spraying unit

Abstract

The invention relates to a spray unit (10) comprising a shaft (20), a disc (30), a disc shape modification assembly (40) and a liquid applicator (50). The disc is configured to rotate about the shaft centered at a center of the disc. The liquid applicator is configured to apply liquid to a surface of the disc. The disc shape modification assembly is configured to modify a trajectory of liquid droplets exiting the spray unit by changing a diameter 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] Applying crop protection products to crops is typically achieved through spraying, where the atomizing device is usually a hydraulic spray nozzle, a rotating disc or cage, or an air shearing device. The performance of the atomizing device is crucial for the effective application of crop protection products to crop leaves, especially regarding the size of the droplets produced. The range of droplet sizes is known as the droplet spectrum. Finer atomization results in more small droplets, which provide greater coverage in terms of the amount of deposit per unit area, while also providing an increased area beneath the deposit—both of which are preferred for biological efficacy. Conversely, coarser atomization results in relatively fewer larger droplets and less deposit per unit area. However, small droplets are prone to drift, leading to undesirable loss of target coverage and generally poorer penetration into the canopy. Both of these effects can be reduced by using larger, higher momentum droplets, but at the cost of fewer opportunities to generate deposits on the treated canopy. However, during product spraying, different parts of the crop field have different requirements for drift mitigation: for example, the edges of crop fields on the downwind side have a greater risk of drifting away from the target area than the center or edges of fields on the upwind side. Another application example is that different weeds (species or sizes) require different droplet sizes, or the efficacy of different agrochemicals varies depending on droplet size. As a result, it is advantageous to continuously adjust the droplet size during application to achieve the optimal balance between the number of droplets per unit area required for biological performance and the risk of drift away from the target. Furthermore, the effect of wind on drift is also important, especially since wind is not constant but varies in all three dimensions, both temporally and spatially, resulting in a constantly changing optimal balance between the number of droplets per unit area and the risk of drift away from the target. Therefore, there is a need for a spraying device that can continuously adjust its droplet size based on the location of the spraying equipment in the target field and the current wind speed and direction, while taking into account the biological consequences of such variations in the droplet spectrum. For example, under gusty winds, larger droplets may be needed at the edges of the field to control drift, but this reduces the efficacy of the active ingredient, thus requiring a higher application rate at that point. Balancing these conflicting requirements is difficult to achieve with hydraulic spray nozzles because different nozzles must operate at different pressures or change orifice sizes to achieve different droplet patterns, both of which take time to materialize. However, using a rotating disc, the droplet pattern can be adjusted almost instantaneously by independently changing the rotation speed and the flow rate towards the disc.However, reducing the rotational speed of a rapidly rotating disc (e.g., in an unmanned aerial vehicle (UAV)) has two consequences: first, it increases the size of the atomized droplets as needed; and second, it reduces the rate at which droplets leave the disc. As a result, especially when downdrafts from rotors or air-assisted cantilever sprayers within the UAV are included, the width of the spray cone is reduced, resulting in a narrower spray pattern and more variable overlap from multiple spray patterns. This is undesirable because it leads to increased workload on the same area and the risk of untreated areas between adjacent columns, as well as the risk of over- and under-dosing. Furthermore, the rotor rotational speed (e.g., within the UAV) affects the quantity and rate of downdrafts and subsequently the width of the spray pattern, for example, during acceleration / deceleration of the UAV during spraying and during mass reduction of the UAV when the sprayed liquid is applied. Therefore, there is a need for a spraying device that can continuously adjust its droplet pattern based on the location of the spraying device in the target field, the current wind speed and direction, and the downdraft from the UAV rotor and / or the flight altitude of the UAV, without affecting the width of the spray cone and the width of the application spray width. Summary of the Invention

[0003] It would be advantageous to have improved devices for spraying liquids (such as those containing chemical and / or biological agricultural active ingredients).

[0004] The objective of the invention is achieved through the subject matter of the independent claims, wherein other embodiments are described 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.

[0005] In a first aspect, a spraying unit is provided. The spraying unit includes a shaft, a disc, a disc shape modification assembly, and a liquid injection device. The disc is configured to rotate about the shaft centered on the center of the disc. The liquid injection device is configured to apply liquid to the surface of the disc. The disc shape modification assembly is configured to modify the trajectory of droplets leaving the spraying unit by changing the diameter of the disc.

[0006] In other words, the disc shape modification component can change the diameter of the rotating disc, thereby altering the geographical location of the droplets leaving the spray unit towards the ground and thus the trajectory of the droplets, affecting the spray width. As a result, the spray width and droplet size can be changed independently, allowing for a constant and uniform spray width across a wide range of spray droplet sizes.

[0007] In this way, the correct application of active ingredients to each plant per unit area of ​​land can be provided.

[0008] In one embodiment, the disc shape modification assembly includes at least one movable geometry defining member configured to change the diameter of a disc or a second disc by changing the position of at least a portion of the geometry defining member, and wherein the disc shape modification assembly includes at least one actuator configured to move the at least one geometry defining member.

[0009] In other words, the controlled actuator alters the geometry of the disc diameter, and thus the spray width, depending, for example, on weather conditions. Alternatively, the geometry of the diameter of a second disc near the rotating disc is altered. Droplets leaving the edge of the rotating disc impact the second disc. By altering the geometry of the diameter of the second disc, a similar result can be achieved as when altering the geometry of the diameter of the rotating disc.

[0010] In one embodiment, the disc shape modification component includes at least one geometry-defining component selected from blades, elastic membranes, and grooved circular discs.

[0011] In one embodiment, the disc shape modification assembly includes at least two blades, each blade being connected to a disc or a second disc via at least one blade pivot point, wherein at least one actuator is configured to be connected to at least one of the two blades via a blade actuator linkage, and wherein at least two blades are configured to be connected via at least one inter-blade linkage.

