spraying unit

Abstract

The invention relates to a spraying unit comprising a shaft (10), a disc (20), a liquid applicator (40) and a spray direction assembly (50). The disc is configured to rotate about an axis centered with a center of the disc. The liquid applicator is configured to apply liquid to a surface of the disc. The spray direction assembly partially surrounds the disc. An inner surface of the spray direction assembly is configured to modify a trajectory of all liquid exiting an outer edge of the disc.

Description

Technical Field

[0001] The present invention relates to a spraying unit and a vehicle having such a spraying unit. Background Technology

[0002] The general background of this invention is the application of pesticides to crops. The sprayed liquid must be atomized. This is typically accomplished using hydraulic nozzles. A more complex method is to use a rotating disc. When the vehicle used for spraying pesticides is a drone or unmanned aerial vehicle (UAV), dedicated spraying technologies need careful consideration because it adds weight and energy requirements. Therefore, rotating discs have the potential to be an effective atomization system for drone applications. This is because they generally have lower energy requirements for generating droplets, and other components are compatible with battery-powered drones.

[0003] However, rotating discs are characterized by spray blades that appear horizontally within the plane of the disc, and these blades require a method to guide them toward the target crop. This can be achieved by tilting the disc to the side and adding a protective shield to block spray in unwanted directions. However, this involves the complexity of designing and manufacturing a device for collecting and recovering blocked spray (see Micron Herbiflex 4; http: / / www.microngroup.com / agriculture / herbiflex-4). Furthermore, the output from the rotating disc is significantly reduced, requiring additional atomizing units to compensate.

[0004] In unmanned aerial vehicles (UAVs), this is achieved by placing a rotating disc beneath a rotor, allowing the so-called downwash effect (the wind generated by the rotor) to guide the spray blades downwards toward the target crop. Similar air assistance for directional spray blades can be applied to land-based vehicles such as tractors and unmanned ground vehicles (UGVs) equipped with booms or separate atomizing units. However, the combination of a rotating disc and a rotor or similar air assistance produces a cone-shaped spray pattern, resulting in uneven deposition on the target crop as the application vehicle travels through the target field. Deposition is higher at the edges and lower in the center, resulting in an M-shaped deposition. For deposition to be uniform across the spray width, a rotating disc atomizing device is needed that can produce a directional spray blade with uniform deposition across the working width, regardless of the number of spraying units placed on the sprayer. Summary of the Invention

[0005] It would be advantageous to have improved devices for spraying liquids (such as those containing chemical and / or biological agricultural active ingredients).

[0006] The objectives of the invention are achieved through the subject matter of the independent claims, wherein other embodiments are incorporated in the dependent claims. It should be noted that the aspects and embodiments of the invention described below are also applicable to spraying units and vehicles having one or more spraying units.

[0007] In a first aspect, a spraying unit is provided. The spraying unit includes a shaft, a disc, a liquid injector, and a spray direction assembly. The disc is configured to rotate about the shaft centered on the center of the disc. The liquid injector is configured to apply liquid to the surface of the disc. The spray direction assembly partially surrounds the disc. The inner surface of the spray direction assembly is configured to modify the trajectory of all liquid departing from the outer edge of the disc.

[0008] In other words, a spray unit with a rotating disc containing a fixed shroud of a specific shape guides the spray blades into a fan shape rather than a hollow cone. The fixed shroud is configured to surround the rotating disc in a way that allows it to capture atomized droplets from the rotating disc and guide them in the desired direction.

[0009] In this way, the correct application of active ingredients to each plant per unit area of ​​land can be provided.

[0010] In one embodiment, the spray direction component has a hemispherical shape with opposing overhanging sidewalls and holes in the top region and in the bottom region.

[0011] In one embodiment, the shaft extends vertically through the center of the hole in the top region of the spray direction component.

[0012] In this way, the spray direction component can be optimally positioned relative to the spray axis and the rotating disc to maximize its influence on the trajectory of all liquids leaving the outer edge of the disc.

[0013] In one embodiment, the diameter of the hole in the bottom region of the spray direction component is larger than the diameter of the hole in the top region of the spray direction component.

