CN204132227U - The hot mist machine of a kind of self-walking intelligent remote control - Google Patents
The hot mist machine of a kind of self-walking intelligent remote control Download PDFInfo
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- CN204132227U CN204132227U CN201420587071.1U CN201420587071U CN204132227U CN 204132227 U CN204132227 U CN 204132227U CN 201420587071 U CN201420587071 U CN 201420587071U CN 204132227 U CN204132227 U CN 204132227U
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- 239000003595 mist Substances 0.000 title claims abstract description 32
- 239000007921 spray Substances 0.000 claims abstract description 52
- 230000004888 barrier function Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 239000007789 gas Substances 0.000 claims description 45
- 230000007246 mechanism Effects 0.000 claims description 30
- 239000007788 liquid Substances 0.000 claims description 10
- 239000000126 substance Substances 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 7
- 238000000889 atomisation Methods 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 241000196324 Embryophyta Species 0.000 description 7
- 230000001105 regulatory effect Effects 0.000 description 6
- 238000005507 spraying Methods 0.000 description 6
- 206010019345 Heat stroke Diseases 0.000 description 4
- 241000238631 Hexapoda Species 0.000 description 4
- 241000607479 Yersinia pestis Species 0.000 description 4
- 240000008042 Zea mays Species 0.000 description 4
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 4
- 201000010099 disease Diseases 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 239000003814 drug Substances 0.000 description 4
- 239000000575 pesticide Substances 0.000 description 4
- 231100000572 poisoning Toxicity 0.000 description 4
- 230000000607 poisoning effect Effects 0.000 description 4
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 3
- 235000005822 corn Nutrition 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000003912 environmental pollution Methods 0.000 description 3
- 244000046109 Sorghum vulgare var. nervosum Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 235000016383 Zea mays subsp huehuetenangensis Nutrition 0.000 description 1
- 239000003905 agrochemical Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 244000038559 crop plants Species 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 244000037666 field crops Species 0.000 description 1
- 235000009973 maize Nutrition 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000010902 straw Substances 0.000 description 1
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Abstract
The utility model discloses the hot mist machine of a kind of self-walking intelligent remote control, comprising: chassis drive part, thermal spray part, it is arranged on the vehicle frame of chassis drive part, intelligent control part, it comprises image acquiring device, distance sensing devices and control device, image acquiring device is arranged on vehicle frame for gathering the traveling road conditions video of chassis drive part, range sensor is arranged on vehicle frame for detecting the real time running distance between chassis drive part and barrier, control device is connected with distance sensing devices and chassis drive part, the safety traffic distance that control device is used for according to presetting turns to the real time running distance controlling chassis drive part of detection, control device is connected with thermal spray part and carries out thermal spray for controlling thermal spray part, Remote part is wirelessly connected with control device with image acquiring device and communicates.
Description
Technical field
The utility model relates to plant protection spraying machine tool technical field, particularly relates to the hot mist machine of a kind of self-walking intelligent remote control.
Background technology
In recent years, along with the continuous propelling of Tendency of Agricultural Machinery in China process, rural area is also increasing to the demand of equipment for plant protection.At present, for the extermination of disease and insect pest of the narrow row such as corn, Chinese sorghum distance, large area height plant crop, most dependence artificial spraying agricultural chemicals, so not only cause environmental pollution, cause drug resource to be wasted, and medicine droplet drift and high-temperature operation environment in, be easy to cause the poisoning heatstroke of operating personnel, cause unnecessary casualties.The development of plant protection aircraft is that the extermination of disease and insect pest of large field crops provides a kind of effective feasible scheme, but due to reasons such as the delayed and expensive prices of plant protection aircraft technology level, makes the program slowly fail to popularize.Other relevant self-walking fog machine tools, also can not adapt to the extermination of disease and insect pest work of the crop such as corn, Chinese sorghum due to the restriction of body width.
