CN113712015A - Orchard accurate positioning compensation formula wind send sprayer system - Google Patents

Orchard accurate positioning compensation formula wind send sprayer system Download PDF

Info

Publication number
CN113712015A
CN113712015A CN202111065876.0A CN202111065876A CN113712015A CN 113712015 A CN113712015 A CN 113712015A CN 202111065876 A CN202111065876 A CN 202111065876A CN 113712015 A CN113712015 A CN 113712015A
Authority
CN
China
Prior art keywords
air duct
disease
spraying
orchard
bearing platform
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
Application number
CN202111065876.0A
Other languages
Chinese (zh)
Inventor
邱威
王殊迪
亓晓曼
邬伊浩
周义之
杨欣润
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing Agricultural University
Original Assignee
Nanjing Agricultural University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing Agricultural University filed Critical Nanjing Agricultural University
Priority to CN202111065876.0A priority Critical patent/CN113712015A/en
Publication of CN113712015A publication Critical patent/CN113712015A/en
Pending legal-status Critical Current

Links

Images

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
    • A01M7/0089—Regulating or controlling systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G13/00—Protecting plants
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture

Landscapes

  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Environmental Sciences (AREA)
  • Wood Science & Technology (AREA)
  • General Health & Medical Sciences (AREA)
  • Zoology (AREA)
  • Health & Medical Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
  • Medical Informatics (AREA)
  • Mechanical Engineering (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Quality & Reliability (AREA)
  • Toxicology (AREA)
  • Geometry (AREA)
  • Catching Or Destruction (AREA)

Abstract

The invention relates to an orchard accurate positioning compensation type air-assisted sprayer system which comprises a walking device, wherein a bearing platform is arranged on the walking device; the bearing platform is provided with a plurality of fixed air duct nozzles; the fixed air duct nozzles are vertically distributed in a sector shape; the bearing platform is also provided with a plurality of movable air duct nozzles; the movable air duct nozzle can rotate; the fixed air duct nozzle and the movable air duct nozzle are respectively communicated with a medicine box and can carry out air-conveying spraying on the liquid medicine in the medicine box; the bearing platform is also provided with a binocular camera which can shoot disease photos on the fruit tree blades and transmit the disease photos to the industrial personal computer; a disease grade judging program and a compensation spraying control program are arranged in the industrial personal computer, the disease grade can be determined through the disease picture, and the movable air duct nozzle is controlled to carry out targeted spraying. The invention combines the full-coverage preventive spraying with the compensation spraying with accurate positioning, thereby effectively improving the spraying quality and reducing the waste of pesticide.

