WO2018045636A1 - 一种农作物精准喷洒*** - Google Patents

一种农作物精准喷洒*** Download PDF

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Publication number
WO2018045636A1
WO2018045636A1 PCT/CN2016/107104 CN2016107104W WO2018045636A1 WO 2018045636 A1 WO2018045636 A1 WO 2018045636A1 CN 2016107104 W CN2016107104 W CN 2016107104W WO 2018045636 A1 WO2018045636 A1 WO 2018045636A1
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Prior art keywords
telescopic
telescopic rod
spray
telescopic rods
transport tube
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PCT/CN2016/107104
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English (en)
French (fr)
Inventor
陈乐春
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数字鹰科技盐城有限公司
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Priority to KR1020187008597A priority Critical patent/KR102103092B1/ko
Publication of WO2018045636A1 publication Critical patent/WO2018045636A1/zh

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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
    • 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
    • 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
    • A01M7/0053—Mounting of the spraybooms
    • A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
    • 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
    • A01M7/0071—Construction of the spray booms
    • 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
    • A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
    • 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

Definitions

  • the invention relates to the field of plant protection, in particular to a precise spraying system capable of realizing highly automatic application of pesticides.
  • the current pesticide spraying methods mainly include artificial spraying, spraying of pesticide spray vehicles, and spraying of aircraft.
  • Manual spraying requires manual carrying equipment to work in the ridges, which is not only inefficient, but also harmful to the human body with high concentrations of harmful gases.
  • Pesticide spray truck spraying and aircraft spraying can only deal with the scene where the crop height in the working area is relatively uniform.
  • it is easy to cause the liquid medicine to The problem of uneven distribution on the target requires the operator to have superb operation technology, constantly adjust the spray height, and achieve the requirement of uniform drug spray.
  • the present invention provides a self-propelled, fixed-high, accurate crop spraying system for large-area farmland, which can overcome the ground undulation and the growth height of different crops, realize automatic and precise spraying, and reduce large-area farmland. Spraying load and improving spraying efficiency.
  • a precise crop spraying system comprising:
  • Field walking mechanism including N (N ⁇ 2) cars that can walk in the field;
  • the height adjustment mechanism comprises N telescopic rods and N telescopic rods respectively mounted vertically on the top of the N trolleys, and the N telescopic mechanisms are respectively mounted on the N telescopic rods, the telescopic rods
  • the length can be expanded and contracted under the control of the telescopic mechanism
  • a conveying and spraying mechanism comprising a medicine box, a pump, a transportation tube and a spray head, wherein the medicine box and the pump are installed in the trolley, a pump is installed at an outlet of the medicine box, and one end of the telescopic rod is connected; the transportation tube is erected Between the telescopic rods, the two ends of the transport tube are respectively connected to the other of the telescopic rod
  • the nozzle has a plurality of nozzles that are evenly distributed and mounted on the transport tube;
  • the ranging system including the distance measuring device and the main control module, are mounted on the transport tube, and the main control module is electrically connected to the distance measuring device and the telescopic mechanism.
  • a transport tube tensioning mechanism is further included, including an upper hoisting mechanism, a traction rope, and two hoisting mechanisms;
  • the upper hoisting mechanism is mounted on a top of the telescopic rod, and the traction rope has a plurality of One end is connected to the upper hoisting mechanism, and the other end is respectively fixed at different positions of the transport tube; the length of the traction rope can be retracted under the control of the upper hoisting mechanism; the hoisting mechanisms on both sides are installed at Where the telescopic rod is coupled to the transport tube, the length of the transport tube can be retracted under the control of the two side hoisting mechanisms.
  • N positioning modules for ensuring parallel and synchronous movement of the N cars are respectively installed in the N cars.
  • the telescopic rod is an inner hollow sealed waterproof tube, and the medical liquid is transported inside the telescopic rod; or the inner or outer portion of the telescopic rod is mounted with a hose extending along the length of the telescopic rod The drug solution is delivered in the hose.
  • the spray head has a flow control unit therein; when the spray head is outside the two-side hoisting mechanism, the flow control unit is opened to perform work; when the spray head is in the hoisting mechanism on both sides The flow control unit is turned off and no work is performed.
  • the distance measuring device When the invention travels in the field, the distance measuring device synchronously measures the distance from the top of the crop, and feeds back to the main control module, and the main control module controls the movement of the telescopic mechanism, adjusts the height of the transport tube connecting the nozzles, and ensures the distance between the nozzle and the top of the crop. Achieve precision spray. No need for human manipulation, effectively avoiding blind adjustments due to uneven terrain or different crop types, resulting in multiple sprays or leaks, improving spray precision of crop drugs, improving spray uniformity, improving pesticide utilization, and reducing the burden of spraying on large areas of farmland. Improve spray efficiency.
  • Figure 1 is a schematic view showing the structure of an embodiment of the present invention.
  • FIG. 2 is a schematic block diagram of an embodiment of the present invention.
  • composition of an embodiment of the present invention is as follows:
  • the field walking mechanism includes two small cars that can walk in the field.
  • the positioning module 2 is installed on the trolley, and positioning by GPS, differential method, Beidou, etc. can ensure that the two trolleys 1 maintain parallel and synchronous movement.
  • the height adjustment mechanism includes two telescopic rods 3 and two telescopic mechanisms 4. Two telescopic rods 3 are vertically mounted on the top of the two carts 1, and two telescopic mechanisms 4 are respectively mounted on the two telescopic rods 3.
  • the length of the telescopic rod 3 can be expanded and contracted under the control of the telescopic mechanism 4.
  • the telescopic rod 3 itself is a sealed waterproof tube, and the inside is hollow, and the liquid medicine can be directly transported inside the telescopic rod 3.
  • the telescopic rod 3 itself is not transported by the pharmaceutical industry, but a hose extending along the length of the telescopic rod 3 is mounted inside or outside the telescopic rod 3 through which the liquid medicine is transported.
  • the conveying and spraying mechanism includes a medicine box 5, a pump 6, a transport tube 7, and a spray head 8.
  • the medicine box 5 and the pump 6 are installed in two carts 1, the pump 6 is installed at the outlet of the medicine box 5, and the outlet of the medicine box 5 is connected to one end of the telescopic rod 3.
  • the transport pipe 7 is erected between the two telescopic rods 3, and the other ends of the two telescopic rods 3 are respectively connected at both ends of the transport pipe 7.
  • the nozzle 8 is a controllable flow nozzle having a plurality of evenly distributed installations on the transport tube 7. Each nozzle 8 has an independent flow control unit 9 therein.
  • the flow control unit 9 of the spray head 8 When the spray head 8 is outside the hoisting mechanism 12 on both sides, the flow control unit 9 of the spray head 8 is opened, and the spray head 8 can perform work; when the spray head 8 is entangled into the hoisting mechanism 12 on both sides, the flow control unit of the spray head 8 9 is closed, the nozzle 8 does not operate, and the pesticide is prevented from leaking into the hoisting mechanism 12 on both sides.
  • the transport tube tensioning mechanism includes an upper hoisting mechanism 10, a traction rope 11 and two hoisting mechanisms 12.
  • the upper hoisting mechanism 10 and the traction rope 11 function to pull up or down the transport tube 7, and the function of the hoisting mechanism 12 on both sides is to control the length of the transport tube 7.
  • the upper hoisting mechanism 10 is mounted on the top of the two telescopic rods 3, and the traction ropes 11 have a plurality of traction ropes 11 One end is connected to the upper hoist 10 mechanism, and the other end is fixed at different positions of the transport tube 7, and the length of the traction rope 11 can be retracted under the control of the upper hoisting mechanism 10.
  • the hoisting mechanism 12 on both sides is installed at the junction of the two telescopic rods 3 and the transport pipe 7, and the length of the transport pipe 7 can be retracted under the control of the hoisting mechanism 12 on both sides.
  • the ranging system includes a distance measuring device 13 and a main control module 14.
  • the distance measuring device 13 and the main control module 14 are mounted on the transport pipe 7 or on the spray head 8.
  • the main control module 14 is electrically connected to the distance measuring device 13 and the telescopic mechanism 4, the upper hoisting mechanism 10, and the hoisting mechanisms 12 on both sides.
  • the pesticide in the medicine box 5 is hit into the transport pipe 7 by the pump 6, the spray head 8 starts to work, the pesticide is sprayed, and the two cars 1 start to move synchronously.
  • the main control module 14 controls the work of the telescopic mechanism 4, and adjusts the height of the transport pipe 7 up and down to make the transport pipe 7
  • the distance from the top of the crop is kept constant (for example, 10 cm, which can be adjusted according to the application requirements of different crops and different medicaments).
  • the transport tube 7 When the distance between the two carts 1 is similar, the transport tube 7 will sag in the middle, and the traction rope 11 is pulled up by the upper hoisting mechanism 10, and the transport tube 7 is pulled up. However, if only the upper hoist 10 and the traction rope 11 are pulled, the transport pipe 7 will be slightly bent downward by the force of gravity. Therefore, the cooperation of the hoisting mechanism 12 is required, and the length of the transport pipe 7 is controlled by the hoisting mechanism 12 on both sides, so that the transport pipe 7 is tensioned, and the transport pipe 7 is maintained in a straight state at a certain level, while the transport pipe 7 is on the transport pipe 7. Each of the spray heads 8 remains vertically downward.
  • the white “arrow” in Figure 2 indicates the pesticide transport line, and the black “arrow” indicates the control line.
  • the above embodiment uses two cars, and the distance between the two cars has a limit value, which cannot be far away. This is because if the two cars are too far apart, the gravity on the transport pipe will be too large. Even if the tensioning mechanism is used, the gravity can be overcome to ensure the tension of the transport tube. Therefore, when facing a larger area of the spraying task, it is necessary to carry out lateral reproduction in units of the structure of the above embodiment, and set three, four or more vehicles in parallel synchronous movement to cover a larger spraying area. .