Utility model content
The technical problem that basic background technology exists, the utility model proposes the hot mist machine of a kind of self-walking intelligent remote control, a difficult problem for the phenomenons such as automatic and mechanical degree is low in extermination of disease and insect pest process, operating efficiency is low, easily cause operating personnel's heatstroke poisoning that solve crop, also save dosage and water consumption, very big limit reduces environmental pollution simultaneously.
The hot mist machine of a kind of self-walking intelligent remote control that the utility model proposes, comprising:
Chassis drive part;
Thermal spray part, it is arranged on the vehicle frame of chassis drive part, comprises warm ejector structure and chemical supply machine structure, and warm ejector structure is used for the liquid heat atomization ejection of being carried by chemical supply machine structure;
Intelligent control part, it comprises image acquiring device, distance sensing devices and control device, image acquiring device is arranged on vehicle frame for gathering the traveling road conditions video of chassis drive part, range sensor is arranged on vehicle frame for detecting the real time running distance between chassis drive part and barrier, control device is connected with distance sensing devices and chassis drive part, the safety traffic distance that control device is used for according to presetting turns to the real time running distance controlling chassis drive part of detection, control device is connected with thermal spray part and carries out thermal spray for controlling thermal spray part,
Remote part, be connected with image acquiring device and control device radio communication, it can send thermal spray control signal to control device and carry out thermal spray to control thermal spray part, can send traveling control signal travel to control chassis drive part according to the traveling road conditions video of image acquiring device collection to control device.
Preferably, chassis drive part comprises the motor drive mechanism be arranged on vehicle frame, turning cylinder, driving wheel, support wheel and pedrail mechanism, motor drive mechanism rotates for driving turning cylinder, two driving wheels are arranged on turning cylinder two ends respectively by electromagnetic clutch, two pedrail mechanisms are arranged on two driving wheels respectively, and multiple support wheel is arranged in the walking be connected for pedrail mechanism inside pedrail mechanism and with pedrail mechanism and provides support.
Preferably, vehicle frame is installed two range sensors be respectively used to detect the real time running distance between chassis drive part and both sides barrier, the break-make that control device controls electromagnetic clutch according to safety traffic distance and the magnitude relationship of real time running distance realizes turning to of chassis drive part.In the normal driving process of chassis drive part, the electromagnetic clutch controlling the second side when the real time running distance of the first side is less than safety traffic distance disconnects, chassis drive part turns to the second side, the electromagnetic clutch controlling the second side in steering procedure when the real time running distance of the first side is greater than safety traffic distance combines, and normally travels to make chassis drive part.
Preferably, arranging brush is that electromagnetic clutch is powered, and control device is electrically connected with brush by relay, and control device passes through the folding of control relay with the power supply state of control brush.
Preferably, electromagnetic clutch is slipping toothed electromagnetic clutch, and its active part is fixedly connected with turning cylinder, and its secondary part is fixedly connected with driving wheel.
Preferably, in thermal spray part, warm ejector structure comprises gas generator and gas spray pipe, the gas vent position of gas spray pipe installing gas generator, chemical supply machine structure comprises medicine-chest and liquid-transport pipe-line, liquid-transport pipe-line is connected with medicine-chest and it exports and to be located in gas spray pipe near nozzle exit area, and liquid-transport pipe-line is provided with control valve; Gas generator is used for providing hot high pressure gas and is sprayed onto in gas spray pipe, and the liquid in medicine-chest exports in gas spray pipe by liquid-transport pipe-line under pressure, and liquid heat under the ejection effect of the hot high pressure gas of gas spray pipe is atomized and sprays from spout.
Preferably, gas generator is jet engine, and it is medicine-chest supercharging transfusion that the carburetor of jet engine draws stock gases at high pressure to medicine-chest for pressure pipe.
Preferably, Remote part comprises image display device, control button, device used for image display travels road conditions video in display, control button is used for operating and sending control operation instruction, and control button comprises chassis start-stop button, chassis gear switch button, chassis travel speed button, hot mist start-stop button.
Preferably, at chassis drive part, the first radio receiving transmitting module is set, image acquiring device is connected with the first radio receiving transmitting module with control device, and Remote part arranges the second radio receiving transmitting module, and the first radio receiving transmitting module is connected with the second radio receiving transmitting module radio communication.