[0012] In other words, with all blades connected by an inter-blade linkage, all blades can move simultaneously with at least one actuator, thus changing the diameter of the rotating disc or second disc in a consistent and uniform manner. As a result, the spray width can also be precisely controlled.

[0013] In one embodiment, the disc shape modification assembly includes a concentric elastic membrane attached to the edge of a disc or a second disc, wherein the disc shape modification assembly further includes at least two extendable rods, each extendable rod being connected to the disc or the second disc and to the elastic membrane via at least one rod pivot point, wherein the rods are configured to stretch or relax the elastic membrane equally in all radial directions, wherein at least one actuator is configured to be connected to at least one of the two extendable rods via at least one rod actuator linkage, and wherein the at least two rods are configured to be connected via at least one rod linkage.

[0014] In other words, instead of the moving blades discussed earlier, the rotating disc may include an elastic membrane located at the edge of the disc (or a second disc), which can be uniformly stretched to different disc diameters. The stretching of the elastic membrane is controlled by a stretchable rod attached to the disc (or second disc) and the elastic membrane. The extension of the rod is again controlled by at least one actuator.

[0015] In one embodiment, the disc shape modification assembly includes at least four rods, each rod connected to a disc or a second disc and to an elastic membrane via at least one rod pivot point, wherein the rods are configured to stretch or relax the elastic membrane equally in all radial directions, wherein at least one actuator is configured to be connected to at least one of the four extendable rods via a rod actuator linkage, and wherein the at least four rods are configured to be connected via at least one rod linkage.

[0016] In one embodiment, the rods are arranged in a substantially radially symmetrical manner below the disc or below the second disc.

[0017] In this way, the elastic membrane can be easily stretched equally in all radial directions.

[0018] In one embodiment, the second disc is located axially spaced below the disc.

[0019] In this way, the time and distance between the droplets leaving the edge of the rotating disk and their impact on the second disk are minimized.

[0020] In one embodiment, the disk shape modification component includes at least one grooved circular disk configured to laterally surround and thereby extend the diameter of the disk, wherein at least one actuator is configured to control the position of at least one grooved circular disk relative to the disk.

[0021] Another alternative to the movable blade or stretchable elastic membrane is a rotating disk with at least one grooved circular disc, the at least one grooved circular disc being movable relative to the rotating disk and capable of laterally extending the diameter of the disk around the disk. Again, at least one actuator controls the movement of at least one grooved disk relative to the rotating disk.

[0022] In one embodiment, the disc shape modification assembly includes at least two slotted circular discs, wherein a second slotted circular disc is configured to laterally surround a first slotted circular disc, and wherein at least one actuator is configured to control the position of the second slotted circular disc relative to the first slotted circular disc and / or the disc.

[0023] In other words, there can be more than one grooved circular disc to allow for more flexible changes in the diameter of the rotating disc.

[0024] In one embodiment, the disc-shaped modification component is configured to rotate about the axis or the second axis.

[0025] In this way, not only is the spray width affected by the disc shape modification component, but the atomization process of the liquid to be sprayed can also be further manipulated by changing the rotation speed of the disc shape modification component if needed. If a second disc is present rotating around the second axis, the rotation speed of the second disc can also differ from that of the rotating disc, thus providing more control over the droplet atomization process.

[0026] In one embodiment, the disk shape modification component is non-rotational.

[0027] At least a portion of the surface of the disc-shaped modification component that impacts when a droplet leaves the outer edge of the disc has a low-friction surface.

[0028] In other words, especially when the disc shape modification component is not rotating and is therefore in a fixed position, at least a portion of the droplets impacting the surface of the rotating disc on the surface of the disc shape modification component can be made of a material with very low friction and adhesion, so that the individual droplets formed from the rotating disc roll across its surface without significant adhesion.

[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, at least one spraying unit (discussed according to the first aspect above), 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. At least one of the multiple sensors is configured to measure the rotational speed of a disc about an axis centered on the center of the disc. At least one of the multiple sensors is configured to measure the liquid flow rate from the liquid applicator to the surface of the disc. The processing unit is configured to determine the droplet size of the droplets exiting the spraying unit, including using the measured rotational speed of the disc, the measured liquid flow rate from the liquid applicator to the surface of the disc, and the physicochemical properties of the liquid. The processing unit is configured to control at least one actuator of the spraying unit, wherein the determination of at least one command for controlling at least one actuator includes using the determined droplet size.

[0031] In other words, even if the droplet size is constantly adjusted due to factors such as the location of the spraying equipment in the target field, the current wind speed and direction, and / or downwash from the UAV rotor and / or the flight altitude of the UAV, the width of the spray cone and the width of the applied spray width can remain constant.

[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 clarified by referring 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 A schematic configuration of an embodiment of a spraying unit with a conical disc is shown from a side view perspective;

[0037] Figure 3 A schematic arrangement of an embodiment of a spraying unit with a disc-shaped modification component on a second disc is shown from a side view perspective.

[0038] Figure 4 A schematic configuration of an embodiment of a spraying unit with a disc-shaped shape modification component, including blades, is shown from a bottom view.

[0039] Figure 5 A schematic configuration of an embodiment of a spraying unit with a disc-shaped shape modification component, including blades, is shown from a top view.

[0040] Figure 6 A schematic configuration of another embodiment of a spraying unit with a disc-shaped shape modification component, including blades, is shown from a bottom view.

[0041] Figure 7 A schematic configuration of another embodiment of a spraying unit with a disc-shaped shape modification component, including blades, is shown from a top view.

[0042] Figure 8 A schematic configuration of an embodiment of a spraying unit with a disc-shaped shape modification component, including an elastic membrane, is shown from a bottom view.

[0043] Figure 9 A schematic configuration of an embodiment of a spraying unit with a disc-shaped shape modification component, including an elastic membrane, is shown from a top view.

