Bacteria container, bacteria box, unmanned spraying boat and hull balance control method

Abstract

The present invention discloses a bacterial agent container, a bacterial agent box, an unmanned spraying boat, and a hull balance control method. The container may include: a container body, a plurality of baffles are arranged in the container body; the baffles are installed inside the container body through a connecting shaft, and one end of at least one connecting shaft extends out of the container body for external connection to a first driving mechanism; at least one connecting shaft can drive the baffle connected thereto to swing to a preset position under the drive of the first driving mechanism externally connected to the connecting shaft. The baffle arranged in the container body can swing to a preset position under the drive of the first driving mechanism externally connected to the connecting shaft, and can effectively block the flow of the bacterial agent in the container body under the action of inertia. It not only avoids the overflow of the bacterial agent, but also prevents the bacterial agent from colliding with the inner wall of the container body, thereby effectively extending the service life of the bacterial agent container and further saving costs.

Description

Technical Field

[0001] The present invention relates to the technical field of agent spraying, and in particular to a bacterial agent container, a bacterial agent box, an unmanned spraying boat and a hull balance control method. Background Art

[0002] In the past few decades, the placement of microbial agents has been almost entirely done manually. This method of manual placement is not only labor-intensive and inefficient, but also limited by the technical level of the person placing the agents and the influence of various environmental factors such as rivers and sea surfaces. It is often impossible to achieve accurate and quantitative placement at a designated location. At the same time, because the working and geographical environments are relatively complex and the operating environment is unstable, there are certain risks for the staff.

[0003] In recent years, with the development of science and technology, in order to replace the workers who put inoculation agents to perform repetitive and long-term work, and replace some work modes or methods with high construction costs and large manpower input, more and more unmanned boats have been applied to aquaculture and other fields, which provides new skills for realizing large-scale water operations. An unmanned boat is a surface robot that can navigate on the water and perform surface operations with the help of a positioning system and a control system. For example, in the aquaculture industry, it is necessary to regularly apply drugs or fertilizers to the aquaculture water body, and the unmanned boat can quickly and efficiently complete this surface operation.

[0004] After adding the inoculant container, the existing unmanned boat changes the distribution of the boat's weight. When the unmanned boat suddenly accelerates, brakes or makes a sharp turn, the inoculant (medicine) in the inoculant container hits the inner wall of the container, which can easily cause the boat to capsize or flip forward and backward, causing damage to the equipment. Summary of the invention

[0005] In view of the above problems, the present invention is proposed to provide a bacterial agent container, a bacterial agent box, an unmanned spraying boat and a hull balance control method that overcome the above problems or at least partially solve the above problems.

[0006] In a first aspect, an embodiment of the present invention provides an inoculant container, which may include: a container body, wherein a plurality of baffles are arranged inside the container body; the baffles are installed inside the container body through connecting shafts, and one end of at least one connecting shaft extends out of the container body for external connection to a first driving mechanism; at least one connecting shaft, under the drive of the first driving mechanism, can drive the baffle connected thereto to swing to a preset position.

[0007] Optionally, one end of at least one of the connecting shafts extends out of the container body for externally connecting to a second driving mechanism, and the other end of the connecting shaft abuts against the inner wall of the container body. At least one of the connecting shafts can drive a baffle connected thereto to rotate when driven by the second driving mechanism.

[0008] Optionally, the cross-section of the container body in the horizontal direction is annular.

[0009] Optionally, a liquid outlet pipe is provided at the bottom of the container body, and the liquid outlet pipe is used for connecting an external spraying device.

[0010] Optionally, a liquid level meter is further provided in the container body, and the liquid level meter is used to detect the liquid level of the bacterial agent in the container body.

[0011] In a second aspect, an embodiment of the present invention provides a microbial agent box, which may include the microbial agent container of the first aspect, a first driving mechanism, and a slave controller connected to the first driving mechanism; at least one connecting shaft in the microbial agent container is connected to the first driving mechanism;

[0012] The first driving mechanism is used to receive the control instruction from the slave controller and drive the baffle connected to at least one connecting shaft to swing to a preset position.