In the utility model, real time running distance between chassis drive part and both sides barrier is detected in real time by arranging distance sensing devices, the break-make that control device controls electromagnetic clutch according to safety traffic distance and the magnitude relationship of real time running distance realizes turning to of chassis drive part, and the intelligent walking achieved in the hot mist machine course of work controls; Gather the traveling road conditions video of chassis drive part by arranging image acquiring device, operating personnel can the travel direction of long-distance remote control device and travel speed according to travelling road conditions, reaches the object of safety traffic.The utility model is compared with existing equipment for plant protection; its automaticity is high, easy and simple to handle, operating efficiency is high; as long as operating personnel stands in the edge of a field operating remote remote control part and easily can complete pesticide application in the hot mist machine course of work, due to accidents such as the poisoning heatstrokes of personnel that causes in the drift of medicine droplet and hot environment when this process completely avoid Traditional Man operation.
Accompanying drawing explanation
Fig. 1 is the structure chart of the hot mist machine of a kind of self-walking intelligent remote control that the utility model proposes.
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the end view of Fig. 1.
Embodiment
As shown in Figure 1 to Figure 3, Fig. 1 is the structure chart of the hot mist machine of a kind of self-walking intelligent remote control that the utility model proposes, and Fig. 2 is the front view of Fig. 1, and Fig. 3 is the end view of Fig. 1.
Referring to figs. 1 through Fig. 3, the hot mist machine of a kind of self-walking intelligent remote control that the utility model proposes, comprising: chassis drive part, thermal spray part, intelligent control part and Remote part.
Chassis drive part comprises vehicle frame 1 and is arranged on motor drive mechanism 2, turning cylinder 3, driving wheel 4, support wheel 5 and the pedrail mechanism 6 on vehicle frame 1; Motor drive mechanism comprises motor and speed reducer, motor drive mechanism 2 rotates for driving turning cylinder 3, two driving wheels 4 are arranged on turning cylinder 3 two ends respectively by electromagnetic clutch 7, slipping toothed electromagnetic clutch selected by electromagnetic clutch 7, two pedrail mechanisms 6 are arranged on two driving wheels 4 respectively, drive pedrail mechanism 6 to walk in driving wheel 4 rotation process, multiple support wheel 5 is arranged in the walking be connected for pedrail mechanism 6 inside pedrail mechanism 6 and with pedrail mechanism 6 and provides support.
Thermal spray part is arranged on the vehicle frame 1 of chassis drive part, it comprises warm ejector structure and chemical supply machine structure, can warm ejector structure and chemical supply machine structure be placed on support, then by support installing on vehicle frame 1, warm ejector structure be used for by chemical supply machine structure carry liquid heat atomization ejection, particularly, warm ejector structure comprises gas generator 8 and gas spray pipe 9, the gas vent position of gas spray pipe 9 installing gas generator 8, gas generator 8 can select jet engine, jet engine work exports hot high pressure gas and is ejected in gas spray pipe 9, chemical supply machine structure comprises medicine-chest 10 and liquid-transport pipe-line 11, liquid-transport pipe-line 11 is connected with medicine-chest 10 and the outlet of liquid-transport pipe-line 11 to be located in gas spray pipe 9 and near the nozzle exit area of gas spray pipe 9, it is medicine-chest 10 supercharging that the carburetor of jet engine is drawn in one gases at high pressure to medicine-chest 10 for pressure pipe, under this pressure effect, the liquid in medicine-chest 10 is extruded from liquid-transport pipe-line 11, liquid-transport pipe-line 11 is provided with the control valve controlling loading break-make, control valve is preferably solenoid electric valve, in working order, jet engine work provides hot high pressure gas and is sprayed onto in gas spray pipe 9, liquid in medicine-chest 10 exports in gas spray pipe 9 by liquid-transport pipe-line 11 under pressure, liquid heat atomization spraying from the spout of gas spray pipe 9 under the ejection effect of the hot high pressure gas of gas spray pipe 9.