[0044] Figure 10 A schematic configuration of an embodiment of a spraying unit with a disc-shaped modification component is shown from a side view perspective; the disc-shaped modification component includes a grooved circular disc.

[0045] Figure 11 A schematic configuration of another embodiment of a spraying unit with a disc-shaped modification component is shown from a side view perspective; the disc-shaped modification component includes a grooved circular disc.

[0046] Figure 12 Schematic embodiments of the grooved circular disc are shown from different angles;

[0047] Figure 13 A schematic configuration of another embodiment of a spraying unit with a disc-shaped modification component is shown from a side view perspective. The disc-shaped modification component includes a grooved circular disc and a second axis.

[0048] Figure 14 A schematic configuration of an embodiment of a spray vehicle including a spraying unit is shown;

[0049] Figure 15 A schematic embodiment of a spray vehicle with a spraying unit and control of a disc-shaped modification assembly are shown.

[0050] Figure 16 A schematic embodiment of a spray vehicle with a spraying unit is shown, as well as the control of a disc-shaped modification component based on different droplet sizes. Detailed Implementation

[0051] Figure 1 An embodiment of the spraying unit 10 is shown in a side view. The spraying unit includes a shaft 20, a disc 30, a disc shape modification assembly 40, and a liquid injection device 50. The disc is configured to rotate about an axis centered on the center of the disc. The liquid injection device is configured to apply liquid to the surface of the disc. The disc shape modification assembly is configured to modify the trajectory of droplets leaving the spraying unit by changing the diameter of the disc.

[0052] The disc shape modification component can alter the diameter of the disc 30 and thus affect the spray width. As a result, it becomes easier to deliver the correct application of the active ingredient to each plant per unit area of ​​land. Figure 1In embodiment a), the spraying unit is shown with a narrow spray pattern because the diameter of the disc with the disc shape modification component is narrow. Figure 1 In embodiment b), the spraying unit is shown as a disc with a wider diameter and a disc shape modification assembly, resulting in a wider spray width (assuming all other parameters, such as the rotational speed of the disc, the liquid flow, and the liquid itself, are the same in embodiments a) and b).

[0053] In one embodiment, the term "disc" refers to a flat disc, but also includes conical discs.

[0054] 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.

[0055] In one embodiment, the liquid injection machine includes at least one liquid tank and at least one feed pipe.

[0056] 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.

[0057] In one embodiment, the term "disc shape modification component configured to modify the trajectory of droplets" describes a modification of the geographical location of droplets leaving the spray unit toward the ground. Depending on the disk's rotational speed, liquid flow rate, and the liquid itself, variations in the diameter of the disk with the disc shape modification component may also cause changes in the size and / or velocity of droplets leaving the spray unit toward the ground.

[0058] In one embodiment, the disc shape modification component is configured to modify the trajectory of droplets leaving the spraying unit by changing the diameter of the disc during use of the spraying unit. Use of the spraying unit refers to spraying liquid onto a target area.

[0059] In one embodiment, the disc shape modification component is configured to alter the trajectory of droplets leaving the spraying unit by changing the diameter of the disc while the disc rotates about an axis centered on the center of the disc.

[0060] In one embodiment, the disc shape modification component is configured to modify the trajectory of droplets leaving the spraying unit by changing the diameter of the disc while the liquid applicator applies liquid to the surface of the disc.

[0061] 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.

[0062] In one embodiment, the arrow above the flat surface of the disc indicates the direction of centrifugal force and liquid atomization.

[0063] In one embodiment, the arrow next to the droplet that has left the disc indicates the spray direction.

[0064] In one embodiment, the arrow on the lateral side of the disc shape modification component indicates the direction of change in the diameter of the disc with the spray direction component.

[0065] Figure 2 A schematic arrangement of an embodiment of a spraying unit 10 having a conical disc 30 is shown from a side view. Besides the conical disc 30, the spraying unit is... Figure 1 Similar to that shown. The spraying unit includes a shaft 20, a disc 30, a disc shape modification assembly 40, and a liquid injector 50. In this embodiment, at least one actuator 60 is also shown, which is configured to change the diameter of the disc shape modification assembly. Figure 2 The arrows in Figure 1 The meaning discussed in the context is the same.

[0066] According to one embodiment, the disc shape modification assembly 40 includes at least one movable geometry defining member configured to change the diameter of the disc 30 or the second disc 31 (in this case, the spraying unit includes the second disc 31) by changing the position of at least a portion of the geometry defining member, and wherein the disc shape modification assembly includes at least one actuator 60 configured to move at least one geometry defining member.

[0067] 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.

[0068] In one embodiment, at least one actuator 60 is located near the shaft 20, the disc 30, and / or the disc shape modification component 40.

[0069] According to one embodiment, the disc shape modification assembly includes at least one geometry-defining component selected from the group consisting of a blade 41, an elastic membrane 42, and a grooved circular disc 43.

[0070] Figures 4 to 7 The diagram shows a schematic configuration of an embodiment of a disc-shaped shape modification assembly including blades.

[0071] Figures 8 to 9 The illustration shows a schematic configuration of an embodiment of a disc-shaped shape modification assembly including an elastic membrane.

[0072] In one embodiment, Figures 10 to 13 The illustration shows a schematic configuration of an embodiment of a disc shape modification assembly including a grooved circular disc.

[0073] Figure 3 A schematic arrangement of an embodiment of a spraying unit 10 with a disc-shaped modification assembly 40 on a second disc 31 is shown from a side view. The spraying unit includes a shaft 20, a disc 30, a second disc 31 with the disc-shaped modification assembly 40, a liquid applicator 50, and at least one actuator 60. The disc is configured to rotate about an axis centered on the center of the disc. The liquid applicator is configured to apply liquid to the surface of the disc. The disc-shaped modification assembly is configured to modify the trajectory of droplets leaving the spraying unit by changing the diameter of the second disc. Figure 2 The arrows in Figure 1 The arrows shown have the same meaning.