[0014] In one embodiment, the edge of the disc is positioned close to the inner surface of the spray direction component and close to the top region of the spray direction component.

[0015] In this way, the spray direction component directly affects the trajectory of all liquid leaving the disc without any adverse effects, such as on droplet size, structure, or distribution.

[0016] In one embodiment, the shortest distance between the edge of the disc and the inner surface of the spray direction component is between 100 micrometers and 1 millimeter.

[0017] In one embodiment, the inner surface of the spray direction assembly near the hole in the bottom region of the spray direction assembly is arranged at an angle to the plane of the surface of the disc, and the liquid exits the spray direction assembly through the hole in the bottom region of the spray direction assembly.

[0018] In this way, the rotating disc can be operated in a horizontal position, and the effects of centrifugal force can be optimally utilized to atomize the liquid. However, the atomized liquid can be guided toward the target area and / or crop to be sprayed by the spray direction component, which is typically set at an angle relative to the horizontal position of the rotating disc.

[0019] In one embodiment, the inner surface of the spray direction component includes a plurality of walls, wherein the orientation of the plurality of walls extends in a plane substantially perpendicular to the lateral sides of the disc, and wherein one or more planes of the plurality of walls are substantially perpendicular to the plane of the surface of the disc.

[0020] In this way, channels or grooves are created as part of the spray direction component, which helps in the targeted distribution of spray droplets.

[0021] In one embodiment, a plurality of walls are radially positioned around the disc and preferably at equal distances from the disc.

[0022] In one embodiment, the spray direction component has a circular orifice in the top region and an elliptical orifice in the bottom region.

[0023] In other words, the elliptical holes at the bottom of the spray direction component help to achieve a flat fan-shaped spray pattern.

[0024] In one embodiment, the inner surface of the spray direction component has a low-friction surface.

[0025] In this way, the individual droplets formed by the rotating disc roll on the inner surface of the spray direction component and do not adhere significantly.

[0026] In one embodiment, the ratio between the diameter of the disc and the maximum diameter of the orifice at the bottom region of the spray direction assembly is between 1:2 and 1:20.

[0027] In one embodiment, the spray direction assembly is double-walled, and the space between the two walls of the spray direction assembly is configured to guide air toward the spray direction.

[0028] In other words, an air curtain within a fixed hood helps transport the spray blades to the target area and / or crop and penetrate into the canopy. This is particularly useful for low spray volumes (e.g., <50 l / ha), where the lower momentum of the spray droplets and cloud reduces droplet penetration into the crop canopy. Air curtains can also be used to mitigate potential wind-induced drift problems.

[0029] In a second aspect, a spray vehicle is provided, comprising at least one spraying unit according to the first aspect.

[0030] In one embodiment, the spray vehicle includes a liquid tank, a spraying unit having a spraying direction assembly configured to direct air toward a spraying direction, at least one actuator, multiple sensors, and a processing unit. The liquid tank is configured to hold liquid. The at least one spraying unit is configured to spray liquid. The at least one actuator is configured to control the airflow through the space of the spraying direction assembly toward the spraying direction. At least one of the multiple sensors is configured to measure the speed of the spray vehicle relative to the ground. At least one of the multiple sensors is configured to measure the direction of air movement relative to the spray vehicle with respect to its front-rear axis. At least one of the multiple sensors is configured to measure the air velocity relative to the spray vehicle. The processing unit is configured to determine the direction of air movement relative to the projection of the front-rear axis onto the ground and to determine the air velocity relative to the ground, the determination including utilizing the speed of the spray vehicle, the direction of air movement relative to the spray vehicle with respect to its front-rear axis, and the air velocity relative to the spray vehicle. The processing unit is configured to control at least one actuator, wherein the determination of at least one instruction for controlling at least one actuator includes utilizing the determined air movement direction of the projection of the front-rear axis onto the ground and the determined air movement speed relative to the ground.

[0031] In other words, the air curtain is designed to allow the airflow to be adjusted to cope with the changing wind conditions in the area to be sprayed, such as to mitigate potential drift.

[0032] Advantageously, the benefits provided by any of the above aspects also apply to all other aspects, and vice versa.