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Catching Or Destruction (AREA)

Abstract

一种农作物精准喷洒***，包括N(N≥2)辆能在田间行走的小车（1），N根伸缩杆（3）垂直安装在N辆小车（1）顶部，N台伸缩机构（4）安装在N根伸缩杆（3）上；小车（1）内安装有药箱（5）和泵（6）；运输管（7）架设在伸缩杆（3）之间，多个喷头（8）均布在运输管（7）上；测距装置（13）和主控模块（14）安装在运输管（7）上，主控模块（14）电连接测距装置（13）以及伸缩机构（4）。该***可以保证喷头（8）与农作物顶部的距离，实现精准喷洒，无需人为操控，有效避免因地势不平或者农作物种类不同而盲目人为调节，造成多喷或漏喷，提高农作物药物的喷洒精准度，提高喷洒均匀度，提高农药利用率，减轻大面积农田喷洒负担，提高喷洒效率。

Description

一种农作物精准喷洒*** 技术领域
本发明涉及植保领域，具体涉及一种可以实现农作物规定高度自动施药的精准喷洒***。
背景技术
在植保领域，目前的农药喷洒方法主要有人工喷洒、农药喷洒车喷洒、航空器喷洒等。人工喷洒需要人工背负器械在垄间作业，不但效率低下，而且高浓度的有害气体对人体有伤害。农药喷洒车喷洒、航空器喷洒仅能应对作业区域内农作物高度较为统一的场景，而对于农田地面高低不平、以及存在多品种作物导致的一个作业区域内的农作物高度不一致的场景，容易导致药液在目标物上分布不匀的问题，需要操作者具有高超的操作技术，不断调整喷药高度，达到药物喷洒均匀的要求，操作者仅靠目测控制施药高度，不但对专业技术要求太高，而且精度难以保证。而且，针对大面积农田，采用航空器喷洒时，航空器需要来回好几趟，中途还需进行添药作业，对航空器的续航能力及操控人员的要求很高。因此在植保领域，人们迫切需求一种可以实现大面积农田在规定高度自动喷洒的精准喷洒***。
发明内容
针对上述情况，本发明提供了一种自走式、定高式、适用于大面积农田的农作物精准喷洒***，可以克服地面起伏和不同农作物的生长高度，实现自动化的精准喷洒，减轻大面积农田喷洒负担，提高喷洒效率。
为达到上述目的，本发明的实施例采用如下技术方案：
一种农作物精准喷洒***，包括：
田间行走机构，包括N(N≥2)辆能在田间行走的小车；
高度调节机构，包括N根伸缩杆及N台伸缩机构，所述N根伸缩杆分别垂直安装在N辆小车的顶部，所述N台伸缩机构分别安装在N根伸缩杆上，所述伸缩杆的长度可在所述伸缩机构的控制下进行伸缩；
输送及喷洒机构，包括药箱、泵、运输管以及喷头，所述药箱和泵安装在所述小车内，药箱的出口安装泵，并连接所述伸缩杆的一端；所述运输管架设在伸缩杆之间，运输管的两端分别连接伸缩杆的另一 端；所述喷头具有多个，均匀分布安装在所述运输管上；
测距***，包括测距装置和主控模块，均安装在所述运输管上，所述主控模块与所述测距装置以及所述伸缩机构电连接。
依照本发明的一个方面，还包括运输管张紧机构，包括上方卷扬机构、牵引绳以及两侧卷扬机构；所述上方卷扬机构安装在所述伸缩杆的顶部，所述牵引绳具有多条，其一端连接所述上方卷扬机构，另一端分别固定在所述运输管的不同位置；所述牵引绳的长度可在所述上方卷扬机构的控制下进行收放；所述两侧卷扬机构安装在所述伸缩杆与运输管的联结处，所述运输管的长度可在所述两侧卷扬机构的控制下进行收放。
依照本发明的一个方面，所述N辆小车内分别安装有可保证N辆小车平行及同步运动的N个定位模块。
依照本发明的一个方面，所述伸缩杆为内部中空的密封防水管，药液在所述伸缩杆内部输送；或者，所述伸缩杆的内部或外部安装有沿着伸缩杆长度延伸的软管，药液在所述软管中输送。
依照本发明的一个方面，所述喷头内具有流量控制单元；当喷头处于所述两侧卷扬机构外时，所述流量控制单元打开，可进行作业；当喷头处于所述两侧卷扬机构内时，所述流量控制单元关闭，不进行作业。
本发明实施的优点：
