Spraying device, spraying system and spraying method

Abstract

The invention relates to the technical field of agricultural machinery, and provides a spraying device, a spraying system and a spraying method. The spraying device comprises a mounting frame, a box body, a spraying assembly, a first linear driving mechanism and an over-spraying prevention assembly; the over-spraying prevention assembly comprises a connecting plate and a protective cover, the protective cover comprises a protective cover body and a protective cover support, the protective cover support comprises a first side support, a second side support, a middle support, a first elastic piece and a second elastic piece, the first side support and the second side support are arranged on the two sides of the protective cover body respectively, and the middle support is arranged in the middle of the protective cover body; the first linear driving mechanism is used for driving the connecting plate to move in the length direction of the box body, the spraying assembly is connected with the mounting frame, and when the protective cover is unfolded, the spraying assembly is located on the inner side of the protective cover. According to the spraying device, the spraying system and the spraying method provided by the invention, the defects that equipment is damaged and adjacent crops are damaged due to the fact that an existing rigid spraying cover is easy to touch the ground or collide with the ground when a topographic relief or a spraying rod shakes are overcome.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a spray device, a spray system and a spray method. Background Art

[0002] Boom sprayers are one of the most widely used equipment in field plant protection operations. They have the advantages of high efficiency and labor saving. However, during the operation, the problem of pesticide drift often occurs, and excessive drift will have a negative impact on adjacent crops, soil and water sources.

[0003] At present, spray covers are an effective anti-drift measure. By installing a guide device near the nozzle, the airflow speed and direction around the nozzle are changed, thereby promoting better sedimentation of pesticide droplets. However, most existing covers adopt a rigid structure. When the field terrain is undulating or the spray boom shakes violently, the cover may touch the ground or collide with other obstacles, which may not only easily damage the spray device, but also cause damage to nearby crops. Summary of the invention

[0004] The invention provides a spray device, a spray system and a spray method, which are used to solve the defect that the existing rigid spray cover is easy to touch the ground or collide when the terrain is undulating or the spray rod is shaking, causing damage to the equipment and adjacent crops.

[0005] A first aspect of the present invention provides a spray device, comprising: a mounting frame, a box body, a spraying assembly, a first linear drive mechanism and an overspray prevention assembly, wherein the box body is arranged on the mounting frame.

[0006] The overspray prevention assembly includes a connecting plate and a shield, the shield includes a shield body and a shield bracket, the shield bracket includes a first side bracket, a second side bracket, an intermediate bracket, a first elastic member and a second elastic member, the first side bracket and the second side bracket are respectively arranged on both sides of the shield body, and the intermediate bracket is arranged in the middle of the shield body.

[0007] The first end of the first side bracket is hinged to one side of the connecting plate, one end of the first elastic member is connected to the first end of the first side bracket, and the other end of the first elastic member is connected to the connecting plate, so as to pull the first side bracket to swing outward through the first elastic member, the first end of the second side bracket is hinged to the other side of the connecting plate, the first end of the middle bracket is connected to the connecting plate, one end of the second elastic member is connected to the first end of the second side bracket, and the other end of the second elastic member is connected to the connecting plate, so as to pull the second side bracket to swing outward through the second elastic member.

[0008] The output end of the first linear drive mechanism is hinged to the connecting plate, and the first linear drive mechanism is used to drive the connecting plate to move along the length direction of the box body. The spraying assembly is connected to the mounting frame, and when the shield is unfolded, the spraying assembly is located on the inner side of the shield.

[0009] According to the spray device provided by the present invention, the shield bracket further includes a connecting column and a third elastic member.

[0010] The connecting column is arranged in the middle of the connecting plate, the first end of the intermediate bracket is hinged to the top of the connecting column, and the first elastic member and the second elastic member are both connected to the connecting column.

[0011] One end of the third elastic member is connected to the middle portion of the connecting plate, and the other end of the third elastic member is connected to the intermediate bracket, so that the intermediate bracket is pushed to swing outward through the third elastic member.

[0012] According to the spray device provided by the present invention, the first end of the intermediate bracket is universally hinged to the top of the connecting column.

[0013] According to the spray device provided by the present invention, the first elastic member, the second elastic member and the third elastic member are all springs.

[0014] According to the spray device provided by the present invention, the first elastic member and the second elastic member are integrally arranged to form a fourth elastic member, and a middle portion of the fourth elastic member is laid on the outer wall of the connecting column.

[0015] According to the spray device provided by the present invention, a first connecting portion is provided on the side wall of the first end of the first side bracket, a spacing is provided between the first connecting portion and a hinge point between the first side bracket and the connecting plate, and one end of the first elastic member is connected to the first connecting portion.

[0016] A second connecting portion is provided on the side wall of the first end of the second side bracket, a spacing is provided between the second connecting portion and a hinge point between the second side bracket and the connecting plate, and one end of the second elastic member is connected to the second connecting portion.

[0017] According to the spray device provided by the present invention, the spray assembly includes a nozzle and a nozzle adjustment mechanism, and the nozzle adjustment mechanism includes a fixed rod, a fixed bracket and a second linear drive mechanism.

[0018] The nozzle is connected to the fixed rod, the fixed bracket is connected to the mounting bracket, a sleeve is provided on the fixed bracket, and the sleeve is sleeved on the fixed rod so that the fixed rod can rotate relative to the sleeve, an abutment plate is provided on the fixed rod, the second linear drive mechanism is connected to the mounting bracket, and the output end of the second linear drive mechanism abuts against the abutment plate to drive the fixed rod to rotate through the second linear drive mechanism.

[0019] According to the spray device provided by the present invention, one end of the box body is hinged to the mounting frame; it also includes a third linear drive mechanism, the third linear drive mechanism is connected to the mounting frame, and the output end of the third linear drive mechanism is connected to the box body to drive the box body to rotate around the hinge point between it and the mounting frame.

[0020] A second aspect of the present invention provides a spray system, comprising: a traveling device, an image recognition device and a spray device as described in any one of the above items, wherein the mounting frame is arranged on the traveling device, and the image recognition device is arranged on the traveling device or the mounting frame to obtain the relative position information between the spraying component and the boundary of the farmland.

[0021] A third aspect of the present invention provides a spraying method, which is implemented based on the spraying device as described in any one of the above items or the spraying system as described above, and includes the following steps.

[0022] The relative position information between the spraying assembly and the farmland boundary is obtained.

[0023] Based on the relative position information between the spraying assembly and the farmland boundary, a control instruction is issued to the first linear drive mechanism and the second linear drive mechanism.

[0024] The spray device provided by the present invention can drive the overspray prevention component to extend out of the box body and automatically unfold through the first linear drive mechanism when operating at the boundary of the farmland, so as to prevent the spraying component from spraying the medicine to the adjacent crops, and the unfolded overspray prevention component can also be stored in the box body. When unfolding, the output end of the first linear drive mechanism drives the connecting plate to move outwards. Since the connecting plate is hinged with the output end of the first linear drive mechanism, the connecting plate can sag naturally under the action of gravity after being pushed out of the box body. At the same time, under the pulling force of the first elastic member and the second elastic member, the shield body can be stretched open by the first side bracket and the second side bracket to form a shield, and the spraying component is shielded inside the shield to prevent the mist medicine from escaping to the adjacent crops. When folding, the output end of the first linear drive mechanism drives the connecting plate to move inwards. After the connecting plate returns to the box body, the first side bracket and the second side bracket are restrained by the inner wall of the box body and folded into the box body. The spray device provided by the present invention has a flexible structure for the overspray prevention component, which can be deformed by buffering when in contact with the outside world, so that the overspray prevention component is not easily damaged and can prevent adjacent crops from being damaged.

[0025] The spray system and spray method provided by the present invention, by setting a spray device and an image recognition device, can control the extension and retraction of the first linear drive mechanism to open or close the overspray prevention component based on the relative position information between the spray component and the farmland boundary collected by the image recognition device, and can also control the spraying direction of the spray component through the second linear drive mechanism when the overspray prevention component is turned on, so as to prevent the spray of medicine mist from being sprayed into the area where the adjacent crops are located.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is one of the schematic diagrams of the spray device provided in the embodiment of the present invention.

[0029] Figure 2 This is the second schematic diagram of the spray device provided in the embodiment of the present invention.

[0030] Figure 3 This is the third schematic diagram of the spray device provided in the embodiment of the present invention.

[0031] Figure 4 It is a schematic diagram of the operation of the spray device provided in an embodiment of the present invention.

[0032] Figure 5 Schematic diagram of an overspray prevention assembly in a spray device according to an embodiment of the present invention (with a hidden shield).

[0033] Figure 6 It is a schematic diagram of the overspray prevention component in the spray device provided by an embodiment of the present invention collides with the outside world.

[0034] Figure 7 It is a schematic diagram of a spraying assembly in a spray device provided in an embodiment of the present invention.

[0035] Figure 8 It is a schematic diagram of the case in the spray device provided by the embodiment of the present invention when the box body is lifted up.

[0036] Fig. 9 Schematic diagram of a spray system provided in an embodiment of the present invention.

[0037] Fig.10 It is a schematic flow chart of the spraying method provided in an embodiment of the present invention.

[0038] Reference numerals: 10. Mounting frame; 110. Base; 120. Spray rack; 20. Box body; 30. Spraying assembly; 310. Nozzle; 320. Nozzle adjustment mechanism; 321. Fixed rod; 322. Fixed bracket; 323. Second linear drive mechanism; 324. Abutment plate; 325. Sleeve; 40. First linear drive mechanism; 410. Connecting block; 50. Overspray prevention assembly; 510. Connecting plate; 520. Shield; 521. Shield body; 522. Shield bracket; 5221. First side bracket; 5222. Second side bracket; 5223. Intermediate bracket; 5224. First elastic member; 5225. Second elastic member; 5226. Connecting column; 5227. Third elastic member; 60. Traveling device; 70. Image recognition device. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0041] In the description of the embodiments of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0042] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0043] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0044] Combine the following Figures 1 to 10 The invention describes a spray device, a spray system and a spray method.

[0045] See also Figures 1 to 4 As shown, the spray device provided by the embodiment of the present invention includes: a mounting frame 10, a box body 20, a spraying assembly 30, a first linear drive mechanism 40 and an overspray prevention assembly 50, and the box body 20 is arranged on the mounting frame 10.

[0046] The overspray prevention assembly 50 includes a connecting plate 510 and a shield 520. The shield 520 includes a shield body 521 and a shield bracket 522. The shield bracket 522 includes a first side bracket 5221, a second side bracket 5222, an intermediate bracket 5223, a first elastic member 5224 and a second elastic member 5225. The first side bracket 5221 and the second side bracket 5222 are respectively arranged on both sides of the shield body 521, and the intermediate bracket 5223 is arranged in the middle of the shield body 521.

[0047] The first end of the first side bracket 5221 is hinged to one side of the connecting plate 510, one end of the first elastic member 5224 is connected to the first end of the first side bracket 5221, and the other end of the first elastic member 5224 is connected to the connecting plate 510, so as to pull the first side bracket 5221 to swing outward through the first elastic member 5224, the first end of the second side bracket 5222 is hinged to the other side of the connecting plate 510, the first end of the middle bracket 5223 is connected to the connecting plate 510, one end of the second elastic member 5225 is connected to the first end of the second side bracket 5222, and the other end of the second elastic member 5225 is connected to the connecting plate 510, so as to pull the second side bracket 5222 to swing outward through the second elastic member 5225.

[0048] The output end of the first linear drive mechanism 40 is hinged to the connecting plate 510 . The first linear drive mechanism 40 is used to drive the connecting plate 510 to move along the length direction of the box body 20 . The spraying assembly 30 is connected to the mounting frame 10 . When the protective cover 520 is unfolded, the spraying assembly 30 is located inside the protective cover 520 .

[0049] It should be noted that the first end of the first side bracket 5221 is connected to one side of the connecting plate 510 ( Figure 1 The first side bracket 5221 is hinged to the left side of the connecting plate 510, so that the first side bracket 5221 can swing left and right along the hinge point between the first end of the second side bracket 5222 and the other side of the connecting plate 510 ( Figure 1 The first side bracket 5221 is hinged at the lower right side shown in the figure so that the first side bracket 5221 can swing left and right along the hinge point between the first side bracket 5221 and the connecting plate 510.

[0050] The spray device provided by the present invention has a flexible structure because the overspray prevention component 50 can be deformed by buffering when it comes into contact with the outside world (see Figure 6 As shown), the overspray prevention assembly 50 is less susceptible to damage and can prevent damage to adjacent crops.

[0051] When the spray device is operating at the boundary of a farmland, the first linear drive mechanism 40 can drive the overspray prevention component 50 to extend from the box body 20 and automatically unfold, thereby preventing the spraying component 30 from spraying the medicine onto adjacent crops. The unfolded overspray prevention component 50 can also be stored in the box body 20. When unfolded, the output end of the first linear drive mechanism 40 drives the connecting plate 510 to move outward. Since the connecting plate 510 is hinged to the output end of the first linear drive mechanism 40, after the connecting plate 510 is pushed out of the box body 20, it can droop naturally under the action of gravity. At the same time, under the pulling force of the first elastic member 5224 and the second elastic member 5225, the shield body 521 can be stretched open by the first side bracket 5221 and the second side bracket 5222 to form the shield 520, and the spraying assembly 30 is blocked on its inner side to prevent the mist drug from escaping to the neighboring crops. When stored, the output end of the first linear drive mechanism 40 drives the connecting plate 510 to move inward. After the connecting plate 510 returns to the box body 20, under the constraint of the inner wall of the box body 20, the first side bracket 5221 and the second side bracket 5222 are close to each other and folded in the box body 20.

[0052] Specifically, the first linear drive mechanism 40 can adopt an electric push rod, a pneumatic push rod, a hydraulic push rod or an electric control telescopic rod and other mechanisms known in the prior art. The connecting plate 510 is arranged at the output end of the above-mentioned linear drive mechanism, and the two are configured to be hinged. And within the stroke of the output end of the first linear drive mechanism 40, the connecting plate 510 can be moved in and out of the box body 20.

[0053] The output end of the first linear drive mechanism 40 is provided with a connecting block 410, and the upper end of the connecting plate 510 ( Figure 1 The output end of the first linear drive mechanism 40 is hingedly connected to the output end of the first linear drive mechanism 40 through the connecting block 410. The setting of the connecting block 410 facilitates the configuration of the output end of the first linear drive mechanism 40 and the connecting plate 510 to be hinged.

[0054] An accommodation space is formed in the box body 20 to accommodate the output end of the first linear drive mechanism 40 and the overspray prevention assembly 50, and the inner side wall of the box body 20 can constrain the first side bracket 5221 and the second side bracket 5222. When the first linear drive mechanism 40 drives the overspray prevention assembly 50 to be stored in the box body 20, the inner side wall of the box body 20 can constrain the first side bracket 5221 and the second side bracket 5222 in the expanded state to move closer to the middle and inward to achieve storage.

[0055] In the stored state, the first elastic member 5224 and the second elastic member 5225 are in a stretched state, which can tighten the first side bracket 5221 and the second side bracket 5222 and abut against the inner wall of the box body 20, thereby ensuring the stability of the overspray prevention assembly 50 when stored and preventing it from shaking and producing abnormal noise in the box body 20.

[0056] The first elastic member 5224 and the second elastic member 5225 can both be elastic members that can apply tension, such as springs (tension springs) and elastic ropes.

[0057] