213 is activated, and the dispensing starts.
  • the medicine mixing device 122 with the lowest liquid level alarm can feed back the liquid medicine storage amount in the medicine mixing device 122 in time, so that when the liquid medicine storage amount in the medicine mixing device 122 is lower than the minimum liquid level, the medicine dispensing machine 1213 dispenses medicine in time, Furthermore, it is possible to reduce downtime due to lack of liquid medicine.
  • the atomization device 123 has a particle size control component for adjusting the size of the atomized particle size, and the particle size control component is communicatively connected with the controller.
  • the particle size control component may include: a fan, a fan, an air duct, a liquid storage cylinder, and a spray head.
  • the controller gives the signal of the particle size required by the particle size control component
  • the particle size control component controls the wind speed and air volume of the fan by adjusting the speed of its own fan.
  • the liquid medicine enters the liquid storage from the mixing device 122 through the connecting pipe. Then, it enters the nozzle from the liquid storage tube, and the wind of the fan blows through the air duct to the connection between the liquid storage tube and the nozzle, and hits the liquid medicine into atomized particles.
  • the particle size and the atomization amount can be controlled by controlling the power of the motor and adjusting the flow rate of the liquid medicine in the liquid storage cylinder. Therefore, the atomization device 123 can meet the needs of different spraying operations, and then The automation level of the spray system 100 can be improved.
  • the atomization device 123 has a range control component for controlling the range of the atomized particles, and the range control component is communicatively connected with the controller.
  • the range control component may include a pressure controller, a liquid storage cylinder and a spray head.
  • the pressure controller acts on the liquid storage cylinder to apply pressure to the liquid medicine in the liquid storage cylinder to make the liquid medicine flow to the spray head and then spray out.
  • the range control component controls the range of the atomized particles and the force of the pressure controller by adjusting the pressure of the pressure controller acting on the liquid medicine in the liquid tank.
  • the range control component can also include a fan, a fan, an air duct, a liquid reservoir, a conveyor, and a nozzle.
  • the range control component controls the wind speed and air volume of the fan by adjusting the speed of its own fan.
  • the liquid medicine enters the liquid storage cylinder from the mixing device 122 through the connecting pipe, and then enters the nozzle from the liquid storage cylinder, and the air of the fan blows through the air duct. At the connection point between the liquid storage cylinder and the nozzle, the liquid medicine is hit into atomized particles.
  • the atomized particles have a certain initial speed.
  • the conveyor can accelerate them for a second time to increase the range. Finally, the fog The chemical particles are ejected from the nozzle. In this way, the atomization device 123 can meet the requirements of different spraying ranges, thereby improving the automation level of the spraying system 100 and making the spraying system 100 more convenient to use.
  • the spraying system 100 further includes a surveying and mapping device, and the surveying and mapping device is in communication connection with the controller.
  • the surveying and mapping device can be used to survey and map the basic information of the spraying area to feed back to the controller, for example, the area and outline of the spraying area, and the type, area and severity of pests and diseases in the spraying area.
  • the controller After the controller obtains the area and outline of the spraying area, the type, area and severity of the pests and diseases in the spraying area, it controls the first mobile device 110, the spraying device 120 and the pan/tilt 130 to perform their respective functions, so as to be efficient according to the actual situation. Complete the spraying operation.
  • the spraying system 100 further includes a second mobile device, and the surveying and mapping device is provided in the second mobile device.
  • the second mobile device can be a movable carrier device that can be equipped with a surveying and mapping device.
  • the second mobile device can drive the surveying and mapping device to perform surveying and mapping according to a specified route, so that the surveying and mapping device can complete the surveying and mapping of the area and contour of the spray area. And mapping of the types, areas and severity of pests and diseases in the spraying area.
  • the second mobile device may be an aircraft.
  • the aircraft has the advantages of fast flying speed, wide movable range and good versatility.
  • Using the aircraft as the second mobile device with the surveying and mapping device can expand the surveying and mapping range.
  • the carrier device can also reduce the interference of road obstacles and improve the efficiency and accuracy of surveying and mapping.
  • the first mobile device 110 is an aircraft, a mobile boat, or a mobile vehicle.
  • the first mobile device 110 can be a carrier platform for loading the spraying device 120, the pan/tilt 130 and the controller.
  • the aircraft, mobile boat or mobile vehicle can be equipped with the spraying device 120, the pan/tilt 130 and the controller pair. Perform spraying operations in the spraying area.
  • the spraying system 100 further includes a medication feedback device, which is in communication with the controller.
