CN106857466A - Field fertilization spray drug operation track drive snake-shaped robot - Google Patents
Field fertilization spray drug operation track drive snake-shaped robot Download PDFInfo
- Publication number
- CN106857466A CN106857466A CN201710110522.0A CN201710110522A CN106857466A CN 106857466 A CN106857466 A CN 106857466A CN 201710110522 A CN201710110522 A CN 201710110522A CN 106857466 A CN106857466 A CN 106857466A
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- CN
- China
- Prior art keywords
- liquid
- compartment
- liquid fertilizer
- shower nozzle
- track drive
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
- A01C23/04—Distributing under pressure; Distributing mud; Adaptation of watering systems for fertilising-liquids
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
- B62D53/005—Combinations with at least three axles and comprising two or more articulated parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
- Y02P60/21—Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Insects & Arthropods (AREA)
- Mechanical Engineering (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Transportation (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Water Supply & Treatment (AREA)
- Soil Sciences (AREA)
- Catching Or Destruction (AREA)
- Fertilizing (AREA)
Abstract
Field fertilization spray drug operation track drive snake-shaped robot is related to that a kind of nozzle angle is adjustable, fountain height is adjustable, many efficiently automatic agricultural chemical spraying systems of the control of plant proximity detector, a control.It is by truck tractor, plant proximity detector, control unit, energy supply unit, the wheeled compartment of second section, liquid（Liquid fertilizer）Supply unit, spray first class sections are constituted；Each section compartment is by drawing pin connection, suction pumps and more piece liquid（Liquid fertilizer）Supply unit conveys liquid by flexible pipe；The beneficial effect of this pesticide spraying system is：Firstth, it is adapted to furrow using track drive to creep operation；Secondth, plant proximity detector controls nozzle switch by detection signal, and sprinkling is more rationally effective, reduce pollution；The exocoel of the three, the 2/3 symmetrical expression spherical hollow spaces and the tangent cooperation of spherical inner chamber sphere, nozzle angle adjustable extent are big；Four, controllers control many snake-shaped robots simultaneously, improve automatic job degree, economize on resources.
Description
Technical field
Field fertilization spray drug operation track drive snake-shaped robot of the present invention is related to that a kind of nozzle angle is adjustable, fountain height can
Adjust, plant proximity detector signal is controlled, the agricultural chemical spraying system of many efficiently automatic jobs of a control.
Background technology
Field pest and disease damage eliminates the quality and yield that situation directly affects crops.At present pest and disease damage operation is eliminated in field
In, the aerial spraying of either artificial spray, or plant equipment cannot all solve liquid and be descended slowly and lightly from eminence by freely falling body, spill
Fall in the upper surface of plant leaf surface, and can not effectively kill the problem of the lower surface parasite for colonizing in plant leaf surface.Due to life
The reason for depositing habit, many parasites are the lower surfaces that custom colonizes in plant leaf surface, and this section parasitic worm can not be effective
Elimination cause crops quality, yield guarantee be subject to a definite limitation；Again due to the crop plant height of different growing stages
Difference, therefore the adjustability of spraying altitude, nozzle angle and medicine liquid spray amount there are certain requirements；Simultaneously in medicine liquid spray process
In, it is impossible to recognize that the position of plant causes liquid excessively to spray, excessive and unnecessary pollution is caused to environment.Current sprinkling
Equipment wouldn't all meet requirements above and solve problem above well.
The content of the invention
In order to solve the above problems, the present invention devises field fertilization spray drug operation track drive snake-shaped robot, the spray
Medicine robot can not only creep in the furrow of field, pointedly effectively kill the lower surface parasite for colonizing in plant leaf surface；
Shower nozzle is located at requirement of middle part and the top satisfaction of backrest-type jet pipe to crops spraying altitude；Nozzle angle and medicine liquid spray amount
Adjustable design reasonably can carry out eliminating pest and disease damage operation to different growing stages crops demand；It is simultaneously close by plant
The detection of detector, and then nozzle switch operation is controlled, liquid fertilizer is sprayed in contraposition plant leaf surface or root, precisely effectively kills
The parasite of plant leaf surface lower surface is colonized in, the pollution to environment is reduced.