Description

Orchard accurate positioning compensation formula wind send sprayer system
Technical Field
The invention relates to agricultural machinery, in particular to a spraying system for an orchard, and specifically relates to an orchard accurate positioning compensation type air-assisted spraying machine system.
Background
At present, although the ecological environment of the facility orchard is stable, the facility orchard still can be affected by plant diseases and insect pests. And because natural conditions such as sunlight, nutrients and the like are different at all places, the fruit leaves in facilities at different places can be influenced by plant diseases and insect pests at different degrees.
At present, traditional spraying technique mainly realizes according to the particular case of target, namely, through being connected sensor and spraying the control unit, spraying the control unit detects information such as size, appearance of target according to the sensor and controls liquid medicine spraying volume in real time. In practice, however, the effect is poor because most sensors first detect the volume of the target and determine the amount of pesticide sprayed according to the volume, and the larger the volume, the more pesticide is sprayed. In fact, however, the fruit trees with large sizes have stronger capability of resisting the insect pests, and do not need as much pesticide. Therefore, the existing method cannot ensure high spraying quality and can cause pesticide waste.
Therefore, improvements are needed to better meet market demands.
Disclosure of Invention
The invention aims to provide an orchard accurate positioning compensation type air-assisted sprayer system aiming at the defects of the prior art, and the orchard accurate positioning compensation type air-assisted sprayer system can improve the spraying quality and reduce pesticide waste by identifying and grading diseases and adopting a full-coverage preventive spraying and accurate positioning compensation type spraying method.
The technical scheme of the invention is as follows:
an orchard accurate positioning compensation type air-assisted sprayer system comprises a walking device, wherein a bearing platform is arranged on the walking device; the bearing platform is provided with a plurality of fixed air duct nozzles; the fixed air duct nozzles are vertically distributed in a sector shape; the bearing platform is also provided with a plurality of movable air duct nozzles; the movable air duct nozzle can rotate; the fixed air duct nozzle and the movable air duct nozzle are respectively communicated with a medicine box and can carry out air-conveying spraying on the liquid medicine in the medicine box; the bearing platform is also provided with a binocular camera which can shoot disease photos on the fruit tree blades and transmit the disease photos to the industrial personal computer; a disease grade judging program and a compensation spraying control program are arranged in the industrial personal computer, the disease grade can be determined through the disease picture, and the movable air duct nozzle is controlled to carry out targeted spraying.
Furthermore, the walking device is a crawler and is powered by a self-contained battery; the tracked vehicle is controlled by remote control or an industrial personal computer.
Furthermore, the fixed air duct nozzle and the movable air duct nozzle have the same structure and both comprise cylindrical fans, and nozzles are arranged at air outlets of the cylindrical fans; the nozzle is connected with a distribution valve through a medicine pipe; the distributing valve is communicated with the medicine box after passing through the medicine pump.
Furthermore, the fixed air duct nozzle is arranged on the fixed frame; the fixing frame is in a semicircular ring shape and is vertically arranged on the bearing platform; the fixed air duct nozzles are uniformly distributed on the fixed frame in a fan shape, and the air outlet faces outwards.
Further, the side wall of the movable air duct nozzle is connected with an output shaft of the motor; the motor is fixed on the bearing platform, and an output shaft of the motor is transversely arranged, so that the movable air duct nozzle can rotate in a vertical plane.
Further, the disease level determination program includes: firstly, converting a picture from an RGB color space to an HSV color space, and obtaining a black-and-white picture through binarization processing so as to obtain the number of pixel points in the picture; then, filling the picture, and carrying out all-around scanning; if the area value is white, stopping scanning, and obtaining the outline of the fruit tree leaves; then, obtaining the ratio of the actual area to the filling area according to the number of the pixel points contained in the outline; finally, determining the grade of the pest and disease damage according to the grade threshold corresponding to the ratio; the level threshold is preset.
Further, the compensating spray control program includes:
1) determination of disease position coordinates x by means of a binocular camera0、y0、z0(ii) a Wherein x is0Is the horizontal distance between the disease point and the camera, z0The height of the disease point from the ground is taken as the height;
2) calculating disease position angle alpha = arctan (z)0/x0) (ii) a And a rotation angle alpha0（n）=α-α0（n-1）；
3) The PWM signal is transmitted to a motor, and the motor drives a movable air duct nozzle to rotate alpha0(n) and delaying by t; t = s/v; wherein s is the distance between the binocular camera and the motor, and v is the speed of the walking device;
4) and calculating corresponding medicine spraying amount according to the disease grade, generating a pulse signal, controlling a corresponding distribution valve to act, and conveying enough liquid medicine.
The invention has the beneficial effects that:
the full-coverage preventive spraying and the compensation spraying with accurate positioning are combined, and the compensation spraying with accurate positioning can be carried out on diseases of different grades on the premise of basic spraying, so that the waste of pesticides is reduced, the diseases and the insect pests can be effectively prevented, the increase of production cost and the pollution to ecological environment are avoided, and the method is worthy of popularization.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a schematic view of calculation of the disease position angle α.