  • the controller can control the medication feedback device to achieve automation, thereby improving the spraying system 100.
  • the degree of automation is a measure of automation.
  • the medication feedback device is provided in the first mobile device 110.
  • the first mobile device 110 drives the medicine feedback device to move.
  • the medicine feedback device monitors the application rate and application area of the spray area in real time, and then feeds back the monitoring information to the controller, which is based on the medicine feedback
  • the application rate and application area fed back by the device change the travel route of the first mobile device 110 in a timely manner, thereby improving the working efficiency of the spraying operation and the spraying quality of the spraying operation.
  • the medication feedback device may be provided in the second mobile device.
  • the second mobile device can be equipped with a drug feedback device to complete the monitoring of the spraying area and the spraying area, and can provide feedback information to the controller, which is beneficial to improve the efficiency of the spraying operation and the spraying quality of the spraying operation.
  • the application feedback device can also be provided in the spray area to complete the monitoring of the application rate and area of the spray area, thereby providing feedback information to the controller, which is beneficial to improve The efficiency of the spraying operation and the spraying quality of the spraying operation.
  • the spraying system 100 may further include a pan-tilt 130 and a medication feedback device.
  • the first mobile device 110 can carry the spraying device 120, the pan-tilt 130 and the controller to move.
  • the spraying device 120, the pan-tilt 130 and the controller move with the first mobile device 110 to spray the spraying area operation.
  • the spraying device 120 further includes a mixing device 122, and the mixing device 122 is in communication with the dispensing device 121 and the atomizing device 123 respectively.
  • the spraying device 120 can be used to realize the spraying function of the spraying system 100: the dispensing device 121 preliminarily mixes the pesticide formulation and water in a certain proportion; the mixing device 122 receives the preliminarily mixed liquid medicine of the dispensing device 121, and the liquid medicine is being mixed.
  • the medicine device 122 mixes more fully and evenly, and the medicine mixing device 122 stores the configured medicine liquid; the atomizing device 123 draws the medicine liquid from the medicine mixing device 122 to atomize it, and sprays the spraying area.
  • the dispensing device 121 allocates a certain amount of liquid medicine to the mixing device 122 for storage.
  • the storage amount is exactly equal to the remaining amount of medicine required for the operation, the dispensing device 121 stops working, thereby ensuring that After the spraying operation is completed, there is no redundant liquid medicine in the medicine mixing device 122.
  • the drug application feedback device can be used to monitor the application rate and application area of the sprayed drugs, and then feedback the monitoring information to the controller.
  • the pan-tilt 130 is provided in the first mobile device 110
  • the atomizing device 123 is provided in the pan-tilt 130
  • the pan-tilt 130 drives the atomizing device 123 to move to change the spray direction of the atomizing device 123.
  • the controller is in communication with the first mobile device 110, the spraying device 120, the pan-tilt 130, and the medication feedback device.
  • the controller can be used to control the first mobile device 110, the spraying device 120, and the pan-tilt 130 to achieve automation.
  • control device of the spraying system can only control the movement of the drone or the unmanned vehicle body, the dispensing machine of the drone or the unmanned vehicle dispenses the medicine according to the set ratio of water and medicine, and whether the spraying device performs spraying operation.
  • the above-mentioned spraying system has a low degree of automation, and the actual spraying area and the spraying area are prone to errors.
  • the integration degree of the spraying system 100 can be improved, and the function of the spraying system 100 can be improved.
  • the automatic control of the spraying device 120 by the controller can enable the spraying device 120 to perform real-time automatic dispensing and automatic spraying, thereby making the operation more efficient.
  • the controller controls the operation of the spray device 120 to mechanize and automate the liquid medicine preparation process, which can eliminate the phased manual dosing process during the operation of the spray system 100, making the dispensing process simpler and safer.
  • the controller can automatically select the spraying point according to the feedback information of the drug application feedback device, and accurately spray at the designated point, which saves resources and improves the utilization rate of pesticides.
  • the method for controlling a spray system includes the spray system 100 as described above.
  • the controller controls the dispensing machine 1213 to select pesticide formulations according to actual needs and configures the liquid medicine in proportion, and formulates the travel route of the first mobile device 110, the atomization particle size of the atomization device 123, and the atomization device 123 The jet range.
  • the first mobile device drives the spraying device to move, and the atomizing device sprays the liquid medicine prepared by the dispensing device to the spraying area,
  • the first mobile device drives the spraying device to move, and the atomizing device sprays the liquid medicine prepared by the dispensing device to the spraying area
  • the control method of the spray system further includes a medication feedback device.