[0074] In one embodiment, the second disc 31 is located near the disc 30 and below the disc 30 relative to the ground.

[0075] In one embodiment, the second disc 31 is placed as close as possible to the disc 30 (e.g., one millimeter or less) while still allowing the disc 30 to rotate about the axis 20.

[0076] In one embodiment, the second disc 31 is positioned substantially symmetrically parallel to the disc 30 (preferably with minimal axial spacing).

[0077] In one embodiment, the second disc 31 has a similar diameter to the disc 30.

[0078] Figure 4A schematic arrangement of an embodiment of a spraying unit 10 having a disc 30 or a second disc 31 and a disc shape modification assembly 40 is shown from a bottom view. The disc shape modification assembly 40 includes blades 41. The disc shape modification assembly includes at least two blades 41, at least one blade pivot point 44, a blade actuator linkage 61, and at least one inter-blade linkage 45. Each of the at least two blades 41 is connected to the disc 30 or the second disc 31 via at least one blade pivot point 44. At least one actuator 60 is configured to be connected to at least one of the two blades 41 via the blade actuator linkage 61, and at least two blades are configured to be connected via at least one inter-blade linkage 45. Figure 4 In embodiment a), some blades 41 are shown in their default (unextended) position. Figure 4 In embodiment b), all blades retract simultaneously by rotating about their blade pivot point in the direction indicated by the curved arrow. The simultaneous movement of all blades is achieved through actuator activity cooperating with the blade actuator linkage and the inter-blade linkage. A wider diameter of the disc is indicated by left and right double arrows. For illustrative purposes, Figure 4 Only some blades, blade pivot points, and inter-blade linkages are shown. In operation, these components are circumferentially distributed across the entire disc.

[0079] Figure 5 A schematic configuration of an embodiment of a spraying unit 10 having a disc-shaped element 30 or a second disc-shaped element 31 and a disc-shaped element shape modification assembly 40, the disc-shaped element shape modification assembly 40 including blades 41, is shown from a top view perspective. This embodiment is similar to... Figure 4 The embodiments discussed herein (but from different viewpoints). In embodiment a), the blades are shown in their unextended position, while in embodiment b), the blades are shown in their extended position, which achieves a wider diameter of the disc (again, as indicated by the left and right double arrows). Figure 5 The atomization process of the liquid is also shown (in black). For illustrative purposes, Figure 5 Only some blades are shown. In operation, these components are circumferentially distributed across the entire disc.

[0080] In one embodiment, the change in diameter of the disc 30 with the disc shape modification component occurs at a radius from the center of the disc, which is larger than the radius at which the liquid breaks on the rotating disc.

[0081] Figure 6A schematic arrangement of another embodiment of a spraying unit 10 having a disc 30 or a second disc 31 and a disc shape modification assembly 40 is shown from a bottom view. The disc shape modification assembly 40 includes blades 41. The disc shape modification assembly includes at least two blades 41 (although each blade does indeed include a dashed ellipse), at least one blade pivot point 44, a blade actuator linkage 61, and at least one inter-blade linkage 45. Each of the at least two blades 41 is connected to the disc 30 or the second disc 31 via at least one blade pivot point 44 (dashed circle). At least one actuator 60 is configured to be connected to at least one of the two blades 41 via the blade actuator linkage 61, and at least two blades are configured to be connected via at least one inter-blade linkage 45. Figure 6 In embodiment a), some blades 41 are shown in their default (unextended) position. Figure 6 In embodiment b), all blades simultaneously retract via radial movement along the blade pivot point in the direction indicated by the straight arrow. This simultaneous movement of all blades is achieved by actuators cooperating with the blade actuator linkage and the inter-blade linkage. The wider diameter of the disc is indicated by left and right double arrows. For illustrative purposes, Figure 4 Only some blades, blade pivot points, and inter-blade linkages are shown. In operation, these components are circumferentially distributed across the entire disc.

[0082] In one embodiment, at least one actuator is configured to control the movement of the blade 41.

[0083] In one embodiment, the blade 41 is configured to move at least one of an angle and a position.

[0084] In one embodiment, the blade 41 has a planar shape.

[0085] Figure 7 A schematic configuration of another embodiment of a spraying unit 10 with a disc-shaped element 30 (or a second, invisible disc-shaped element 31) and a disc-shaped element shape modification assembly 40, the disc-shaped element shape modification assembly 40 including blades 41, is shown from a top view perspective. This embodiment is similar to... Figure 6 The embodiments discussed herein (but from different viewpoints). In embodiment a), the blades are shown in their unextended position, while in embodiment b), the blades are shown in their extended position, which achieves a wider diameter of the disc (again, as indicated by the left and right double arrows). Figure 7 The atomization process of the liquid is also shown (in black). For illustrative purposes, Figure 7 Only some blades are shown. In operation, these components surround the entire disc.

[0086] Figure 8 A schematic arrangement of an embodiment of a spraying unit 10 having a disc-shaped object 30 or a second disc-shaped object 31 and a disc-shaped object shape modification assembly 40 is shown from a bottom view. The disc-shaped object shape modification assembly 40 includes an elastic membrane 42. The disc-shaped object shape modification assembly includes concentric elastic membranes 42 attached to the edges of the disc-shaped object 30 or the second disc-shaped object 31. The assembly also includes at least two extendable rods 70, at least one rod pivot point 46, a rod actuator linkage 62, and at least one inter-rod linkage 47. Each of the at least two extendable rods 70 is connected to the disc-shaped object or the second disc-shaped object and to the elastic membrane via at least one rod pivot point 46. These rods are configured to stretch or relax the elastic membrane equally in all radial directions. At least one actuator 60 is configured to be connected to at least one of the two extendable rods via the rod actuator linkage 62, and at least two rods are configured to be connected via at least one inter-rod linkage 47. Figure 8 In embodiment a), the elastic membrane is shown in its default (unstretched) position. Figure 8 In embodiment b), the elastic membrane is stretched simultaneously in all radial directions. The simultaneous movement of the rods stretching the elastic membrane is achieved by actuator activity cooperating with a rod actuator linkage and at least one inter-rod linkage. A wider diameter of the disc is indicated by left and right double arrows. For illustrative purposes, Figure 8 Two extendable bars (positioned perpendicular to each other) and two optional additional extendable bars (shown by dashed lines) are shown.