Intelligent control part comprises image acquiring device 12, distance sensing devices 13 and control device, image acquiring device 12 is arranged on vehicle frame 1 for gathering the traveling road conditions video of chassis drive part, image acquiring device 12 can be camera, range sensor 13 is arranged on for detecting the real time running distance between chassis drive part and barrier on vehicle frame 1, and wherein barrier is the crop plant of drive part both sides, chassis; Control device is connected with distance sensing devices 12 and chassis drive part, the safety traffic distance that control device may be used for according to presetting turns to the real time running distance controlling chassis drive part of detection, and control device is connected with thermal spray part and carries out thermal spray for controlling thermal spray part.
Remote part, be connected with image acquiring device 12 and control device radio communication, operating personnel can send thermal spray control signal to control device and carry out thermal spray to control thermal spray part, can send traveling control signal to control the traveling action of chassis drive part according to the traveling road conditions video of image acquiring device collection to control device; Particularly, Remote part comprises image display device, control button, and wherein, device used for image display travels road conditions video in display, and control button is used for operating and sending control operation instruction; Control button comprise for control chassis start-stop button that motor drive mechanism starts and stop, for control motor drive mechanism advance fall back chassis gear switch button that gear carries out switching, for control motor drive mechanism advance gear chassis travel speed button, for controlling the hot mist start-stop button of jet engine and solenoid electric valve work and other regulate button, other regulate buttons to comprise video pictures and regulate button, wireless video receiver frequency adjustment button etc.
Connect to realize radio communication, at chassis drive part, the first radio receiving transmitting module is set, image acquiring device is connected with the first radio receiving transmitting module with control device, Remote part arranges the second radio receiving transmitting module, first radio receiving transmitting module is connected with the second radio receiving transmitting module radio communication, thus realizes the wireless transmission function of signal.
In a further embodiment, one of them support wheel 5 can be defined as support regulating wheel, support regulating wheel is arranged on vehicle frame 1 also can carry out horizontal movement, thus for regulating the rate of tension of pedrail mechanism 6; Particularly, supporting regulating wheel can be arranged on vehicle frame 1 by a telescoping mechanism, controls the expanding-contracting action of telescoping mechanism and be locked by bolt; By the driving requirements regulating the rate of tension of crawler belt to meet Different Ground.
In a further embodiment, vehicle frame 1 is installed two range sensors 13 be respectively used to detect the real time running distance between chassis drive part and both sides barrier, the break-make that control device controls electromagnetic clutch 7 according to the safety traffic distance preset and the magnitude relationship of the real time running distance of detection realizes turning to of chassis drive part; Particularly, in the normal driving process of chassis drive part, real time running distance when the first side is less than the electromagnetic clutch disconnection that safety traffic distance timed unit controls the second side, such chassis drive part turns to the second side, when the real time running distance of the first side is greater than the electromagnetic clutch combination that safety traffic distance timed unit controls the second side in steering procedure, normally travel to make chassis drive part.Distance between drive part both sides to barrier, chassis can be obtained exactly by arranging two range sensors 13, thus turning to of chassis drive part can be controlled more exactly.
When the break-make control design case of electromagnetic clutch 7, the active part arranging electromagnetic clutch 7 is fixedly connected with turning cylinder 3, and the secondary part of electromagnetic clutch 7 is fixedly connected with driving wheel 4; Arrange brush 14 to power for electromagnetic clutch 7, control device is electrically connected with brush 14 by relay, and control device passes through the folding of control relay with the power supply state of control brush 14, thus controls the break-make of electromagnetic clutch 7 further.