本发明在田间行进时，测距装置同步测得与农作物顶部的距离，反馈给主控模块，主控模块控制伸缩机构动作，调整连接喷头的运输管的高度，保证喷头与农作物顶部的距离，实现精准喷洒。无需人为操控，有效避免因地势不平或者农作物种类不同而盲目人为调节，造成多喷或漏喷，提高农作物药物的喷洒精准度，提高喷洒均匀度，提高农药利用率，减轻大面积农田喷洒负担，提高喷洒效率。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一种实施例的结构示意图。
图2是本发明一种实施例的原理框图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1和图2所示，本发明一种实施例的组成结构如下：
田间行走机构，包括两辆能在田间行走的小车1。小车上装有定位模块2，通过GPS、差分法、北斗等进行定位，可以确保两辆小车1保持平行及同步运动。
高度调节机构，包括两根伸缩杆3及两台伸缩机构4。两根伸缩杆3分别垂直安装在两辆小车1的顶部，两台伸缩机构4分别安装在两根伸缩杆3上。伸缩杆3的长度可在伸缩机构4的控制下进行伸缩。第一种方案，伸缩杆3本身为密封防水管，内部中空，药液可直接在伸缩杆3内部输送。第二种方案，伸缩杆3本身不输送药业，而是在伸缩杆3的内部或外部安装有沿着伸缩杆3长度延伸的软管，药液通过该软管输送。
输送及喷洒机构，包括药箱5、泵6、运输管7以及喷头8。药箱5和泵6安装在两辆小车1内，泵6安装在药箱5的出口处，药箱5的出口处连接伸缩杆3的一端。运输管7架设在两根伸缩杆3之间，运输管7的两端分别连接两根伸缩杆3的另一端。喷头8为可控流量喷头，具有多个，均匀分布安装在运输管7上。每个喷头8内都具有独立的流量控制单元9。当喷头8处于两侧卷扬机构12外时，该喷头8的流量控制单元9打开，该喷头8可进行作业；当喷头8被卷入两侧卷扬机构12内时，该喷头8的流量控制单元9关闭，该喷头8不进行作业，避免农药泄漏到两侧卷扬机构12里。
运输管张紧机构，包括上方卷扬机构10、牵引绳11以及两侧卷扬机构12。上方卷扬机构10和牵引绳11的作用是把运输管7往上拉或往下放，两侧卷扬机构12的作用是是控制运输管7的长度。上方卷扬机构10安装在两根伸缩杆3的顶部，牵引绳11具有多条，牵引绳11 的一端连接上方卷扬10机构，另一端分别固定在运输管7的不同位置，牵引绳11的长度可在上方卷扬机构10的控制下进行收放。两侧卷扬机构12安装在两根伸缩杆3与运输管7的联结处，运输管7的长度可在两侧卷扬机构12的控制下进行收放。
测距***，包括测距装置13和主控模块14。测距装置13和主控模块14安装在运输管7上或者喷头8上。主控模块14与测距装置13以及伸缩机构4、上方卷扬机构10以及两侧卷扬机构12电连接。
结合图1和图2，本发明的工作原理如下：
本发明工作时，通过泵6将药箱5中的农药打到运输管7中，喷头8开始工作，喷洒农药，同时两辆小车1开始同步运动。农作物的高低通过运输管7上的测距装置13反馈数据(测距装置与农作物顶面的距离)后，主控模块14控制伸缩机构4工作，上下调节运输管7的高度，使运输管7与农作物顶端的距离保持一定值(例如10cm，此定值可根据不同农作物、不同药剂的施药高度要求调节)。
当两辆小车1距离相近时，运输管7中间会下垂，通过上方卷扬机构10将牵引绳11拉紧，把运输管7往上拉。但是，如果仅仅靠上方卷扬机10和牵引绳11的牵引，运输管7还是会在重力的作用下微微往下弯曲。因此需要两侧卷扬机构12的配合，通过两侧卷扬机构12来控制运输管7的长度，使得运输管7张紧，保证运输管7呈直线状态维持在一定的水平高度，同时运输管7上的各个喷头8保持垂直向下。
图2中的白色“箭头”表示的是农药运输线路，黑色“箭头”表示的是控制线路。
上述实施例采用了两辆小车，两辆小车之间的距离有一极限值，不能离开的太远，这是因为如果两辆小车离的过远的话，运输管上的重力作用就会太大，即使用张紧机构也不能克服重力作用而保证运输管的张紧。因此当面对更大面积的喷洒任务时，就需要以上述实施例的结构为单位进行横向复制，设置平行同步运动的三辆、四辆甚至更多辆的小车，以覆盖更大的喷洒面积。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本领域技术的技术人员在本发明公开的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。 因此，本发明的保护范围应以所述权利要求的保护范围为准。