[0013] Optionally, the inoculant box may further include a second driving mechanism; the second driving mechanism is connected to at least one connecting shaft in the inoculant container, and is used to receive control instructions from the controller and drive a baffle connected to at least one connecting shaft to rotate.

[0014] Optionally, the slave controller is further used to receive the inoculant liquid level parameter sent by the liquid level meter, and control the operation of the first driving mechanism according to the inoculant liquid level parameter.

[0015] In a third aspect, an embodiment of the present invention provides an unmanned spraying boat, which may include: a first driving mechanism and a main controller connected to the first driving mechanism, and may also include the bacterial agent container described in the first aspect; at least one connecting shaft in the bacterial agent container is connected to the first driving mechanism; the first driving mechanism is used to receive control instructions from the main controller and drive a baffle connected to at least one connecting shaft to swing to a preset position.

[0016] In a fourth aspect, an embodiment of the present invention provides another unmanned spraying boat, which may include a main controller and the bacterial agent box described in the second aspect;

[0017] The master controller is connected to the slave controller;

[0018] The slave controller is used to receive control instructions from the middle controller and drive a baffle connected to at least one connecting shaft to swing to a preset position.

[0019] In the fifth aspect, an embodiment of the present invention provides a hull balance control method for an unmanned spraying boat, wherein the main controller forms a control instruction based on the acquired driving parameters of the unmanned spraying boat; and the first driving mechanism drives the baffle to swing to a preset position opposite to the driving direction of the unmanned spraying boat according to the control instruction.

[0020] In a sixth aspect, an embodiment of the present invention provides a method for spraying a microbial agent, which uses the unmanned spraying boat of the third aspect or the fourth aspect for spraying.

[0021] The beneficial effects of the above technical solution provided by the embodiment of the present invention include at least:

[0022] The embodiment of the present invention provides a bacterial agent container, a bacterial agent box, an unmanned spraying boat, and a hull balance control method. The bacterial agent container may include: a container body, a plurality of baffles are arranged in the container body; the baffles are installed inside the container body through a connecting shaft, and one end of at least one connecting shaft extends out of the container body for external connection to a first driving mechanism; at least one connecting shaft can drive the baffle connected thereto to swing to a preset position under the drive of the first driving mechanism. The baffle arranged in the container body can swing to a preset position under the drive of the first driving mechanism externally connected to the connecting shaft, and can effectively block the flow of the bacterial agent (medicine) in the container body under the action of inertia. It not only avoids the overflow of the bacterial agent (medicine), but also prevents the bacterial agent (medicine) from colliding with the inner wall of the container body, thereby effectively extending the service life of the bacterial agent container and further saving costs.

[0023] Preferably, when the carrier of the microbial agent container suddenly starts or brakes, part of the baffle can be controlled to swing to a preset position. For example, when starting, the microbial agent in the microbial agent container will tend to tilt in the opposite direction under the action of inertia. If part of the baffle is controlled to tilt forward, the impact of the microbial agent on the inner wall of the microbial agent container can be effectively blocked. When braking suddenly, the microbial agent will continue to move forward under the action of inertia. If part of the baffle is controlled to tilt backward, the impact of the microbial agent on the inner wall of the microbial agent container can also be blocked. Furthermore, the microbial agent container is used in an unmanned spraying boat. Since the unmanned spraying boat is suddenly started or braked urgently when operating on the water surface, the baffle in the microbial agent container blocks the impact of the microbial agent on the inner wall of the microbial agent container, thereby avoiding the possibility of the unmanned spraying boat tipping over or flipping forward and backward, and ensuring the safety performance of the spraying operation.

[0024] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0025] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0027] Figure 1 This is one of the structural schematic diagrams of the bacterial agent container provided in Example 1 of the present invention;

[0028] Figure 2 This is the second structural schematic diagram of the bacterial agent container provided in Example 1 of the present invention;

[0029] Figure 3 This is the unmanned spraying boat provided in Example 1 of the present invention.