[0033] The above aspects and embodiments will become apparent and will be illustrated with reference to the implementation schemes described below. Attached Figure Description

[0034] An exemplary implementation will now be described with reference to the following figures:

[0035] Figure 1 A schematic configuration of an embodiment of the newly developed spraying unit is shown from a side view perspective;

[0036] Figure 2 The view from the other side shows the... Figure 1 An example of a spraying unit;

[0037] Figure 3 The side view shows the... Figure 1 An embodiment of the spraying unit, wherein multiple walls are located on the inside of the spraying direction assembly;

[0038] Figure 4 The bottom side view shows the... Figure 3 An embodiment of the spraying unit, wherein multiple walls are located on the inside of the spraying direction assembly;

[0039] Figure 5 The bottom side view shows the... Figure 1 An example of a spraying unit;

[0040] Figure 6 It shows according to Figure 1 An embodiment of the spraying unit, wherein the air passage is located in the spraying direction assembly;

[0041] Figure 7 It shows according to Figure 1 An embodiment of a spraying unit having a conical disc-shaped structure;

[0042] Figure 8 A schematic embodiment of a spray vehicle with a spraying unit is shown;

[0043] Figure 9 A schematic embodiment of a spray vehicle with different spraying units and their corresponding spray widths is shown;

[0044] Figure 10 A schematic embodiment of a spray vehicle with a spraying unit is shown, as well as the control of airflow through the spraying direction assembly;

[0045] Figure 11a and Figure 11b Schematic embodiments of a spray vehicle with a spraying unit are shown, as well as the control of airflow through the spraying direction component according to different wind conditions. Detailed Implementation

[0046] Figure 1An embodiment of the spraying unit 10 is shown in a side view. The spraying unit includes a shaft 20, a disc 30, a liquid injector 40, and a spray direction assembly 50. The disc is configured to rotate about an axis centered on the center of the disc. The liquid injector is configured to apply liquid to the surface of the disc. The spray direction assembly partially surrounds the disc. The inner surface 51 of the spray direction assembly is configured to modify the trajectory of all liquids departing from the outer edge of the disc.

[0047] In this way, the spray direction component of the spray unit does indeed guide the spray blades into a fan shape rather than a hollow cone. The fixing hood is configured around the rotating disc in a way that allows the fixing hood to capture atomized droplets from the rotating disc and guide them in the desired direction. As a result, it is easier to provide the correct application of the active ingredient to each plant per unit area of ​​land.

[0048] In one embodiment, the term "disc" refers to a flat disc, but also includes conical discs.

[0049] In one embodiment, the disc includes teeth or serrations disposed on the periphery of the disc.

[0050] In one embodiment, the term "partially surrounding" means that the spray direction assembly is designed and shaped such that all liquids, at least those exiting the outer edge of the disc, are modified in their trajectory. However, because the spray direction assembly has orifices, it only partially surrounds the disc.

[0051] In one embodiment, the spray direction component does not rotate about an axis centered on the center of the disc. In other words, the spray component is in a fixed position relative to the disc, which is configured to rotate about an axis centered on the center of the disc.

[0052] In one embodiment, the liquid injection machine includes at least one feed pipe. The feed pipe is configured to deliver liquid from a tank to a disc and apply the liquid to the disc.

[0053] In one embodiment, the liquid injection machine includes at least one liquid tank and at least one feed pipe.

[0054] In one embodiment, the spray direction component has an outer surface (54).

[0055] In one embodiment, the term "liquid" refers to a liquid comprising chemical and / or bio-based agricultural active ingredients, such as herbicides, insecticides, fungicides, crop nutrients, biostimulants, plant growth regulators, etc.

[0056] In one embodiment, the arrow near the axis indicates the potential direction of rotation of the axis and the disk. This rotation can also be clockwise.

[0057] In one embodiment, the arrow above the flat surface of the disc indicates the direction of centrifugal force and liquid atomization.

[0058] According to one embodiment, the spray direction assembly has a hemispherical shape, the hemispherical shape having opposing overhanging sidewalls and holes 52 in the top region and holes 53 in the bottom region.

[0059] The term "hemispherical" is intended to include shapes other than a true sphere, such as hemispheres or semi-ellipses, or semi-oblong or semi-oblong shapes. For example, the shape may include multiple surfaces with varying degrees of roundness. In such embodiments, small discontinuities may exist where two or more such surfaces meet.

[0060] In one embodiment, the spray direction component has a hemispherical shape.

[0061] In one embodiment, the terms "top region" and "bottom region" refer to geographical locations relative to the ground, where the "bottom region" is closer to the ground than the "top region".

[0062] According to one embodiment, the shaft extends vertically through the center of the hole in the top region of the spray direction assembly.

[0063] In one embodiment, the feed pipe of the liquid injector extends through an orifice in the top region of the spray direction assembly.

[0064] According to one embodiment, the diameter of the hole in the bottom region of the spray direction assembly is larger than the diameter of the hole in the top region of the spray direction assembly.

[0065] In one embodiment, the orifice at the bottom region has a circular or elliptical cross-section. The spray pattern of the atomized liquid exiting the orifice at the bottom region toward the target crop and / or area has the same or similar cross-section as the orifice at the bottom region (and is therefore also circular or elliptical).

[0066] According to one embodiment, the edge of the disc is positioned close to the inner surface of the spray direction assembly and close to the top region of the spray direction assembly.

[0067] In one embodiment, the ratio of the distance between the disc and the hole in the top region of the spray direction assembly to the distance between the disc and the hole in the bottom region of the spray direction assembly is between 1:2 and 1:20, preferably between 1:3 and 1:10.

[0068] According to one embodiment, the shortest distance between the edge of the disc and the inner surface of the spray direction assembly is between 100 micrometers and 1 millimeter, more preferably between 150 micrometers and 500 micrometers.

[0069] According to one embodiment, the inner surface near the hole in the bottom region of the spray direction assembly is arranged at an angle relative to the plane of the surface of the disc, and the liquid exits the spray direction assembly through the hole in the bottom region.

[0070] In other words, the liquid from the disc impacts the inner surface of the spray direction assembly. At the orifice in the bottom region, the atomized liquid exits the spray direction assembly after tilting downwards over its inner surface. The direction of the atomized liquid is controlled by the spatial design of the inner surface at the bottom of the spray direction assembly. The exit direction of the atomized liquid toward the target crop and / or area is arranged at an angle relative to the plane of the disc surface.

[0071] In one embodiment, the spray direction assembly is arranged at an angle substantially perpendicular to the plane of the disc surface. Hereinafter, the term "substantially perpendicular" means an angle of 90°±50°, preferably 90°±30°, more preferably 90°±20°, and most preferably 90°±10°.

[0072] In one embodiment, Figure 1 An arrow next to the atomized liquid leaving the spray direction component indicates an embodiment of the possible direction of the leaving atomized liquid relative to the horizontal surface of the disc.

[0073] In one embodiment, the arrow near the shaft indicates the possible direction of rotation of the shaft. This rotation can also be clockwise.

[0074] In one embodiment, the arrow above the disc indicates the direction of the centrifugal force of the disc and the direction of liquid atomization.

[0075] It should be noted that "atomization" does not refer to individual atoms, but rather to the standard usage of the term in relation to spraying systems, meaning a fine mist of particles of varying sizes.

[0076] Figure 2 The view from the other side shows the... Figure 1 An embodiment of the spraying unit 10. The spraying direction assembly 50 partially surrounds the disc 30 and has holes 52 in the top region for the shaft 20 and the liquid injector 40. The spraying direction assembly 50 also has holes 53 in the bottom region where the atomized liquid exits the spraying unit. Figure 2 The arrow closest to the axis indicates the possible direction of rotation of the axis. This rotation can also be clockwise.

[0077] Figure 3 It shows according to Figure 1In one embodiment of the spraying unit 10, a plurality of walls 70 are located on the inner side of the spraying direction assembly 50. The inner surface 51 of the spraying direction assembly (not numbered in the figure) includes a plurality of walls, wherein the orientation of the plurality of walls extends in a plane substantially perpendicular to the lateral side of the disc, and further wherein the plane of the plurality of walls is substantially perpendicular to the plane of the surface of the disc 30.