Claims (5)

  1. 一种农作物精准喷洒***，其特征在于包括：
    田间行走机构，包括N(N≥2)辆能在田间行走的小车；
    高度调节机构，包括N根伸缩杆及N台伸缩机构，所述N根伸缩杆分别垂直安装在N辆小车的顶部，所述N台伸缩机构分别安装在N根伸缩杆上，所述伸缩杆的长度可在所述伸缩机构的控制下进行伸缩；
    输送及喷洒机构，包括药箱、泵、运输管以及喷头，所述药箱和泵安装在所述小车内，药箱的出口安装泵，并连接所述伸缩杆的一端；所述运输管架设在伸缩杆之间，运输管的两端分别连接伸缩杆的另一端；所述喷头具有多个，均匀分布安装在所述运输管上；
    测距***，包括测距装置和主控模块，均安装在所述运输管上，所述主控模块与所述测距装置以及所述伸缩机构电连接。
  2. 根据权利要求1所述的农作物精准喷洒***，其特征在于：还包括运输管张紧机构，包括上方卷扬机构、牵引绳以及两侧卷扬机构；所述上方卷扬机构安装在所述伸缩杆的顶部，所述牵引绳具有多条，其一端连接所述上方卷扬机构，另一端分别固定在所述运输管的不同位置；所述牵引绳的长度可在所述上方卷扬机构的控制下进行收放；所述两侧卷扬机构安装在所述伸缩杆与运输管的联结处，所述运输管的长度可在所述两侧卷扬机构的控制下进行收放。
  3. 根据权利要求1所述的农作物精准喷洒***，其特征在于：所述N辆小车内分别安装有可保证N辆小车平行及同步运动的N个定位模块。
  4. 根据权利要求1所述的农作物精准喷洒***，其特征在于：所述伸缩杆为内部中空的密封防水管，药液在所述伸缩杆内部输送；或者，所述伸缩杆的内部或外部安装有沿着伸缩杆长度延伸的软管，药液在所述软管中输送。
  5. 根据权利要求2所述的农作物精准喷洒***，其特征在于：所述喷头内具有流量控制单元；当喷头处于所述两侧卷扬机构外时，所述流量控制单元打开，可进行作业；当喷头处于所述两侧卷扬机构内时，所述流量控制单元关闭，不进行作业。
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