[0087] According to one embodiment, the disc shape modification assembly includes at least four rods 70, at least one rod pivot point 46, a rod actuator linkage 62, and at least one inter-rod linkage 47, wherein each of the at least four rods 70 is connected to a disc 30 or a second disc 31 and to an elastic membrane via at least one rod pivot point 46, wherein the rods are configured to stretch or relax the elastic membrane equally in all radial directions, wherein at least one actuator 60 is configured to be connected to at least one of the four extendable rods via the rod actuator linkage 62, and wherein the at least four rods are configured to be connected via at least one inter-rod linkage 47.

[0088] In one embodiment, the disc shape modification assembly includes at least six rods 70, at least one rod pivot point 46, a rod actuator linkage 62, and at least one inter-rod linkage 47, wherein each of the at least six rods 70 is connected to a disc 30 or a second disc 31 and to an elastic membrane via at least one rod pivot point 46, wherein the rods are configured to stretch or relax the elastic membrane equally in all radial directions, wherein at least one actuator 60 is configured to be connected to at least one of the six extendable rods via the rod actuator linkage 62, and wherein the at least six rods are configured to be connected via at least one inter-rod linkage 47.

[0089] In one embodiment, the disc shape modification component 40 includes a plurality of extendable rods that interact in a manner similar to that described above with respect to at least six rods.

[0090] In another embodiment, the at least one actuator is configured to control the movement of the extendable rod and thus control the stretching of the elastic membrane.

[0091] In one instance, the elastic membrane is a single-layer membrane, a multi-component elastic membrane material, or a multilayer membrane material, preferably having a constant thickness.

[0092] In one embodiment, the elastic membrane is substantially continuous at least in the transverse direction.

[0093] In one embodiment, the elastic membrane is a thermoplastic polymer composition.

[0094] In one embodiment, the extendable rod includes a plurality of components configured to slide in / out of each other according to a telescopic principle.

[0095] According to one embodiment, the rod (70) is arranged in a substantially radially symmetrical arrangement below the disc (30) or below the second disc (31).

[0096] According to one embodiment, the second disc (31) is axially spaced below the disc (30).

[0097] In one embodiment, the second disc (31) is minimally spaced from the disc (30) in the axial direction.

[0098] Figure 9 A schematic configuration of an embodiment of a spraying unit 10 having a disc-shaped element 30 or a second disc-shaped element 31 (not visible in this angle) and a disc-shaped element shape modification assembly 40, the disc-shaped element shape modification assembly 40 including an elastic membrane 42, is shown from a top view perspective. This embodiment is similar to... Figure 8The embodiments discussed herein (but from different viewpoints). In embodiment a), the elastic membrane is shown in its unstretched position, while in embodiment b), the elastic membrane is shown in its stretched position, which results in a wider diameter of the disc (again, as indicated by the left and right double arrows). Figure 9 The atomization process of the liquid is also shown (in black). The extendable rods 70 are not visible because they are located below the disc (relative to the ground), and correspondingly below the disc shape modification assembly.

[0099] Figure 10 A schematic arrangement of an embodiment of a spraying unit 10 with a disc-shaped modification assembly 40 is shown from a side view perspective. The disc-shaped modification assembly 40 includes at least one grooved circular disc 43. The spraying unit includes a shaft 20, a disc 30, the disc-shaped modification assembly 40, and a liquid injector 50. The disc-shaped modification assembly includes at least one grooved circular disc 43 configured to laterally surround the disc 30 and thereby extend the diameter of the disc, wherein the at least one actuator 60 is configured to control the position of the at least one grooved circular disc relative to the disc.

[0100] In one embodiment, the actuator 60 includes a slotted disc actuator linkage element 63, which either directly connects at least one actuator to the slotted disc or physically interacts with the connecting element 48 of the slotted disc (slotted disc 43 includes connecting element 48) to connect at least one actuator to the slotted disc.

[0101] According to one embodiment, the disc shape modification assembly 40 includes at least two slotted circular discs 43, wherein a second slotted circular disc is configured to laterally surround a first slotted circular disc, and wherein at least one actuator 60 is configured to control the position of the second slotted circular disc relative to the first slotted circular disc and / or disc 30.

[0102] In one embodiment, the shape modification component 40 includes at least one grooved circular disc linkage 49, and at least two grooved circular discs 43 are configured to be connected via at least one grooved circular disc linkage 49.

[0103] In one embodiment, the disc shape modification component 40 includes a plurality of grooved circular discs that interact in a similar manner to those described above in conjunction with the first and second grooved discs.

[0104] In another embodiment, at least one actuator is configured to control the movement of at least one grooved circular disc.

[0105] In one embodiment, at least one grooved circular disc is located above or near below the disc (relative to the ground).

[0106] In one embodiment, a plurality of grooved circular discs are located above and / or near below the discs (relative to the ground).