[0078] In one embodiment, where the orientation of the plurality of walls is relative to the lateral sides of the disc, the term "substantially perpendicular" refers to an angle of 90°±40°, preferably 90°±30°, and more preferably 90°±20°.

[0079] In one embodiment, where the planes of the plurality of walls are relative to the plane of the surface of the disc, the term “substantially perpendicular” means an angle of 90°±30°, preferably 90°±20°, and more preferably 90°±10°.

[0080] According to one embodiment, a plurality of walls are radially positioned around (circumferentially) a disc and preferably positioned around the disc at equal distances from each other.

[0081] Figure 3 The arrows in the diagram indicate the possible directions of rotation of the axis. This rotation can also be clockwise.

[0082] Figure 4 The bottom side view shows the... Figure 3 In one embodiment of the spraying unit 10, a plurality of walls 70 are located on the inner side of the spraying direction assembly 50. A disc 30 is shown passing through a hole 53 (not labeled) from below. The disc is partially surrounded by the spraying direction assembly. The inner surface 51 of the spraying direction assembly includes a plurality of walls, wherein the orientation of the plurality of walls extends in a plane substantially perpendicular to the lateral sides of the disc, and further wherein the plane of the plurality of walls is substantially perpendicular to the plane of the surface of the disc.

[0083] In one embodiment, the planar surface of the disc refers to a planar circular cross-section in which liquid from a liquid injector impacts the disc, and the centrifugal force of the rotating disc forces the liquid to atomize, and the atomized liquid eventually leaves the disc at the periphery of the planar surface.

[0084] In one embodiment, the arrow indicates the potential direction of rotation of the rotating disk. This direction of rotation can also be clockwise.

[0085] Figure 5 The bottom side view shows the... Figure 1An embodiment of the spraying unit 10. The disc-shaped object 30 (dashed line) is shown as passing through the hole 53 from below. The disc-shaped object is partially surrounded by the spraying direction assembly 50. The spraying direction assembly has a circular hole 52 in the top region and an elliptical hole 53 in the bottom region.

[0086] In one embodiment, the arrow indicates the potential direction of rotation of the rotating disk. This direction of rotation can also be clockwise.

[0087] According to one embodiment, the inner surface 51 of the spray direction assembly 50 has a low-friction surface.

[0088] In one embodiment, the inner surface of the spray direction component is hydrophobic.

[0089] The surface chemistry of the inner surface can be altered. For smooth surfaces, this can be used to change the surface adhesion of sprayed liquids (as films, ligaments, or drops). For aqueous liquids, hydrophilic surfaces will have higher adhesion with lower slippage, while hydrophobic surfaces will have lower adhesion with higher slippage (and vice versa for oils). However, for smooth surfaces, the achievable adhesion range is not high (as seen in the narrow contact angle range).

[0090] In one embodiment, the inner surface of the spray direction component is textured. The inner surface may, for example, include a comb-like structure. As an example, 3D printing can be used to generate textured surface structures.

[0091] In one embodiment, the size of the textured feature is between 10 nanometers and 100 micrometers, preferably between 1 micrometer and 80 micrometers.

[0092] For surfaces with microtexturations, the range of adhesion (and contact angle) is significantly expanded. (More details are presented in the paper by Bico et al., Wetting of textured surfaces, Colloids and Surfaces A 206 (2002) 41-16).

[0093] In one embodiment, the contact angle between the inner surface of the spray direction component and water is >110°, preferably >120°.

[0094] In one embodiment, the inner surface of the spray direction component is superhydrophobic, preferably with a contact angle with water >150°.

[0095] As is known to those skilled in the art, the larger the angle, the lower the adhesion.

[0096] In one embodiment, the inner surface of the spray direction component is configured to emit an air cushion that prevents droplets from contacting the inner surface.

[0097] Recent advances in the wetting of textured surfaces have led to surfaces that are non-wetting to a wide range of liquids (more details are presented in A Tuteja et al., Robust omniphobic surfaces, PNAS 105(2008)18200-18205, US 2019 / 0077968A1, US2019 / 0039796A1, US2015 / 0273518A1, https: / / en.wikipedia.org / wiki / LiquiGlide). Such surfaces can also be used for the inner surfaces of spray direction components.