[0030] Among them, 1 is a bacterial agent container; 2 is a first driving mechanism; 3 is a main controller; 4 is a second driving mechanism; 5 is a slave controller;

[0031] 11 is the container body; 12 is the baffle; 13 is the connecting shaft; 14 is the liquid level gauge;

[0032] 111 is a mounting hole; 112 is a groove; 113 is a liquid outlet pipe; 131 is a first connecting shaft; 132 is a second connecting shaft. DETAILED DESCRIPTION

[0033] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0034] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] Example 1

[0037] In the first embodiment of the present invention, a microbial agent container is provided, which is used to contain and store agents. For example, in the field of aquaculture, the microbial agent container can be convenient for containing agents when spraying on the water surface. Figure 1 As shown, the inoculum container 1 may include a container body 11, in which a plurality of baffles 12 are arranged; the baffles 12 are installed inside the container body 11 through connecting shafts 13, and one end of at least one connecting shaft 13 extends out of the container body 11 for externally connecting a first driving mechanism (see Figure 3 at least one connecting shaft 13 driven by the first driving mechanism can drive the baffle 12 connected thereto to swing to a preset position.

[0038] It should be noted that the connecting shaft in this embodiment can be divided into a first connecting shaft 131 and a second connecting shaft 132 (described in the following embodiments), wherein the first connecting shaft 131 can be externally connected to a first driving mechanism, and the second connecting shaft 132 can be externally connected to a second driving mechanism. Figure 1 As shown, a mounting hole 111 is preset on the wall of the container body 11, for example, a mounting hole for mounting the connecting shaft is reserved on the top wall or the side wall. Preferably, a mounting hole is preset on the top wall. More preferably, a bearing assembly (not shown in the figure) can be embedded in the mounting hole to facilitate the swing or rotation of the connecting shaft. Of course, a hole can also be opened on the wall of the container body when installing the connecting shaft. In this embodiment, there is no specific limitation on the preset mounting hole or the hole opened when installing the connecting shaft, as long as the connecting shaft can be installed and limited inside the container body and can be externally connected to a driving mechanism.

[0039] It should also be noted that the first driving mechanism in this embodiment can be a three-degree-of-freedom connecting rod power mechanism, as long as it can drive the connecting shaft to swing forward and backward and axially extend and retract, and this embodiment does not specifically limit this. If the driving mechanism can achieve both left and right forward and backward swinging and axial rotation, it can be used as the first driving mechanism and the second driving mechanism at the same time, that is, the first driving mechanism and the second driving mechanism are no longer distinguished.

[0040] In the above-mentioned inoculant container provided in the embodiment of the present invention, the baffle plate provided in the container body can be swung to a preset position under the drive of the first drive mechanism externally connected to the connecting shaft, and can effectively block the flow of the inoculant (medicine) in the container body under the action of inertia. This not only avoids the overflow of the inoculant (medicine), but also prevents the inoculant (medicine) from colliding with the inner wall of the container body, thereby effectively extending the service life of the inoculant container and further saving costs.

[0041] In another alternative embodiment, referring to Figure 1 As shown, one end of at least one connecting shaft 13 of the bacterial agent container extends out of the container body for externally connecting to a second driving mechanism (see Figure 3 The second drive mechanism 4 in the container body), the other end of the connecting shaft 13 is in contact with the inner wall of the container body, and at least one connecting shaft can drive the baffle connected thereto to rotate under the drive of the second drive mechanism. The connecting shaft in this embodiment is the second connecting shaft 132, and the connected second drive mechanism can be a forward and reverse rotation servo motor. Figure 1 As shown, the other end of the connecting shaft in this embodiment abuts against the inner wall of the container body. The inventors found that this design is more stable. At the same time, a groove 112 or a bearing structure assembly (not shown in the figure) is pre-installed on the inner wall of the container body where the connecting shaft abuts, so that the stirring force output by the baffle is more balanced during rotation and stirring. This embodiment does not specifically limit the structure of the contact between the connecting shaft and the bottom wall.