[0107] exist Figure 10 In embodiment a), a disc-shaped object 30 is shown, with a plurality of grooved circular discs positioned above the surface of the disc-shaped object close to it. The plurality of grooved circular discs do not interfere with the liquid atomization process. Figure 10 In embodiment b), the disc is laterally surrounded by a first grooved circular disc, and the first grooved disc is laterally surrounded by a second grooved circular disc. Therefore, the diameter of the disc is wider than that shown in embodiment a), and thus the spray pattern is also wider than that shown in embodiment a) (assuming all other relevant parameters remain the same).

[0108] 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.

[0109] In one embodiment, the arrow next to the droplet that has left the spraying unit indicates the spraying direction.

[0110] Figure 11 A schematic configuration of another embodiment of a spraying unit 10 with a disc-shaped modification assembly is shown from a side view perspective. The disc-shaped modification assembly includes at least one grooved circular disc. This embodiment is similar to... Figure 10 The embodiment shown, except that at least one circular disc is located below the disc (relative to the ground) and moves from below toward the disc to laterally surround the disc and extend the diameter of the disc. Figure 11 In embodiment a), a disc 30 is shown, while a plurality of grooved circular discs 43 (as part of the disc shape modification assembly 40) are positioned adjacent to the disc below its surface. The plurality of grooved circular discs do not interfere with the liquid atomization process. Figure 11 In embodiment b), the disc is laterally surrounded by a first grooved circular disc, and the first grooved circular disc is laterally surrounded by a second grooved circular disc. Therefore, the diameter of the disc is wider than that shown in embodiment a), and thus the spray pattern is also wider than that shown in embodiment a) (assuming all other relevant parameters remain the same).

[0111] 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.

[0112] In one embodiment, the arrow next to the droplet that has left the spraying unit indicates the spraying direction.

[0113] Figure 12 A schematic embodiment of the grooved circular disc 43 is shown from different angles. Figure 12 Embodiments a) and b) illustrate a grooved circular disc, wherein, from a side view perspective, an optional connecting element 48 is located above or below the grooved circular disc. The optional connecting element 48 allows centralized control of the movement of at least one grooved circular disc relative to the disc. Embodiment c) shows a similar grooved circular disc from a top view perspective.

[0114] Figure 13 A schematic arrangement of another embodiment of the spraying unit 10, the second shaft 21, and the disc shape modification assembly 40, comprising a plurality of grooved circular discs 43, is shown from a side view. The spraying unit includes a shaft 20, a second shaft 21, a disc 30, the disc shape modification assembly 40, a liquid injector 50, and at least one actuator 60. The disc shape modification assembly includes a plurality of grooved circular discs 43 configured to laterally surround the disc 30 and thereby extend the diameter of the discs, wherein at least one actuator is configured to control the position of at least one grooved circular disc relative to the disc. The at least one actuator includes a grooved circular disc actuator linkage element 63 that connects a connecting element 48 of the grooved circular disc to the at least one actuator. The plurality of grooved circular discs are connected by a grooved circular disc inter-linkage device 49. The disc 30 rotates about the shaft 20. Multiple grooved circular discs 43 are preferably connected to the second shaft 21 at the center of the connecting element 48 via a connecting element. Figure 13 The arrows in the text have the same... Figure 11 The same meaning discussed in the text. The second axis 21 can be non-rotational or rotational.

[0115] According to one embodiment, the disc-shaped modification component is configured to rotate about axis 20 or a second axis 21.

[0116] According to one embodiment, the disc-shaped modification component is non-rotational.

[0117] According to one embodiment, at least a portion of the surface of the disc shape modification component that impacts when a droplet leaves the outer edge of the disc 30 has a low-friction surface.

[0118] In one embodiment, the surface is, for example, hydrophobic.

[0119] The surface chemistry of this surface can be altered. For smooth surfaces, the adhesion of sprayed liquids (as films, ligaments, or droplets) can be changed in this way. 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 range of adhesion is not high (as seen in the narrow contact angle range).

[0120] In one embodiment, the surface of the disc-shaped modification component is textured.

[0121] The surface can include, for example, a comb-like structure. As an example, 3D printing can be used to generate textured surface structures.

[0122] In one embodiment, the size of the textured feature is between 10 nanometers and 100 micrometers, preferably between 1 micrometer and 80 micrometers. For surfaces with microtexturation, 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).

[0123] In one embodiment, the contact angle between this surface of the disc-shaped modification component and water is >110°, preferably >120°.

[0124] In one embodiment, the surface is superhydrophobic, preferably with a water contact angle >150°. Those skilled in the art know that the larger the angle, the lower the adhesion.

[0125] Recent advances in wetting textured surfaces have resulted in 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, US2019 / 0077968A1, US 2019 / 0039796A1, US2015 / 0273518A1, https: / / en.wikipedia.org / wiki / LiquiGlide). Such surfaces can also be used for at least a portion of the surface of disc-shaped modification components.

[0126] 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.

[0127] Figure 14 It shows that it has the following characteristics: Figures 1 to 13An illustrative embodiment of the spraying vehicle 100 of the spraying unit 10 described in one of the descriptions.

[0128] In one embodiment, the spray vehicle is a drone or UAV.

[0129] In one embodiment, the spray vehicle is a land vehicle, such as an unmanned ground vehicle (UGV), a robotic platform, or a tractor.

[0130] Figure 15 A schematic embodiment of a spray vehicle 100 with a spraying unit 10 is shown, along with control of at least one actuator 60 and thus a disc-shaped modification assembly 40. The spray vehicle includes a tank 110, at least one spraying unit 10 (e.g., combined with...) Figures 1 to 13 The discussion covers multiple sensors 120 and a processing unit 130. A liquid tank is configured to hold liquid. At least one spraying unit is configured to spray liquid. At least one of the multiple sensors 121 is configured to measure the rotational speed of a disc 30 about an axis 20 centered on the center of the disc. At least one of the multiple sensors 122 is configured to measure the liquid flow rate from the liquid applicator 50 to the surface of the disc 30. The processing unit is configured to determine the droplet size of the droplets leaving the spraying unit (or, alternatively, the droplet size of the droplets at the edge of the disc after atomization on the disc), including using the measured rotational speed of the disc, the measured liquid flow rate from the liquid applicator to the surface of the disc, and the physicochemical properties of the liquid. The processing unit is configured to control at least one actuator 60 of the spraying unit, wherein the determination of at least one command for controlling at least one actuator includes using the determined droplet size.