Wherein, 1-a walking device; 2-a medicine pump; 3-a dispensing valve; 4-a load-bearing platform; 5-movable air-blowing nozzle; 6, fixing a frame; 7-fixing the air-conveying nozzle; 8-a nozzle; 9-medicine tube; 10-a medicine chest; 11-binocular camera; 12-an industrial personal computer; 13-motor.
Detailed Description
The invention is further described below with reference to the figures and examples.
As shown in fig. 1-2.
An orchard accurate positioning compensation type air-assisted sprayer system comprises a walking device 1. The running gear 1 is a crawler vehicle or other type of vehicle and is powered by its own battery. Meanwhile, the crawler 1 is controlled by remote control or an industrial personal computer.
The walking device 1 is provided with a bearing platform 4. The bearing platform 4 is flat and is provided with a battery, an industrial personal computer 12, a binocular camera 11, a medicine box 10 and the like. Binocular camera 11 locates the one end of load-bearing platform 4 to with industrial computer 12 electrical property links to each other, can shoot the disease photo on the fruit tree blade, and conveys to the industrial computer. The binocular camera can be selected from an Intel RealSense D435 stereoscopic depth somatosensory camera.
And the other end of the bearing platform 4 is provided with a fixing frame 6. The fixing frame 6 is in a semicircular ring shape and is vertical to the bearing platform 4. A plurality of fixed air duct nozzles 7 are uniformly distributed on the fixed frame 6, so that the fixed air duct nozzles form fan-shaped distribution in a vertical plane, and the air outlet faces outwards. The fixed air duct nozzle 7 comprises a cylindrical fan, and a nozzle 8 is arranged at an air outlet of the cylindrical fan. The nozzle 8 is connected to the dispensing valve 3 via a cartridge 9. The distribution valve 3 is communicated with the medicine box 10 after passing through the medicine pump 2, can spray the liquid medicine in the medicine box through the nozzle, and realizes spraying and pesticide application within the range of 180 degrees under the action of the fan. Preferably, six fixed air duct nozzles are uniformly distributed. The medicine pump 2 is a diaphragm pump. Preferably, the nozzle 8 can be fixedly connected in the air outlet through a short rod-shaped bracket, so that the installation is convenient.
The outer side of the fixed frame 6 is provided with a convex edge, and a plurality of movable air duct nozzles 5 are arranged on the convex edge. The structure of the movable air duct nozzle is basically the same as that of the fixed air duct nozzle, and the side wall of the movable air duct nozzle is connected with an output shaft of the motor 13. The motor 13 is fixed on the convex edge, and the output shaft of the motor is transversely arranged, so that the movable air duct nozzle can rotate in a vertical plane and stay at a designated position, the air outlet of the movable air duct nozzle is oriented to a serious disease area on a fruit tree, and compensatory spraying operation is carried out under the action of the medicine pump. Preferably, the number of the movable air duct nozzles is two, and the movable air duct nozzles are symmetrically arranged.
A disease grade judging program is arranged in the industrial personal computer, and diseases can be graded according to photos shot by the binocular camera. The disease grade determination program includes: firstly, converting a picture from an RGB color space to an HSV color space, and obtaining a black-and-white picture through binarization processing so as to obtain the number of pixel points in the picture; then, filling the picture, and carrying out all-around scanning; if the area value is white, stopping scanning, and obtaining the outline of the fruit tree leaves; then, obtaining the ratio of the actual area to the filling area according to the number of the pixel points contained in the outline; finally, determining the grade of the pest and disease damage according to the grade threshold corresponding to the ratio; the level threshold is preset.
And a compensation spraying control program is also arranged in the industrial personal computer so as to carry out compensation spraying on the corresponding area according to the grade and the position of the disease. The compensating spray control program includes:
1) determination of disease position coordinates x by means of a binocular camera0、y0、z0(ii) a Wherein x is0Is the horizontal distance between the disease point and the camera, z0The height of the disease point from the ground is taken as the height;
2) calculating disease position angle alpha = arctan (z)0/x0) As shown in fig. 3; further, the rotation angle α can be obtained0（n）=α-α0(n-1); wherein alpha is0(n-1) is the angle value of the previous rotation;
3) worker's toolThe control machine transmits PWM signal (pulse width modulation signal) to the motor, and the motor drives the movable air duct nozzle to rotate alpha0(n) and delaying by t; t = s/v; wherein s is the distance between the binocular camera and the motor, and v is the speed of the walking device;
4) and calculating corresponding medicine spraying amount according to the disease grade, generating a pulse signal, controlling a corresponding distribution valve to act, and conveying enough liquid medicine.
The working process of the invention is as follows:
and starting the tracked vehicle and enabling the tracked vehicle to automatically walk under the control of the industrial personal computer. Simultaneously, shoot the fruit tree through two mesh cameras to transmit the photo to the industrial computer. And determining the grade and the position of the insect pest and the time delay through related programs in the industrial personal computer. Then, the angle of the movable air duct sprayer is adjusted through the motor, and the medicine pump is started, so that the fixed air duct sprayer and the movable air duct sprayer spray at the same time, and the covering spraying and compensating spraying operations are completed.
The full-coverage type spray machine is reasonable in design, simple in structure and convenient to control, and by combining full-coverage type preventive spraying with accurately-positioned compensation type spraying, the compensation type spraying with accurate positioning can be carried out on diseases of different grades on the premise of basic spraying, so that the waste of pesticides is reduced, the diseases and the insect pests can be effectively prevented, the increase of production cost and the pollution to ecological environment are avoided, and the full-coverage type spray machine is worthy of popularization.
The parts not involved in the present invention are the same as or can be implemented using the prior art.