[0098] According to one embodiment, the ratio between the diameter of the disc 30 and the maximum diameter of the hole 53 of the spray direction assembly 50 in the bottom region is between 1:2 and 1:20, preferably between 1:4 and 1:10.

[0099] Figure 6 It shows according to Figure 1 An embodiment of the spraying unit 10, wherein the air passage is located in the spraying direction assembly. The spraying unit 10 is similar to... Figure 1 The spraying unit discussed herein is double-walled, except that the spray direction assembly is double-walled. The space 60 between the two walls of the spray direction assembly is configured to guide air in the spray direction.

[0100] In one embodiment, the space 60 between the two walls is also referred to as one (or more) "air passages".

[0101] In one embodiment, the airflow is driven by a fan and flows through space 60 from the top area of ​​the spray direction component to the bottom area.

[0102] In one embodiment, the fan may be, for example, a propeller of a UAV. Downwind from the propeller is directed through space 60 to the bottom region of the spray direction assembly. For example, an actuator controls the volumetric flow rate / time unit of air through space 60.

[0103] It should be noted that air volume flow rate / time unit can be calculated by multiplying the air velocity by the cross-sectional area of ​​the space / air passage for a given time unit.

[0104] In one embodiment, the inner surface of the spray direction component does indeed include, preferably substantially uniformly distributed, voids. These voids guide air toward the inner surface and create an air cushion that prevents droplets leaving the disc from contacting the inner surface.

[0105] In one embodiment, Figure 6 The arrow marked in the middle has the same characteristics as in... Figure 1The similar meaning discussed in the context, except that the arrow near space 60 indicates that the airflow direction is from the top area of ​​the spray direction component to the bottom area, and then toward the spray direction.

[0106] Figure 7 It shows according to Figure 1 An embodiment of a spraying unit 10 having a conical disc 30. The spraying unit 10 includes a shaft 20, a conical disc 30, a liquid injector 40, and a spray direction assembly 50.

[0107] In one embodiment, Figure 7 The arrow marked in the middle has the same... Figure 1 Similar meanings discussed in the context.

[0108] In one embodiment, the spraying unit can be used in boom sprayers, unmanned aerial vehicles (UAVs), unmanned ground vehicles (UGVs), robotic platforms, and backpack sprayers.

[0109] Figure 8 It shows that it has the following characteristics: Figure 1 A schematic embodiment of the spraying vehicle 100 of the described spraying unit 10.

[0110] In one embodiment, the vehicle is a drone or UAV.

[0111] In one embodiment, the vehicle is a land-based vehicle, such as an unmanned ground vehicle (UGV), a robotic platform, or a tractor.

[0112] Figure 9 Schematic embodiments of spray vehicles with different spraying units and their corresponding spray widths are shown. The spray vehicle in embodiment a) includes a spraying unit having a rotating disc 30 but no spray direction assembly. The spray width deposition produced by spraying using this spray vehicle is shown on the right and has an M-shape with a large distance spanning the spray width. In embodiment b), the spray vehicle includes a rotating disc 30 and a spray direction assembly 50 having a circular orifice 53 in the bottom region. Spraying with this spray vehicle produces a more uniform spray width compared to the spray width shown in embodiment a). In embodiment c), the spray vehicle includes a rotating disc 30 and a spray direction assembly 50 having an elliptical orifice 53 in the bottom region and multiple walls 70 on the inner surface. The spray width is uniform across the entire distance of the spray width. In Examples a) to c), the arrows on the disc 30 indicate the direction of rotation of the disc, which can also be clockwise.