According to the hot mist machine of self-walking intelligent remote control that the present embodiment provides, in the course of the work, by Remote part, hot mist machine is reached corn field, particularly, operating personnel regulate travel direction and the travel speed of chassis driving mechanism by chassis gear switch button and chassis travel speed button, regulate button, wireless video receiver frequency adjustment button that video reception signal and video pictures are adjusted to best state by video pictures, regulated the motor speed grade obtaining the best according to actual conditions by chassis travel speed button.When arriving assigned address and starting thermal spray work, first jet engine is started by hot mist start-stop button, after jet engine operates steadily, then remote control unlatching solenoid electric valve starts to carry out spraying operation, can start chassis driver module carry out traveling operation when spraying steady.In operation process, two distance sensing devices detect the distance between its probe and maize straw in real time, control device compares according to the safety traffic distance LO preset and the actual travel distance L1 recorded and L2, particularly, if the distance L1 that left side distance sensing devices records is less than L0, the electromagnetic clutch on right side is disconnected by control relay switch by control device, realize the disconnection of right side drive wheel power, until the distance L1 that left side distance sensing devices records is greater than L0, control device is closed by the electromagnetic clutch of control relay switch by right side, the power on right side is combined, hot mist machine is kept straight on, right side in like manner, the intelligent walking achieved like this in the hot mist machine course of work controls.
In the above-mentioned course of work, unpredictable situation is there is in the course of the work in order to prevent hot mist machine, the traveling road conditions of the hot mist machine of video information Real Time Observation that operating personnel can the display unit in Remote part show, then by travel direction and the travel speed of the hot mist machine of RPB auxiliary adjustment, the object of safety traffic is reached.
The utility model is compared with existing equipment for plant protection; its automaticity is high, easy and simple to handle, operating efficiency is high; as long as operating personnel stands in the edge of a field operating remote remote control part and easily can complete pesticide application in the hot mist machine course of work, due to accidents such as the poisoning heatstrokes of personnel that causes in the drift of medicine droplet and hot environment when this process completely avoid Traditional Man operation.This utility model adopts smog dispersion pattern spraying pesticide, at least can save the Pesticide use amount of 50% and the water consumption of 80%, reduce resources costs and environmental pollution to a great extent, have good market prospects and promotional value.
The above; be only the utility model preferably embodiment; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; be equal to according to the technical solution of the utility model and utility model design thereof and replace or change, all should be encompassed within protection domain of the present utility model.
Claims (9)
1. the hot mist machine of self-walking intelligent remote control, is characterized in that, comprising:
Chassis drive part;
Thermal spray part, it is arranged on the vehicle frame of chassis drive part, comprises warm ejector structure and chemical supply machine structure, and warm ejector structure is used for the liquid heat atomization ejection of being carried by chemical supply machine structure;
Intelligent control part, it comprises image acquiring device, distance sensing devices and control device, image acquiring device is arranged on vehicle frame for gathering the traveling road conditions video of chassis drive part, range sensor is arranged on vehicle frame for detecting the real time running distance between chassis drive part and barrier, control device is connected with distance sensing devices and chassis drive part, the safety traffic distance that control device is used for according to presetting turns to the real time running distance controlling chassis drive part of detection, control device is connected with thermal spray part and carries out thermal spray for controlling thermal spray part,
Remote part, be connected with image acquiring device and control device radio communication, it can send thermal spray control signal to control device and carry out thermal spray to control thermal spray part, can send traveling control signal travel to control chassis drive part according to the traveling road conditions video of image acquiring device collection to control device.
2. the hot mist machine of self-walking intelligent remote control according to claim 1, it is characterized in that, chassis drive part comprises the motor drive mechanism be arranged on vehicle frame, turning cylinder, driving wheel, support wheel and pedrail mechanism, motor drive mechanism rotates for driving turning cylinder, two driving wheels are arranged on turning cylinder two ends respectively by electromagnetic clutch, two pedrail mechanisms are arranged on two driving wheels respectively, and multiple support wheel is arranged in the walking be connected for pedrail mechanism inside pedrail mechanism and with pedrail mechanism and provides support.
3. the hot mist machine of self-walking intelligent remote control according to claim 2, it is characterized in that, vehicle frame is installed two range sensors be respectively used to detect the real time running distance between chassis drive part and both sides barrier, the break-make that control device controls electromagnetic clutch according to safety traffic distance and the magnitude relationship of real time running distance realizes turning to of chassis drive part.