  • the spray system adjusts the spray direction and spray range of the atomization device 123.
  • the application feedback device monitors the application rate and application area of the spray area in real time, and feeds back the monitoring information to the controller.
  • the controller can then formulate the first based on the feedback information from the application feedback device.
  • the surveying and mapping device obtains surveying and mapping information in real time, and draws the real-time travel route of the first mobile device 110. It is understandable that the surveying and mapping device can be used to survey and map the basic information of the spraying area to feed back to the controller, for example, the area and outline of the spraying area, and the type, area and severity of pests and diseases in the spraying area.
  • the controller After the controller obtains the area and contour of the spraying area, and the type, area and severity of the pests and diseases in the spraying area, it formulates the real-time travel route of the first mobile device 110, and the first mobile device 110 drives the spraying device 120 and the drug feedback device Give full play to their respective functions, and then can efficiently complete the spraying operation according to the actual situation.
  • the controller controls the dispensing amount of the dispensing device 121 according to the real-time travel route.
  • the surveying and mapping device monitors the area to be sprayed in real time, surveys the area of the area to be sprayed, and draws the real-time travel route of the first mobile device 110 in real time, and then feeds back the area of the area to be sprayed and the real-time travel route of the first mobile device 110 to the controller .
  • the controller calculates the amount of sprayed medicine according to the feedback information, and then controls the dispensing machine 1213 to start to configure the required amount of medicine.
  • the dispensing machine 1213 allocates a certain amount of liquid medicine to the mixing device 122 for storage.
  • the dispensing machine 1213 stops working, thus, It can be ensured that there is no redundant liquid medicine in the medicine mixing device 122 after the spraying operation is completed.
  • the spray system 100 includes a first mobile device 110, a spray device 120, a pan-tilt 130, a drug application feedback device, a controller, a surveying and mapping device, and a second mobile device.
  • the first mobile device 110 may be a carrier platform for loading the spraying device 120, the pan-tilt 130 and the controller.
  • the spraying device 120, the pan-tilt 130 and the controller follow the first mobile device 110 moves to spray the spraying area.
  • the spraying device 120 is provided in the first mobile device 110.
  • the spraying device 120 includes a dispensing device 121, a mixing device 122 and an atomizing device 123, the mixing device 122 and the dispensing device 121, The atomizing devices 123 are connected respectively.
  • the spraying device 120 can be used to realize the spraying function of the spraying system 100.
  • the dispensing device 121 includes a water tank 1211, a medicine tank 1212, a dispensing machine 1213, a water volume control valve, and a chemical volume control valve.
  • the water tank 1211 can be used to store the clean water required for the preparation of the liquid medicine; the medicine tank 1212 can be used to store the pesticide preparations required for the preparation of the liquid medicine; the dispensing machine 1213 can be used to extract the water in the water tank 1211 according to a set ratio.
  • the dispensing machine 1213 has an initial mixing cavity, and the initial mixing cavity is in communication with the medicine mixing device 122.
  • the water volume control valve is connected between the water tank 1211 and the initial mixing cavity, and the water volume control valve is in communication with the controller.
  • the water volume control valve can communicate or disconnect between the water tank 1211 and the initial mixing cavity according to the control signal of the controller. Control; the medicine volume control valve is connected between the medicine tank 1212 and the initial mixing cavity, and the medicine volume control valve is in communication with the controller.
  • the medicine volume control valve can be based on the control signal of the controller between the medicine tank 1212 and the initial mixing cavity Connect or disconnect to control.
  • the following examples illustrate the working process of the water tank 1211, the medicine tank 1212, the medicine dispenser 1213, the water volume control valve and the medicine volume control valve.
  • the water tank 1211 and the medicine tank 1212 respectively store the clean water and pesticide preparations required for the preparation of the liquid medicine, and the controller controls the dispensing machine 1213 to draw the clean water and pesticide preparations into the initial mixing cavity according to a set ratio.
  • the amount of water and pesticide preparations is controlled by the water volume control valve and the drug volume control valve.
  • the liquid medicine can be mixed initially in the initial mixing cavity or fully mixed.
  • the mixing device 122 receives the dispensing device 121 for initial mixing
  • the medicine mixing device 122 stores the configured liquid medicine; when the medicine liquid is fully mixed in the initial mixing cavity, the medicine mixing device 122 receives the dispensing
  • the device 121 configures the completed liquid medicine and stores the prepared liquid medicine.
  • the medicine mixing device 122 has a maximum liquid level alarm.
  • the dispensing machine 1213 stops dispensing.
  • the spraying system 100 starts spraying operations, it can automatically plan the speed and travel route of the first mobile device 110 in real time. Starting from the starting point, the dispensing machine 1213 starts to draw clean water from the water tank 1211 and from the medicine tank 1212 in a certain proportion. Pesticide preparations are dispensed.
  • the medicine mixing device 122 stores the prepared liquid medicine and feeds back its capacity in real time. During the working process, the medicine mixing device 122 reaches the maximum liquid level and the signal is fed back to the controller, and the controller controls the maximum liquid level alarm. , The dispensing machine 1213 stops dispensing.
  • the medicine mixing device 122 with the highest liquid level alarm can be configured to quantitatively configure the liquid medicine, so as to prevent the configured liquid medicine amount from exceeding the maximum capacity of the medicine mixing device.
  • the medicine mixing device 122 also has a minimum liquid level alarm.
  • the dispensing machine 1213 is activated and starts dispensing. Specifically, during the spraying operation of the spraying system 100, the liquid medicine is continuously consumed.
  • a signal is fed back to the controller, and the controller controls the minimum liquid level alarm. Alarm, the dispensing machine 1213 is activated, and the dispensing starts.
  • the medicine mixing device 122 with the lowest liquid level alarm can feed back the liquid medicine storage amount in the medicine mixing device 122 in time, so that when the liquid medicine storage amount in the medicine mixing device 122 is lower than the minimum liquid level, the medicine dispensing machine 1213 dispenses medicine in time, Furthermore, it is possible to reduce downtime due to lack of liquid medicine.
  • the medicinal solution preparation process becomes mechanized and automated, and the phased manual dosing process during the operation of the spraying system 100 can be eliminated, making the dispensing process simpler and safer.
  • the drug application feedback device can be used to monitor the application rate and application area of the sprayed drugs, and then feedback the monitoring information to the controller.
  • the pan-tilt 130 is provided in the first mobile device 110
  • the atomizing device 123 is provided in the pan-tilt 130
  • the pan-tilt 130 drives the atomizing device 123 to move to change the spray direction of the atomizing device 123.
  • the controller is in communication with the first mobile device 110, the spraying device 120, the pan-tilt 130, and the medication feedback device.
  • the controller can be used to control the first mobile device 110, the spraying device 120, and the pan-tilt 130 to achieve automation.
  • the surveying and mapping device communicates with the controller. It is understandable that the surveying and mapping device can be used to survey and map the basic information of the spraying area to feed back to the controller, for example, the area and outline of the spraying area, and the type, area and severity of pests and diseases in the spraying area.
  • the controller After the controller obtains the area and outline of the spraying area, the type, area and severity of the pests and diseases in the spraying area, it controls the first mobile device 110, the spraying device 120, the pan-tilt 130 and the drug application feedback device to perform their respective functions. According to the actual situation, the spraying operation can be completed efficiently.
  • the surveying and mapping device is arranged on the second mobile device.
  • the second mobile device can be a movable carrier device that can be equipped with a surveying and mapping device.
  • the second mobile device can drive the surveying and mapping device to perform surveying and mapping according to a specified route, so that the surveying and mapping device can complete the surveying and mapping of the area and contour of the spray area. And mapping of the types, areas and severity of pests and diseases in the spraying area.
  • the way to obtain surveying and mapping information can be for the surveying and mapping device to complete the surveying and mapping in real time and communicate it back to the controller, or it can send existing surveying and mapping information to the controller by copying.
  • the controller After the controller receives the surveying and mapping information, it controls the dispensing machine 1213 to select pesticide formulations according to actual needs and configures the medicinal solution in proportion, and formulates the travel route of the first mobile device 110, the swing direction of the pan/tilt 130, and the atomization of the atomization device 123 Particle size and spray range of the atomization device 123.
  • control method of the spraying system further includes a medication feedback device, and the spraying system adjusts the spray direction and spray range of the atomization device 123 according to the information of the medication feedback device.
  • the application feedback device monitors the application rate and application area of the spray area in real time, and feeds back the monitoring information to the controller.
  • the controller can then formulate the first based on the feedback information from the application feedback device.
  • the atomization device 123 has a particle size control component for adjusting the size of the atomized particle size, and the particle size control component is in communication with the controller.
  • the particle size control component may include: a fan, a fan, an air duct, a liquid storage cylinder, and a spray head.
  • the controller gives the signal of the particle size required by the particle size control component
  • the particle size control component controls the wind speed and air volume of the fan by adjusting the speed of its own fan.
  • the liquid medicine enters the liquid storage from the mixing device 122 through the connecting pipe. Then, it enters the spray head from the liquid storage tube, and the wind of the fan blows through the air duct to the connection between the liquid storage tube and the spray head, and beats the liquid medicine into atomized particles.
  • the particle size and the atomization amount can be controlled by controlling the power of the motor and adjusting the flow rate of the liquid medicine in the liquid storage cylinder. Therefore, the atomization device 123 can meet the needs of different spraying operations, and then The automation level of the spray system 100 can be improved.
  • the atomization device 123 has a range control component for controlling the range of the atomized particles, and the range control component is communicatively connected with the controller.
  • the range control component may include a pressure controller, a liquid storage cylinder and a spray head.
  • the pressure controller acts on the liquid storage cylinder to apply pressure to the liquid medicine in the liquid storage cylinder to make the liquid medicine flow to the spray head and then spray out.
  • the range control component controls the range of the atomized particles and the force of the pressure controller by adjusting the pressure of the pressure controller acting on the liquid medicine in the liquid tank. The larger the value, the farther the range of the atomized particles; the smaller the force of the pressure controller, the closer the range of the atomized particles.
  • the range control component can also include a fan, a fan, an air duct, a liquid reservoir, a conveyor, and a nozzle.
  • the range control component controls the wind speed and air volume of the fan by adjusting the speed of its own fan.
  • the liquid medicine enters the liquid storage cylinder from the mixing device 122 through the connecting pipe, and then enters the nozzle from the liquid storage cylinder, and the air of the fan blows through the air duct.
  • the liquid medicine is hit into atomized particles.
  • the atomized particles have a certain initial speed.
  • the conveyor can accelerate them for a second time to increase the range.
  • the fog The chemical particles are ejected from the nozzle.
  • the atomization device 123 can meet the requirements of different spraying ranges, thereby improving the automation level of the spraying system 100 and making the spraying system 100 more convenient to use.
  • the controller controls the dispensing amount of the dispensing device 121 according to the real-time travel route.
  • the surveying and mapping device monitors the area to be sprayed in real time, surveys the area of the area to be sprayed, and draws the real-time travel route of the first mobile device 110 in real time, and then feeds back the area of the area to be sprayed and the real-time travel route of the first mobile device 110 to the controller .
  • the controller calculates the amount of sprayed medicine according to the feedback information, and then controls the dispensing machine 1213 to start to configure the required amount of medicine.
  • the dispensing machine 1213 allocates a certain amount of liquid medicine to the mixing device 122 for storage. When the stored amount of medicine is exactly equal to the remaining amount of medicine required for the operation, the dispensing machine 1213 stops working, thus, It can be ensured that there is no redundant liquid medicine in the medicine mixing device 122 after the spraying operation is completed.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Insects & Arthropods (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

L'invention concerne un système de pulvérisation (100) et un procédé de commande pour le système de pulvérisation (100). Le système de pulvérisation (100) comprend : un premier dispositif mobile (110) comprenant un corps principal mobile et un composant de puissance, le composant de puissance étant disposé au niveau du corps principal mobile pour entraîner le corps principal mobile à se déplacer ; un dispositif de pulvérisation chimique (120) disposé au niveau du premier dispositif mobile (110) et comprenant un dispositif de préparation chimique (121) et un dispositif d'atomisation (123), le dispositif de préparation chimique (121) communiquant avec le dispositif d'atomisation (123) ; et un dispositif de commande en connexion de communication avec le premier dispositif mobile (110).
PCT/CN2020/110336 2019-12-19 2020-08-20 Système de pulvérisation et procédé de commande pour système de pulvérisation WO2021120660A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
CN201922302544.4U CN212345070U (zh) 2019-12-19 2019-12-19 喷洒系统
CN201911320304.5 2019-12-19
CN201922302544.4 2019-12-19
CN201911320304.5A CN110859172B (zh) 2019-12-19 2019-12-19 喷洒系统和喷洒系统的控制方法

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WO2021120660A1 true WO2021120660A1 (fr) 2021-06-24

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EP2685336A1 (fr) * 2012-07-13 2014-01-15 Honeywell International Inc. Planification de vol de l'espace aérien autonome et système de confinement d'espace aérien virtuel
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CN114403110B (zh) * 2021-12-14 2023-04-11 温州科技职业学院 一种应用于丘陵地区的改进型喷药器

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