Claims (7)

1. An orchard accurate positioning compensation type air-assisted sprayer system comprises a walking device and is characterized in that a bearing platform is arranged on the walking device; the bearing platform is provided with a plurality of fixed air duct nozzles; the fixed air duct nozzles are vertically distributed in a sector shape; the bearing platform is also provided with a plurality of movable air duct nozzles; the movable air duct nozzle can rotate; the fixed air duct nozzle and the movable air duct nozzle are respectively communicated with a medicine box and can carry out air-conveying spraying on the liquid medicine in the medicine box; the bearing platform is also provided with a binocular camera which can shoot disease photos on the fruit tree blades and transmit the disease photos to the industrial personal computer; a disease grade judging program and a compensation spraying control program are arranged in the industrial personal computer, the disease grade can be determined through the disease picture, and the movable air duct nozzle is controlled to carry out targeted spraying.
2. The orchard precise positioning compensation type air-assisted sprayer system according to claim 1, wherein the walking device is a crawler and is powered by a self-contained battery; the tracked vehicle is controlled by remote control or an industrial personal computer.
3. The orchard precise positioning compensation type air-assisted sprayer system according to claim 1, wherein the fixed air duct sprayer and the movable air duct sprayer have the same structure and comprise cylindrical fans, and nozzles are arranged at air outlets of the cylindrical fans; the nozzle is connected with a distribution valve through a medicine pipe; the distributing valve is communicated with the medicine box after passing through the medicine pump.
4. The orchard precise positioning compensation type air-assisted sprayer system according to claim 1, wherein the fixed air duct nozzle is mounted on a fixed frame; the fixing frame is in a semicircular ring shape and is vertically arranged on the bearing platform; the fixed air duct nozzles are uniformly distributed on the fixed frame in a fan shape, and the air outlet faces outwards.
5. The orchard precise positioning compensation type air-assisted sprayer system according to claim 1, wherein the side wall of the movable air duct nozzle is connected with an output shaft of a motor; the motor is fixed on the bearing platform, and an output shaft of the motor is transversely arranged, so that the movable air duct nozzle can rotate in a vertical plane.
6. The orchard precise positioning compensation type air-assisted sprayer system according to claim 1, wherein the disease grade determination program comprises: firstly, converting a picture from an RGB color space to an HSV color space, and obtaining a black-and-white picture through binarization processing so as to obtain the number of pixel points in the picture; then, filling the picture, and carrying out all-around scanning; if the area value is white, stopping scanning, and obtaining the outline of the fruit tree leaves; then, obtaining the ratio of the actual area to the filling area according to the number of the pixel points contained in the outline; finally, determining the grade of the pest and disease damage according to the grade threshold corresponding to the ratio; the level threshold is preset.
7. The orchard precision positioning compensated air-assisted sprayer system of claim 1, wherein the compensation spray control program comprises:
1) determination of disease position coordinates x by means of a binocular camera0、y0、z0(ii) a Wherein x is0Is the horizontal distance between the disease point and the camera, z0The height of the disease point from the ground is taken as the height;
2) calculating disease position angle alpha = arctan (z)0/x0) (ii) a And a rotation angle alpha0（n）=α-α0（n-1）；
3) The PWM signal is transmitted to a motor, and the motor drives a movable air duct nozzle to rotate alpha0(n) and delaying by t; t = s/v; wherein s is the distance between the binocular camera and the motor, and v is the speed of the walking device;
4) and calculating corresponding medicine spraying amount according to the disease grade, generating a pulse signal, controlling a corresponding distribution valve to act, and conveying enough liquid medicine.
CN202111065876.0A 2021-09-13 2021-09-13 Orchard accurate positioning compensation formula wind send sprayer system Pending CN113712015A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111065876.0A CN113712015A (en) 2021-09-13 2021-09-13 Orchard accurate positioning compensation formula wind send sprayer system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111065876.0A CN113712015A (en) 2021-09-13 2021-09-13 Orchard accurate positioning compensation formula wind send sprayer system

Publications (1)

Publication Number Publication Date
CN113712015A true CN113712015A (en) 2021-11-30