[0113] Figure 10A schematic embodiment of a spray vehicle 100 is shown, comprising: a liquid tank 110; a spraying unit 10 having a spray direction assembly 50 having a space (air passage) 60 configured to guide air in the spray direction; at least one actuator 120; a plurality of sensors 130; and a processing unit 140. The liquid tank is configured to hold liquid. The at least one spraying unit is configured to spray liquid. The at least one actuator is configured to control the airflow through the space 60 of the spray direction assembly in the spray direction. At least one of the plurality of sensors 131 is configured to measure the speed of the spray vehicle relative to the ground. At least one of the plurality of sensors 132 is configured to measure the direction of air movement relative to the spray vehicle about its front-to-rear axis. At least one of the plurality of sensors 133 is configured to measure the air velocity relative to the spray vehicle. The processing unit is configured to determine the direction of air movement relative to the projection of the front-rear axis onto the ground and to determine the air movement speed relative to the ground. This determination includes using the speed of the spray vehicle, the direction of air movement relative to the spray vehicle with respect to the front-rear axis, and the air movement speed relative to the spray vehicle. The processing unit is configured to control at least one actuator, wherein the determination of at least one command for controlling at least one actuator includes using the determined direction of air movement relative to the projection of the front-rear axis onto the ground and the determined air movement speed relative to the ground.

[0114] In one embodiment, at least one sensor 131 configured to measure the speed of the spray vehicle relative to the ground includes a GPS system.

[0115] In one embodiment, at least one sensor 131 configured to measure the speed of the spray vehicle relative to the ground includes a laser reflection-based system.

[0116] In one embodiment, at least one sensor 132 configured to measure the direction of air movement relative to the spray vehicle includes a wind vane.

[0117] In one embodiment, at least one sensor 133 configured to measure the air velocity relative to the spray vehicle includes an anemometer.

[0118] In one embodiment, at least one sensor 133 configured to measure the air velocity relative to the spray vehicle includes a pitot tube.

[0119] In one embodiment, at least one sensor 132 and 133 configured to measure the direction, speed (and distance) of air movement relative to the spray vehicle includes a lidar sensor, preferably a Doppler lidar sensor.

[0120] In one embodiment, "at least one actuator" refers to at least one mechanical device that converts energy into motion. The source of energy can be, for example, electric current, hydraulic fluid pressure, pneumatic pressure, mechanical energy, thermal energy, or magnetic energy. For example, an electric motor assembly can be an actuator that converts electric current into rotational motion and can further convert rotational motion into linear motion to perform movement. In this way, an actuator can include a motor, gear, linkage, wheel, screw, pump, piston, switch, servo, or other element for converting one form of energy into motion.

[0121] In one embodiment, "at least one actuator" refers to at least one mechanical device that controls the airflow through space 60 and the air volume flow is generated by a UAV thruster.

[0122] Figure 11a and Figure 11b A schematic embodiment of a spray vehicle 100 with a spraying unit 10 is shown, along with the control of airflow through a spray direction assembly 50 according to different wind conditions. In this embodiment, the spray vehicle is a UAV and includes at least one spraying unit located below the UAV's propulsion unit. The spraying unit includes a spray direction assembly 50 having a space 60 between two walls of the spray direction assembly, the space being configured to direct airflow in the spray direction. Multiple sensors 130 sense, in particular, the direction and speed of the air movement (wind). A processing unit (not shown) uses the sensed information to instruct at least one actuator (not shown) to control the airflow through the space of the spray direction assembly in the spray direction. Figure 11a In one embodiment, the wind has a low speed, therefore a low-volume airflow flows through the space of the spray direction assembly toward the spray direction. Figure 11b In one embodiment, the wind has a high wind speed, so a high volume of airflow flows in the spray direction direction through the space of the spray direction component.

[0123] It should be noted that embodiments of the present invention have been described with reference to different subjects. Specifically, some embodiments are described with reference to claims of the spray unit type, while others are described with reference to claims of the spray vehicle type. However, those skilled in the art will understand from the above and below description that, unless otherwise stated, any combination of features relating to different subjects is also considered to be disclosed in this application, except for any combination of features belonging to one class of subjects. However, all features can be combined together to provide more synergy than the simple sum of these features.

[0124] Although the invention has been illustrated and described in detail in the accompanying drawings and the foregoing description, such illustrations and descriptions should be considered illustrative or exemplary rather than restrictive. The invention is not limited to the disclosed embodiments. Other variations of the disclosed embodiments will be understood and implemented by those skilled in the art in practicing the claimed invention through study of the drawings, the disclosure, and the dependent claims.

[0125] In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. A single processor or other unit can perform the functions of several items listed in the claims. The fact that certain measures are referenced in different dependent claims does not mean that a combination of these measures cannot be used to gain an advantage. No reference numerals in the claims should be construed as limiting the scope.

Claims

1. A spraying unit (10), comprising: - Axis (20); - Disc-shaped object (30), which is a flat disc or a conical disc; - Liquid injection machine (40); and - Spray direction component (50); The disc is configured to rotate about the axis centered on the center of the disc; The liquid injection machine is configured to apply liquid to the surface of the disc; and The spray direction assembly partially surrounds the disc, and the inner surface (51) of the spray direction assembly is configured to modify the trajectory of all liquids leaving the outer edge of the disc. The spray direction component has a hemispherical shape with opposing overhanging sidewalls and a circular hole in the top region and an elliptical hole in the bottom region.

2. The spraying unit of claim 1, wherein the shaft extends vertically through the center of the hole in the top region of the spraying direction assembly.

3. The spraying unit according to claim 1, wherein the diameter of the hole in the bottom region of the spraying direction component is larger than the diameter of the hole in the top region of the spraying direction component.

4. The spraying unit according to claim 1, wherein the edge of the disc is positioned close to the inner surface of the spraying direction assembly and close to the top region of the spraying direction assembly.

5. The spraying unit of claim 1, wherein the shortest distance between the edge of the disc and the inner surface of the spray direction assembly is between 100 micrometers and 1 millimeter.

6. The spraying unit according to claim 1, wherein the inner surface near the hole in the bottom region of the spraying direction assembly is arranged at an angle relative to the plane of the surface of the disc, and the liquid exits the spraying direction assembly through the hole in the bottom region of the spraying direction assembly.

7. The spraying unit according to any one of claims 1, 4 and 5, wherein the inner surface of the spraying direction component includes a plurality of walls (70), wherein the orientation of the plurality of walls extends in a plane substantially perpendicular to the lateral side surface of the disc, and wherein the plurality of walls are substantially perpendicular to the plane of the surface of the disc.

8. The spraying unit of claim 7, wherein the wall is radially positioned around the disc.

9. The spraying unit of claim 8, wherein the walls are positioned at equal distances around the disc.

10. The spraying unit according to any one of claims 1, 4 and 5, wherein the inner surface of the spraying direction component has a low-friction surface.

11. The spraying unit according to claim 7, wherein the inner surface of the spraying direction component has a low-friction surface.

12. The spraying unit according to claim 3 or 6, wherein the ratio between the diameter of the disc and the maximum diameter of the hole at the bottom region of the spraying direction assembly is between 1:2 and 1:

20.

13. The spraying unit of claim 1, wherein the spraying direction component is double-walled, and wherein the space (60) between the two walls of the spraying direction component is configured to guide air toward the spraying direction.

14. A spray vehicle (100) comprising at least one spraying unit (10) according to any one of claims 1 to 13.

15. The spray vehicle (100) according to claim 14, further comprising: - Liquid tank (110); - At least one actuator (120); - Multiple sensors (130); - Processing unit (140); The liquid tank is configured to hold liquid; The at least one spraying unit is configured to spray liquid; The at least one of the actuators is configured to control the airflow through the space (60) of the spray direction assembly toward the spray direction; At least one of the plurality of sensors (131) is configured to measure the speed of the spray vehicle relative to the ground; At least one of the plurality of sensors (132) is configured to measure the direction of air movement relative to the front-rear axis of the spray vehicle; At least one of the plurality of sensors (133) is configured to measure the air velocity relative to the spray vehicle; The processing unit is configured to determine the direction of air movement relative to the projection of the front-rear axis onto the ground, and to determine the air movement speed relative to the ground, the determination including using the speed of the spray vehicle, the direction of air movement relative to the spray vehicle with respect to the front-rear axis, and the air movement speed relative to the spray vehicle; and The processing unit is configured to control the at least one actuator, wherein the determination of at least one instruction for controlling the at least one actuator includes utilizing the determined air movement direction of the projection of the front-rear axis onto the ground and the determined air movement speed relative to the ground.

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