[0131] In one embodiment, at least one sensor 121 configured to measure the rotational speed of the disc about an axis includes a tachometer (RPM meter).

[0132] In one embodiment, at least one sensor 122 configured to measure the rate of liquid flow from the liquid injector to the surface of the disc is a rotor flowmeter.

[0133] In one embodiment, 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 droplet size, the measured rotational speed of the disc, the measured liquid flow rate from the liquid injector to the surface of the disc, and the physicochemical properties of the liquid.

[0134] In one embodiment, the processing unit is configured to determine the droplet spectrum of droplets leaving the spraying unit (or, alternatively, the droplet spectrum of droplets at the edge of the disc after atomization on the disc), 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 droplet spectrum.

[0135] The term "droplet spectrum" refers to the size distribution of droplets.

[0136] In one embodiment, the spray vehicle further includes an input unit configured to receive data on the physicochemical properties of the liquid. The input unit is configured to provide information about the physicochemical properties of the liquid to a processing unit. As an example, the physicochemical properties of the liquid can be encoded in a QR code on the liquid packaging, which can be scanned, for example, by the input unit of the spray vehicle.

[0137] According to one embodiment, at least one sensor 123 of a plurality of sensors is configured to measure the speed of the spray vehicle relative to the ground, and at least one sensor 124 of a plurality of sensors is configured to measure the air movement direction relative to the spray vehicle with respect to the front-rear axis, and at least one sensor 125 of a plurality of sensors is configured to measure the air movement speed relative to the spray vehicle, wherein a processing unit is configured to determine the air movement direction 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 air movement direction relative to the spray vehicle with respect to the front-rear axis, and the air movement speed relative to the spray vehicle, and wherein the processing unit is configured to control the rotational speed of the disc, the liquid flow rate from the liquid injector to the surface of the disc and / or at least one actuator, wherein the determination of at least one command for control includes using the determined air movement direction relative to the projection of the front-rear axis onto the ground and the determined air movement speed relative to the ground.

[0138] In one embodiment, at least one actuator is configured to control the disc-shaped shape modification component 40, preferably moving at least one geometry-defined component.

[0139] In one embodiment, at least one actuator is configured to control the movement of the blade 41.

[0140] In another embodiment, at least one actuator is configured to control the movement of the extendable rod 70, thereby controlling the extension of the elastic membrane 42.

[0141] In another embodiment, at least one actuator is configured to control the movement of at least one slotted circular disc 43.

[0142] According to one embodiment, the spray vehicle further includes at least one sensor 126 among a plurality of sensors, the at least one sensor 126 being configured to provide data from which the height of the spray vehicle above the ground can be determined. The processing unit is configured to control the rotational speed of the disc, the liquid flow rate from the liquid injector to the disc surface and / or at least one actuator, wherein the determination of at least one command for control includes utilizing the determined air movement direction projected onto the ground relative to the front-rear axis, the determined air movement speed relative to the ground, and the determined height of the spray vehicle above the ground.

[0143] In one embodiment, the control of the rotational speed of the disc may further include the control of the rotational speed of the second disc 31.

[0144] In one embodiment, at least one sensor 123 configured to measure the speed of the spray vehicle relative to the ground includes a GPS system.

[0145] In one embodiment, at least one sensor 123 configured to measure the speed of the spray vehicle relative to the ground includes a laser reflection-based system.

[0146] In one embodiment, at least one sensor 124 configured to measure the direction of air movement relative to the spray vehicle includes a wind vane.

[0147] In one embodiment, at least one sensor 125 configured to measure the air velocity relative to the spray vehicle includes an anemometer.

[0148] In one embodiment, at least one sensor 125 configured to measure the air velocity relative to the spray vehicle includes a pitot tube.

[0149] In one embodiment, at least one sensor 124 and 125 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.

[0150] In one embodiment, the sensor 126 used to determine altitude is a radar sensor.

[0151] In one embodiment, the sensor 136 used to determine altitude is a laser time-of-flight sensor.

[0152] Figure 16A schematic embodiment of a spray vehicle 100 with a spraying unit 10 is shown, and the disc shape modification assembly 40 is controlled according to different droplet sizes. In this embodiment, the spray vehicle is a UVA and includes at least one spraying unit located below the propulsion unit of the UVA. The spraying unit includes a spray direction assembly 40 configured to change the diameter of the disc 30. Multiple sensors 120 (not shown) sense, in particular, the rotation of the disc and the flow of liquid from the liquid injector to the surface of the disc. A processing unit 130 determines the droplet size of the droplets leaving the spraying unit. The processing unit further uses the sensed and calculated information to instruct at least one actuator (not shown) to control the diameter of the disc via the disc shape modification assembly. In embodiment a), the droplet size of the atomized liquid leaving the spraying unit is large (and the rotational speed of the disc is low), and the geometry defining part of the disc shape modification assembly is moved to extend the diameter of the disc. In embodiment b), the atomized droplets leaving the spraying unit are very small (and the disk rotates at a high speed), and the geometry-defining part of the disk shape modification assembly moves to its unextended position to generate a spray pattern similar to that in embodiment a). It is assumed that the liquid flow rate and liquid are the same in embodiments a) and b).

[0153] 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.

[0154] 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.

[0155] 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); - Disc shape modification component (40); as well as - Liquid injection machine (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; The disc-shaped modification component is configured to modify the trajectory of droplets leaving the spraying unit by changing the diameter of the disc.