The object of the present invention is achieved like this：Field fertilization spray drug operation track drive snake-shaped robot is led by crawler type
Draw car, plant proximity detector, control unit, energy supply unit, the wheeled compartment of second section, liquid（Liquid fertilizer）Conveying is single
Unit and spray first class sections are constituted.
It is camera part, control that the crawler sets gradually foremost, from top to bottom positioned at snake-shaped robot
Cell mesh processed, energy supply unit part.The camera part is fixed on the outer front end top of tractor, and plant approaches
Detector is separately fixed at the left and right sides at the top of the outer front end of tractor；Described control unit part and energy supply unit
Part is sequentially fixed in the compartment of crawler.
The wheeled compartment of second section sets gradually shower nozzle part, backrest-type nozzle portion, imbibition pump portion from top to bottom.
The shower nozzle part is fixed on the both sides of jet pipe, 4 symmetrically placed shower nozzles of backrest-type jet pipe.The backrest-type jet pipe is connected to
On suction pumps.The imbibition pump portion is fixed on compartment outside top.
The liquid（Liquid fertilizer）Supply unit is liquid（Liquid fertilizer）Compartment 1, liquid（Liquid fertilizer）Compartment 2
And liquid（Liquid fertilizer）Compartment 3.
The crawler of the field fertilization spray drug operation track drive snake-shaped robot and the wheeled compartment of second section, the
Two joint wheel type compartments and liquid（Liquid fertilizer）Compartment 1, liquid（Liquid fertilizer）Compartment 1 and liquid（Liquid fertilizer）Compartment 2 it
Between, liquid（Liquid fertilizer）Compartment 2 and liquid（Liquid fertilizer）By drawing pin connection between compartment 3.Suction pumps and liquid（Liquid
Body fertilizer）Between compartment 1, liquid（Liquid fertilizer）Compartment 1 and liquid（Liquid fertilizer）Between compartment 2, liquid（Liquid fertilizer）
Compartment 2 and liquid（Liquid fertilizer）Connected by flexible pipe again between compartment 3.
Above-mentioned field fertilization spray drug operation track drive snake-shaped robot, the shower nozzle exocoel is integrated with jet pipe to be set
Meter, spherical hollow space is the integrated design with shower nozzle, and the exocoel of shower nozzle is 2/3 symmetrical expression spherical hollow space, with spherical inner chamber sphere phase
Cut distribution is closed, and nozzle angle adjustable extent is big.
Above-mentioned field fertilization spray drug operation track drive snake-shaped robot, the plant proximity detector passes through testing result
Control shower nozzle operation, adjustment sprinkler height and angle contraposition plant blade face or root sprinkling liquid fertilizer, reduce to environment
Pollution.
Beneficial effect：
Firstth, snake-shaped robot uses track drive structure, and axial cross section is small, and cross-country ability is good, is suitable to farm work, especially fits
Creeped in conjunction furrow.
Secondth, the switch of shower nozzle operation is controlled by plant proximity detector signal, is sprayed with impulse form, different directions
Liquid fertilizer, contraposition plant leaf surface or root sprinkling liquid fertilizer, precisely effectively kill and colonize in posting for plant leaf surface lower surface
Infested, medicine liquid spray is more rationally effective, reduces the unnecessary pollution to environment.
3rd, the symmetrical expression spherical hollow space of exocoel 2/3 of shower nozzle, with the tangent cooperation of spherical inner chamber sphere so that nozzle angle
Adjustable extent is big, is more suitable for the spray angle requirement of different demands.
Four, controllers control many snake-shaped robots simultaneously, and a controller only needs a staff
Control, improves automatic job degree, economizes on resources, more efficiently.
Brief description of the drawings
Fig. 1 is the structural representation of field fertilization spray drug operation track drive snake-shaped robot of the present invention.
Fig. 2 is the front view of field fertilization spray drug operation track drive snake-shaped robot of the present invention.
Fig. 3 is the left view of field fertilization spray drug operation track drive snake-shaped robot of the present invention.
Fig. 4 is the structural representation in the wheeled compartment of second section.
Fig. 5 is the front view of shower nozzle.
Fig. 6 is a control multi-operation mode schematic diagram.
Field fertilization spray drug operation track drive snake-shaped robot includes video camera (1), plant proximity detector (2), control
Device (3) processed, energy supply unit (4), crawler (5), towing pin (6), backrest-type jet pipe (7), suction pumps (8), second
Joint wheel type compartment (9), liquid（Liquid fertilizer）Compartment 1 (10), liquid（Liquid fertilizer）Compartment 2 (11), liquid（Liquid fertilizer）
The 2/3 symmetrical expression spherical hollow space (13) in compartment 3 (12), shower nozzle, crawler belt (14), shower nozzle (15), the spherical exocoel of 2/3 symmetrical expression
(16), spherical inner chamber (17), console (18).
Specific embodiment
The specific embodiment of the invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment one
The structural representation of the field fertilization spray drug operation track drive snake-shaped robot of the present embodiment, front view and left view are such as
Shown in Fig. 1, Fig. 2 and Fig. 3.It is single by truck tractor (5), plant proximity detector (2), control unit (3), energy supply
First (4), the wheeled compartment of second section (9), liquid（Liquid fertilizer）The portion such as supply unit (10), (11), (12) and shower nozzle (15)
Divide and constitute.
The crawler (5) sets gradually video camera (1) positioned at snake-shaped robot, plants foremost, from top to bottom
Thing plant proximity detector (2), control unit (3), energy supply unit (4).The video camera (1) is fixed on the outer of tractor
Portion's front top, obtains current surface conditions in real time；The plant proximity detector (2) is separately fixed at the outside of tractor
The left and right sides of front top, by the position of sensor senses target plant, transmission perceptual signal opens spray to control unit
Head operation switch.Described control unit (3) receives video camera (1), plant proximity detector in the compartment of crawler
(2), console (18) signal, control suction pumps (8) work；Energy supply unit (4) is partly positioned at the car of crawler (5)
In railway carriage or compartment, the energy of work is provided for whole system.
The field fertilization spray drug operation track drive snake-shaped robot, the crawler (5) and the second joint wheel type
Compartment (9), the wheeled compartment of second section (9) and liquid（Liquid fertilizer）Compartment 1 (10), liquid（Liquid fertilizer）Compartment 1 (10) with
Liquid（Liquid fertilizer）Between compartment 2 (11), liquid（Liquid fertilizer）Compartment 2 (11) and liquid（Liquid fertilizer）Compartment 3 (12)
Between by drawing pin connection.Suction pumps (8) and liquid（Liquid fertilizer）Between compartment 1 (10), liquid（Liquid fertilizer）Compartment 1
And liquid (10)（Liquid fertilizer）Between compartment 2 (11), liquid（Liquid fertilizer）Compartment 2 (11) and liquid（Liquid fertilizer）Compartment
Connected by flexible pipe again between 3 (12).
The structural representation in the wheeled compartment of second section is as shown in Figure 4.The wheeled compartment of second section sets successively from top to bottom
Put shower nozzle (15), backrest-type jet pipe (7), suction pumps (8).The shower nozzle (15) is fixed on the both sides of backrest-type jet pipe, symmetrically puts
4 shower nozzles are put, and is connected on suction pumps (8) by jet pipe；The suction pumps (8) are outside compartment, it is to avoid due to liquid medicine
The loss that the corrosivity of liquid is caused.
The front view of the shower nozzle is as shown in Figure 5.Spherical exocoel and the jet pipe of the shower nozzle are the integrated design, spherical sky
Chamber is the integrated design with shower nozzle, reduces liquid waste.
One controller controls the schematic diagram of many snake-shaped robots as shown in Figure 6 simultaneously.One controller (18)
Many snake-shaped robots are controlled by wireless reception of signals simultaneously, and a controller only needs a staff to control, and carries
Automatic job degree high, economizes on resources, more efficiently.
Specific embodiment two
The field fertilization spray drug operation track drive snake-shaped robot of the present embodiment, on the basis of specific embodiment one, enters one
The exocoel that step limits the shower nozzle is 2/3 symmetrical expression spherical hollow space (16), with spherical inner chamber (17) the tangent cooperation of sphere, is more fitted
Close the spray angle requirement of different demands.
This structure qualification, gives the specific embodiment for realizing that shower nozzle spray angle adjustable extent is big.
Claims (3)
1. field fertilization spray drug operation track drive snake-shaped robot, it is by truck tractor (5), plant proximity detector
(2), control unit (3), energy supply unit (4), the wheeled compartment of second section (9), liquid（Liquid fertilizer）Supply unit (10),
(11), the part such as (12) and shower nozzle (15) is constituted；
Crawler belt (14) tractor positioned at snake-shaped robot set gradually foremost, from top to bottom for video camera (1) part,
Control (3) cell mesh, energy supply unit (4) part；
The video camera (1) is partly fixed on the outer front end top of tractor (5), and plant proximity detector (2) is fixed respectively
The left and right sides at the top of the outer front end of tractor (5)；
Control (3) cell mesh is partly sequentially fixed in the compartment of crawler (5) with energy supply unit (4)；
The wheeled compartment of second section (9) sets gradually shower nozzle (15) part, backrest-type jet pipe (7) part, imbibition from top to bottom
Pump (8) part；
The shower nozzle (15) is partly fixed on the both sides of jet pipe, 4 symmetrically placed shower nozzles of backrest-type jet pipe (7)；
The backrest-type jet pipe (7) is connected on suction pumps (8), and suction pumps (8) are partly fixed on compartment outside top；
The crawler (5) and the wheeled compartment of second section (9) of the field fertilization spray drug operation track drive snake-shaped robot,
The wheeled compartment of second section (9) and liquid（Liquid fertilizer）Compartment 1 (10), liquid（Liquid fertilizer）Compartment 1 (10) and liquid（Liquid
Fertilizer）Between compartment 2 (11), liquid（Liquid fertilizer）Compartment 2 (11) and liquid（Liquid fertilizer）By leading between compartment 3 (12)
Draw pin connection;
The suction pumps (8) and liquid（Liquid fertilizer）Between compartment 1 (10), liquid（Liquid fertilizer）Compartment 1 (10) and liquid
（Liquid fertilizer）Between compartment 2 (11), liquid（Liquid fertilizer）Compartment 2 (11) and liquid（Liquid fertilizer）Between compartment 3 (12)
Connected by flexible pipe again.
2. field fertilization spray drug operation track drive snake-shaped robot according to claim 1, it is characterized in that shower nozzle (15)
Exocoel is the integrated design with jet pipe, and spherical hollow space (16) is the integrated design with shower nozzle (15), and the exocoel of shower nozzle (15) is 2/3
Symmetrical expression spherical hollow space (16), with spherical inner chamber sphere (17) tangent cooperation, nozzle angle adjustable extent is big.
3. field fertilization spray drug operation track drive snake-shaped robot according to claim 1, the plant is close to detection
Device (2) controls shower nozzle (15) operation, adjustment shower nozzle (15) highly to align plant blade face or root with angle and spray by testing result
Liquid fertilizer is spilt, the pollution to environment is reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110522.0A CN106857466A (en) | 2017-02-28 | 2017-02-28 | Field fertilization spray drug operation track drive snake-shaped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710110522.0A CN106857466A (en) | 2017-02-28 | 2017-02-28 | Field fertilization spray drug operation track drive snake-shaped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106857466A true CN106857466A (en) | 2017-06-20 |
Family
ID=59169077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710110522.0A Pending CN106857466A (en) | 2017-02-28 | 2017-02-28 | Field fertilization spray drug operation track drive snake-shaped robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN106857466A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107258195A (en) * | 2017-07-07 | 2017-10-20 | 四川省草原科学研究院 | For artificial pasture and the fertilization pesticide spraying device in grass seeds base |
| CN107347329A (en) * | 2017-07-19 | 2017-11-17 | 胡俊 | A kind of agricultural fertilizer apparatus |
| CN109041733A (en) * | 2018-07-03 | 2018-12-21 | 江苏大学 | A kind of synchronous double jet type mobile sprinkler that applies fertilizer of small-sized root of the crop leaf |
| CN110227665A (en) * | 2019-05-10 | 2019-09-13 | 长沙学院 | A kind of pillar climbing sweeping robot |
| CN113115755A (en) * | 2021-04-25 | 2021-07-16 | 河南省农业科学院粮食作物研究所 | Fertilizing and pesticide spraying integrated spraying device for rice planting and using method thereof |
| US11832609B2 (en) | 2020-12-21 | 2023-12-05 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
| US11944087B2 (en) | 2020-12-21 | 2024-04-02 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
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| US5921019A (en) * | 1995-08-02 | 1999-07-13 | Baek; Bent | Spraying of insecticides, Herbicides, oils and liquid fertilizers for horticultural and agricultural applications |
| CN102487921A (en) * | 2011-11-14 | 2012-06-13 | 北京农业信息技术研究中心 | Automatic pesticide spraying machine and pesticide spraying method |
| CN103008130A (en) * | 2012-12-19 | 2013-04-03 | 江苏大学 | Water jet driving spray-head with elevation angle automatic-adjustment function |
| CN203353508U (en) * | 2013-07-29 | 2013-12-25 | 博尔塔拉蒙古自治州兴旺科技有限责任公司 | Spraying machine with ball-shaped omnibearing sprayer |
| CN203380027U (en) * | 2013-07-03 | 2014-01-08 | 东莞市粤伯斯喷嘴有限公司 | Oblique spraying type high pressure gimbaled nozzle |
| CN203424192U (en) * | 2013-07-24 | 2014-02-12 | 刘军廷 | Multifunctional micro agricultural video remotely-controlled pesticide-spraying vehicle |
| CN206713888U (en) * | 2017-02-28 | 2017-12-08 | 哈尔滨理工大学 | Field fertilization spray drug operation track drive snake-shaped robot |
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2017
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US5921019A (en) * | 1995-08-02 | 1999-07-13 | Baek; Bent | Spraying of insecticides, Herbicides, oils and liquid fertilizers for horticultural and agricultural applications |
| CN102487921A (en) * | 2011-11-14 | 2012-06-13 | 北京农业信息技术研究中心 | Automatic pesticide spraying machine and pesticide spraying method |
| CN103008130A (en) * | 2012-12-19 | 2013-04-03 | 江苏大学 | Water jet driving spray-head with elevation angle automatic-adjustment function |
| CN203380027U (en) * | 2013-07-03 | 2014-01-08 | 东莞市粤伯斯喷嘴有限公司 | Oblique spraying type high pressure gimbaled nozzle |
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| CN206713888U (en) * | 2017-02-28 | 2017-12-08 | 哈尔滨理工大学 | Field fertilization spray drug operation track drive snake-shaped robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107258195A (en) * | 2017-07-07 | 2017-10-20 | 四川省草原科学研究院 | For artificial pasture and the fertilization pesticide spraying device in grass seeds base |
| CN107347329A (en) * | 2017-07-19 | 2017-11-17 | 胡俊 | A kind of agricultural fertilizer apparatus |
| CN109041733A (en) * | 2018-07-03 | 2018-12-21 | 江苏大学 | A kind of synchronous double jet type mobile sprinkler that applies fertilizer of small-sized root of the crop leaf |
| CN110227665A (en) * | 2019-05-10 | 2019-09-13 | 长沙学院 | A kind of pillar climbing sweeping robot |
| CN110227665B (en) * | 2019-05-10 | 2021-08-27 | 长沙学院 | Cylinder climbing cleaning robot |
| US11832609B2 (en) | 2020-12-21 | 2023-12-05 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
| US11944087B2 (en) | 2020-12-21 | 2024-04-02 | Deere & Company | Agricultural sprayer with real-time, on-machine target sensor |
| CN113115755A (en) * | 2021-04-25 | 2021-07-16 | 河南省农业科学院粮食作物研究所 | Fertilizing and pesticide spraying integrated spraying device for rice planting and using method thereof |
| CN113115755B (en) * | 2021-04-25 | 2022-08-23 | 河南省农业科学院粮食作物研究所 | Fertilizing and pesticide spraying integrated spraying device for rice planting and using method thereof |
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