[0042] In this embodiment, the second driving mechanism drives the connecting shaft connected to it to rotate, which in turn drives the baffle connected to it to rotate, thereby effectively stirring the bacterial agent (medicine) in the bacterial agent container, preventing the solvent in the bacterial agent (medicine) from precipitating or settling, and thus enabling the medicine to be fully dissolved and sprayed, thereby preventing the nozzle of the spraying device connected to it from being blocked.

[0043] In another optional embodiment, since the existing inoculant container is a hollow rectangular or cylindrical structure, it is placed on the spraying side of the carrier (such as an unmanned boat) when in use. After the inoculant is filled in the inoculant container, the weight distribution of the original carrier will be changed, which can easily cause the carrier to tip over or flip forward and backward. After many experiments by the inventors, the use of a ring-shaped inoculant container can effectively average the gravity distribution. Figure 2As shown, the cross section of the container body of the above-mentioned bacterial agent container in the horizontal direction is annular. In this embodiment, in order to make the bacterial agent (medicine) contained in the container body 11 more evenly distributed and more easily adapt to water or road operation carriers such as unmanned boats, the inventor sets the container body in an annular shape, and the bacterial agent (medicine) contained therein is evenly distributed during use, which will not affect the distribution of the overall weight of the bacterial agent container carrier. More preferably, the baffles are evenly distributed in the annular chamber of the bacterial agent container, so that the stirring or blocking of the bacterial agent is more uniform.

[0044] In another alternative embodiment, referring to Figure 2 As shown, a liquid outlet pipe 113 is provided at the bottom of the container body 11, and the liquid outlet pipe 113 is used for an external spraying device. The inventors found that compared with the existing liquid outlet pipe of the microbial agent container, which is arranged on the side wall of the container body and connected to the hydraulic chamber of the spraying device, although it is more convenient in process processing and external spraying device, the microbial agent (medicine) at the bottom of the microbial agent container cannot be sprayed out for a long time, that is, it is easy to cause the microbial agent (medicine) at the bottom to precipitate or crystallize, thereby affecting the spraying operation. Therefore, an outlet is provided at the bottom of the container body, and the outlet is slightly lower. After being connected to the hydraulic chamber of the spraying device, the microbial agent (medicine) flows from the bottom of the microbial agent container to the spraying device, so as to prevent part of the microbial agent from remaining at the bottom of the container, thereby causing waste of the microbial agent and avoiding precipitation of residual microbial agent powder.

[0045] In another alternative embodiment, referring to Figure 2 As shown, a liquid level meter 14 is also provided in the container body 11, and the liquid level meter is used to detect the liquid level of the bacterial agent in the container body. The above-mentioned liquid level meter in this embodiment can be an electronic liquid level meter, which can monitor the height of the liquid medium in the container in real time, and send the monitored liquid level to the receiving end on the opposite side (such as the slave controller in Example 2 or the main controller of the unmanned spraying ship). Furthermore, the controller can generate a control instruction for adjusting the position of the baffle according to the content of the bacterial agent in the container body, and control the driving mechanism to adjust the position of the baffle, so as to effectively complete the blocking or drainage of the bacterial agent. For example, when the liquid level of the bacterial agent is high, the inertia of the bacterial agent is overcome, and the baffle is adjusted to tilt in the opposite direction of the movement of the bacterial agent container; when the liquid level of the bacterial agent is low, the baffle is retracted or parallel to the flow direction of the bacterial agent, which is conducive to the drainage of the bacterial agent.