2. The spraying unit according to claim 1, wherein the disc shape modification assembly includes at least one movable geometry defining member, the at least one movable geometry defining member being configured to change the diameter of the disc (30) or the second disc (31) by changing the position of at least a portion of the geometry defining member, and wherein the disc shape modification assembly includes at least one actuator (60), the at least one actuator being configured to move the at least one geometry defining member.

3. The spraying unit according to claim 2, wherein the disc shape modification component includes at least one geometry-defining component selected from the group consisting of a blade (41), an elastic membrane (42), and a grooved circular disc (43).

4. The spraying unit according to claim 3, wherein the disc shape modification component comprises at least two blades (41), each blade being connected to a disc (30) or a second disc (31) via at least one blade pivot point (44), wherein the at least one actuator is configured to be connected to at least one of the two blades via a blade actuator linkage (61), and wherein the at least two blades are configured to be connected via at least one inter-blade linkage (45).

5. The spraying unit according to claim 3, wherein the disc shape modification assembly includes a concentric elastic membrane (42) attached to the edge of the disc (30) or the second disc (31), wherein the disc shape modification assembly further includes at least two extendable rods (70), each extendable rod being connected to the disc or the second disc and to the elastic membrane via at least one rod pivot point (46), wherein the rods are configured to stretch or relax the elastic membrane equally in all radial directions, wherein at least one actuator (60) is configured to be connected to at least one of the two extendable rods via a rod actuator linkage (62), and wherein the at least two rods are configured to be connected via at least one rod linkage (47).

6. The spraying unit according to claim 5, wherein the disc shape modification assembly comprises at least four extendable rods (70), each rod being connected to the disc (30) or a second disc (31) and to the elastic membrane via at least one rod pivot point (46), wherein the rods are configured to stretch or relax the elastic membrane equally in all radial directions, wherein at least one actuator (60) is configured to be connected to at least one of the four extendable rods via a rod actuator linkage (62), wherein the at least four rods are configured to be connected via at least one inter-rod linkage (47).

7. The spraying unit according to claim 5, wherein the extendable rod (70) is arranged in a substantially radially symmetrical manner below the disc (30) or below the second disc (31).

8. The spraying unit according to claim 6, wherein the extendable rod (70) is arranged in a substantially radially symmetrical manner below the disc (30) or below the second disc (31).

9. The spraying unit according to any one of claims 2 to 8, wherein the second disc (31) is axially spaced below the disc (30).

10. The spraying unit according to claim 3, wherein the disc shape modification component includes at least one grooved circular disc (43) configured to laterally surround the disc (30) and thereby extend the diameter of the disc, wherein the at least one actuator (60) is configured to control the position of the at least one grooved circular disc relative to the disc.

11. The spraying unit of claim 10, wherein the disc shape modification component comprises at least two grooved circular discs (43), wherein the second grooved circular disc is configured to laterally surround the first grooved circular disc, and wherein the at least one actuator (60) is configured to control the position of the second grooved circular disc relative to the first grooved circular disc and / or the disc (30).

12. The spraying unit according to any one of claims 1 to 8, 10 and 11, wherein the disc shape modification component is configured to rotate about the axis (20) or the second axis (21).

13. The spraying unit according to any one of claims 1 to 8, 10 and 11, wherein the disc shape modification component is non-rotating.

14. The spraying unit according to any one of claims 1 to 8, 10 and 11, wherein at least a portion of the surface of the disc shape modification component impacts when the droplet leaves the outer edge of the disc (30) has a low-friction surface.

15. A spray vehicle (100) comprising at least one spraying unit (10) according to any one of claims 1 to 8, 10 and 11.

16. The spray vehicle according to claim 15, further comprising: -Liquid tank (110); - Multiple sensors (120); - Processing unit (130); The liquid tank is configured to contain liquid; The at least one spraying unit is configured to spray liquid; At least one of the plurality of sensors (123) is configured to measure the speed of the spray vehicle relative to the ground, and At least one of the plurality of sensors (124) 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 (125) 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 utilizing 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 the rotational speed of the disc, the liquid flow rate from the liquid injector to the surface of the disc, and / or the liquid flow rate of the at least one actuator, wherein the determination of at least one command for control includes utilizing the determined air movement direction relative to the projection of the front-rear axis onto the ground and the determined air movement speed relative to the ground.

17. The spray vehicle according to claim 16, wherein at least one of the plurality of sensors (126) is configured to provide data from which the height of the spray vehicle above the ground can be determined, and The processing unit is configured to control the rotational speed of the disc, the liquid flow rate from the liquid injector to the surface of the disc, and / or the liquid flow rate of the at least one actuator. The determination of at least one instruction for control includes utilizing the determined air movement direction relative to the projection of the front-rear axis onto the ground, the determined air movement speed relative to the ground, and the determined height of the spray vehicle above the ground.

18. A spray vehicle, comprising: - Liquid tank (110); - At least one spraying unit (10) according to any one of claims 2 to 14; - Multiple sensors (120); - Processing unit (130); The liquid tank is configured to hold liquid; The at least one spraying unit is configured to spray liquid; At least one of the plurality of sensors (121) is configured to measure the rotational speed of the disk (30) about an axis (20) centered on the center of the disk; At least one of the plurality of sensors (122) is configured to measure the liquid flow rate from the liquid injector (50) to the surface of the disc (30). The processing unit is configured to determine the droplet size of the droplets exiting the spraying unit, including using a measured rotational speed of the disc, a measured liquid flow rate from the liquid applicator to the surface of the disc, and the physicochemical properties of the liquid; and The processing unit is configured to control at least one actuator (60) of the spraying unit, wherein the determination of at least one instruction for controlling the at least one actuator includes utilizing the determined droplet size.

Images