4. the hot mist machine of self-walking intelligent remote control according to claim 2, it is characterized in that, arranging brush is that electromagnetic clutch is powered, and control device is electrically connected with brush by relay, and control device passes through the folding of control relay with the power supply state of control brush.
5. the hot mist machine of self-walking intelligent remote control according to claim 4, is characterized in that, electromagnetic clutch is slipping toothed electromagnetic clutch.
6. the hot mist machine of self-walking intelligent remote control according to claim 1, it is characterized in that, in thermal spray part, warm ejector structure comprises gas generator and gas spray pipe, the gas vent position of gas spray pipe installing gas generator, chemical supply machine structure comprises medicine-chest and liquid-transport pipe-line, and liquid-transport pipe-line is connected with medicine-chest and it exports and to be located in gas spray pipe near nozzle exit area, and liquid-transport pipe-line is provided with control valve; Gas generator is used for providing hot high pressure gas and is sprayed onto in gas spray pipe, and the liquid in medicine-chest exports in gas spray pipe by liquid-transport pipe-line under pressure, and liquid heat under the ejection effect of the hot high pressure gas of gas spray pipe is atomized and sprays from spout.
7. the hot mist machine of self-walking intelligent remote control according to claim 6, is characterized in that, gas generator is jet engine, and it is medicine-chest supercharging transfusion that the carburetor of jet engine draws gases at high pressure to medicine-chest for pressure pipe.
8. the hot mist machine of the self-walking intelligent remote control according to any one of claim 1-7, it is characterized in that, Remote part comprises image display device, control button, device used for image display travels road conditions video in display, control button is used for operating and sending control operation instruction, and control button comprises chassis start-stop button, chassis gear switch button, chassis travel speed button, hot mist start-stop button.
9. the hot mist machine of the self-walking intelligent remote control according to any one of claim 1-7, it is characterized in that, at chassis drive part, the first radio receiving transmitting module is set, image acquiring device is connected with the first radio receiving transmitting module with control device, Remote part arranges the second radio receiving transmitting module, and the first radio receiving transmitting module is connected with the second radio receiving transmitting module radio communication.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420587071.1U CN204132227U (en) | 2014-10-11 | 2014-10-11 | The hot mist machine of a kind of self-walking intelligent remote control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420587071.1U CN204132227U (en) | 2014-10-11 | 2014-10-11 | The hot mist machine of a kind of self-walking intelligent remote control |
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| CN204132227U true CN204132227U (en) | 2015-02-04 |
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| CN201420587071.1U Expired - Fee Related CN204132227U (en) | 2014-10-11 | 2014-10-11 | The hot mist machine of a kind of self-walking intelligent remote control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104273113A (en) * | 2014-10-11 | 2015-01-14 | 安徽农业大学 | Self-propelled intelligent remotely-controlled thermal sprayer |
| CN104982407A (en) * | 2015-06-04 | 2015-10-21 | 江苏大学 | Orchard automatic profiling mist pesticide spray machine and pesticide spraying control method |
| CN106416480A (en) * | 2015-09-01 | 2017-02-22 | 山东建筑大学 | Intelligent remote-control row-crop cultivator |
-
2014
- 2014-10-11 CN CN201420587071.1U patent/CN204132227U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104273113A (en) * | 2014-10-11 | 2015-01-14 | 安徽农业大学 | Self-propelled intelligent remotely-controlled thermal sprayer |
| CN104982407A (en) * | 2015-06-04 | 2015-10-21 | 江苏大学 | Orchard automatic profiling mist pesticide spray machine and pesticide spraying control method |
| CN104982407B (en) * | 2015-06-04 | 2018-09-07 | 江苏大学 | A kind of orchard automatic profiling atomizing pesticide applicator and dispenser control method |
| CN106416480A (en) * | 2015-09-01 | 2017-02-22 | 山东建筑大学 | Intelligent remote-control row-crop cultivator |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150204 Termination date: 20191011 |