[0046] Based on the same inventive concept, the embodiment of the present invention also provides an unmanned spraying boat, referring to Figure 3As shown, the unmanned spraying boat may include: a first driving mechanism 2 and a main controller 3 connected to the first driving mechanism 2, and may also include the above-mentioned bacterial agent container 1. At least one connecting shaft 13 in the bacterial agent container 1 is connected to the first driving mechanism 2; the first driving mechanism 2 is used to receive the control instruction of the main controller 3, and drive the baffle connected to at least one connecting shaft to swing to a preset position. The baffle in this embodiment can be associated with the hull driving and braking device (driving mechanism, braking mechanism), so that when the hull accelerates or brakes, the direction of the baffle is controlled to swing to the direction most suitable for controlling the flow of the bacterial agent. For example, when the hull suddenly accelerates, the direction of the baffle is controlled to be biased towards the bow to partially offset the impact force of the bacterial agent backward. The several baffles arranged inside are used as a stirrer when driven, and are basically arranged horizontally with the horizontal axis of the annular container when stationary. When the hull suddenly changes speed, it plays a role in delaying the impact of the water flow and preventing the hull from tilting or tilting forward and backward.

[0047] In this embodiment, the main controller of the unmanned spraying boat can be a CPU or MCU (microcontroller unit), which can control the unmanned spraying boat to perform spraying operations in the water area. Of course, the unmanned spraying boat needs a hull, a power mechanism, a spraying device, a positioning and navigation system, etc., which will not be described in detail in this embodiment. It should be noted that the first driving mechanism in this embodiment can be a part of the power mechanism of the unmanned spraying boat, or it can be a power mechanism installed separately on the hull, and this embodiment does not make any specific limitations on this.

[0048] In an optional embodiment, also refer to Figure 3 As shown, the unmanned spraying boat may further include a second driving mechanism 4 connected to at least one connecting shaft, the second driving mechanism 4 is also connected to the main controller 3, and receives the control instruction of the main controller 3, drives the connecting shaft connected thereto to rotate, and drives the baffle to rotate, so as to stir the bacterial agent. Since the bacterial agent is a suspension, after the bacterial agent is loaded, the baffle should be swung or rotated to keep the suspension from settling.

[0049] In an optional embodiment, the above-mentioned inoculum container in this embodiment is in a ring shape and evenly distributed on the hull, so that the unmanned boat is basically evenly distributed. Figure 3 As shown in FIG. 1 , the microbial agent container is nested outside the ship island. The areas of the vertical cross sections of the container are substantially the same, and the container is substantially horizontally symmetrically arranged on the hull with the center of the hull deck as the center. At least one spraying device is docked, and the liquid outlet pipe at the junction of the microbial agent container and the spraying device is slightly lower than other positions of the container, so that the microbial agent can flow to the hydraulic tank of the spraying device.

[0050] In an optional embodiment, the liquid level meter in the inoculant container is also used to send the real-time monitored liquid level to the main controller. When the volume of the inoculant in the container is relatively large, the main controller controls the baffle to remain in a position basically parallel to the cross-section of the container. As the volume of the inoculant decreases, the main controller controls the baffles to tilt toward the position closest to the liquid outlet until they are nearly parallel to the longitudinal axis of the container to facilitate the flow of the inoculant.

[0051] Based on the same inventive concept, an embodiment of the present invention also provides a hull balance control method for an unmanned spraying boat, wherein the main controller forms a control instruction based on the obtained driving parameters of the unmanned spraying boat. The main controller sends the control instruction to the first drive mechanism, and the first drive mechanism drives the baffle to swing to a preset position opposite to the driving direction of the unmanned spraying boat according to the control instruction. This patent is to ensure the self-balance of the hull after placing a bacterial agent box on the hull. The baffle design can stir the bacterial agent, and can also block the bacterial agent when the hull is accelerated or braked to prevent impact on the bulkhead, thereby playing an effective buffering role.

[0052] Based on the same inventive concept, an embodiment of the present invention further provides a method for spraying a microbial agent, which includes using the above-mentioned unmanned spraying boat for spraying.

[0053] For specific examples and descriptions of beneficial effects of the method described in this embodiment, reference can be made to the description of the above-mentioned bacterial agent container, which will not be repeated here.

[0054] Example 2

[0055] A microbial agent box is provided in an embodiment of the present invention. The microbial agent box may include the microbial agent container in Example 1, a first driving mechanism and a slave controller connected to the first driving mechanism; at least one connecting shaft in the microbial agent container is connected to the first driving mechanism; the first driving mechanism is used to receive control instructions from the slave controller and drive a baffle connected to at least one connecting shaft to swing to a preset position.

[0056] In an optional embodiment, the inoculant box may further include: a second drive mechanism; the second drive mechanism is connected to at least one connecting shaft in the inoculant container, and is used to receive a control instruction from the controller and drive a baffle connected to at least one connecting shaft to rotate.

[0057] In an optional embodiment, the slave controller is further used to receive the inoculant liquid level parameter sent by the liquid level meter, and to form a control instruction according to the inoculant liquid level parameter, and to control the first driving mechanism to operate according to the control instruction.

[0058] Based on the same inventive concept, an embodiment of the present invention also provides an unmanned spraying boat, which includes a main controller and the above-mentioned bacterial agent box, and the main controller is connected to the slave controller; the slave controller is used to receive control instructions from the central controller and drive a baffle connected to at least one connecting shaft to swing to a preset position.

[0059] Specific examples and beneficial effects of the microbial agent box, unmanned boat, and method described in this embodiment can refer to the description of the microbial agent container mentioned above, and will not be repeated here.

[0060] Obviously, various changes and modifications may be made to the present invention by those skilled in the art without departing from the spirit and scope of the present invention. The present disclosure is not limited to the precise structure described above and shown in the accompanying drawings, and various changes and modifications may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims. Thus, if these changes and modifications of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these changes and modifications.

Claims

1. A bacterial agent container, comprising: The container body is characterized in that a plurality of baffles and a liquid level meter for detecting the liquid level of the bacterial agent in the container body are arranged in the container body; the baffles are installed inside the container body through a connecting shaft, and one end of at least one of the connecting shafts extends out of the container body for external connection with a first driving mechanism; at least one of the connecting shafts drives the baffle connected thereto to swing to a preset position under the drive of the first driving mechanism; One end of at least one of the connecting shafts extends out of the container body for externally connecting to a second driving mechanism, and the other end of the connecting shaft abuts against the inner wall of the container body. At least one of the connecting shafts can drive the baffle connected thereto to rotate under the drive of the second driving mechanism; A liquid outlet pipe is arranged at the bottom of the container body, and the liquid outlet pipe is used for connecting an external spraying device.

2. The bacterial agent container according to claim 1, characterized in that: The horizontal cross section of the container body is annular.

3. A bacterial agent box, characterized in that: It comprises the inoculant container as claimed in claim 1 or 2, a first driving mechanism, a second driving mechanism and a slave controller connected to the first driving mechanism and the second driving mechanism; At least one connecting shaft in the inoculant container is connected to the first driving mechanism; The first driving mechanism is used to receive the control instruction from the slave controller and drive the baffle connected to at least one connecting shaft to swing to a preset position; The second driving mechanism is connected to at least one connecting shaft in the inoculant container, and is used to receive a control instruction from the controller and drive a baffle connected to at least one connecting shaft to rotate.

4. An unmanned spraying boat, comprising: A first driving mechanism and a main controller connected to the first driving mechanism, characterized in that the unmanned spraying boat is equipped with a bacterial agent container as claimed in claim 1 or 2; at least one connecting shaft in the bacterial agent container is connected to the first driving mechanism; the first driving mechanism is used to receive control instructions from the main controller and drive a baffle connected to at least one connecting shaft to swing to a preset position.

5. A hull balance control method for an unmanned spraying boat as claimed in claim 4, characterized in that: The main controller generates a control instruction according to the acquired driving parameters of the unmanned spraying boat; the first driving mechanism drives the baffle to swing to a preset position opposite to the driving direction of the unmanned spraying boat according to the control instruction.

6. A method for spraying a microbial agent, characterized in that: The spraying is carried out using the unmanned spraying boat as claimed in claim 4.

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