Family

ID=78683370

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111065876.0A Pending CN113712015A (en) 2021-09-13 2021-09-13 Orchard accurate positioning compensation formula wind send sprayer system

Country Status (1)

Country Link
CN (1) CN113712015A (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040136139A1 (en) * 2001-05-14 2004-07-15 Knut Kummel Method and system for volume-specific treatment of ground and plants
US20110282554A1 (en) * 2007-02-12 2011-11-17 Topcon Precision Agriculture Pty Ltd. Agricultural Spraying Equipment Boom Level Control System
CN110235882A (en) * 2019-06-28 2019-09-17 南京农业大学 A kind of accurate variable chemical application to fruit tree robot based on multisensor
CN110250149A (en) * 2019-07-30 2019-09-20 南京林业大学 A kind of wind spraying aid type variable rate spray machine
CN111838110A (en) * 2020-07-10 2020-10-30 北京农业智能装备技术研究中心 Orchard target-aligning pneumatic conveying sprayer based on laser radar and spraying method thereof
CN112965514A (en) * 2021-01-29 2021-06-15 北京农业智能装备技术研究中心 Air-ground cooperative pesticide application method and system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040136139A1 (en) * 2001-05-14 2004-07-15 Knut Kummel Method and system for volume-specific treatment of ground and plants
US20110282554A1 (en) * 2007-02-12 2011-11-17 Topcon Precision Agriculture Pty Ltd. Agricultural Spraying Equipment Boom Level Control System
CN110235882A (en) * 2019-06-28 2019-09-17 南京农业大学 A kind of accurate variable chemical application to fruit tree robot based on multisensor
CN110250149A (en) * 2019-07-30 2019-09-20 南京林业大学 A kind of wind spraying aid type variable rate spray machine
CN111838110A (en) * 2020-07-10 2020-10-30 北京农业智能装备技术研究中心 Orchard target-aligning pneumatic conveying sprayer based on laser radar and spraying method thereof
CN112965514A (en) * 2021-01-29 2021-06-15 北京农业智能装备技术研究中心 Air-ground cooperative pesticide application method and system

Similar Documents

Publication Publication Date Title
CN110235882B (en) Accurate variable fruit tree pesticide application robot based on multiple sensors
CN109720578B (en) Unmanned aerial vehicle variable accurate pesticide application system and method
CN104115809B (en) A kind of field crops sprays machine and spraying method to target
CN105360095B (en) A kind of greenhouse single track plant protection robot and its control method
CN102239756B (en) Intelligent farming robot in greenhouse
CN111838110B (en) Orchard targeting air-assisted sprayer based on laser radar and spraying method thereof
CN104430272A (en) Intelligent self-propelled sprayer based on image processing
CN103891697A (en) Drug spraying robot capable of moving indoors autonomously and variable drug spraying method thereof
CN110946060A (en) Agricultural planting field intelligent monitoring control method and monitoring station
CN205455559U (en) Automatic spray formula agricultural unmanned aerial vehicle
CN112219830B (en) Air-assisted variable targeting sprayer for terrace orchard and targeting spraying method
CN111937834B (en) Targeted spraying machine and method for jointly adjusting area of air inlet and air outlet
CN212279614U (en) Orchard is to target air-assisted sprayer based on laser radar
CN203860304U (en) Automatic targeting and spraying system
CN113057154A (en) Greenhouse liquid medicine spraying robot
AU2019205038A1 (en) Device and method for delivering steam onto and beneath a field surface
CN113341961A (en) Independent accurate variable air supply spraying robot structure for greenhouse and path planning method
CN116762789B (en) Intelligent drug spraying device for orchard air conveying and intelligent drug spraying method for orchard air conveying
CN111838111B (en) Orchard wind power and drug dosage targeting regulation sprayer and method based on ultrasonic sensing
CN113712015A (en) Orchard accurate positioning compensation formula wind send sprayer system
CN111838113A (en) Targeting spraying machine and method for jointly adjusting fan rotating speed and air outlet area
CN102870522B (en) Multifunctional plant-protection pesticide applicator
CN102362566A (en) Fertilizing, spraying, ridging and full-filming machine for potato
CN212279615U (en) Targeting spraying machine with fan rotating speed and air outlet area jointly adjusted
CN210746836U (en) Orchard accurate variable spraying system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20211130

RJ01 Rejection of invention patent application after publication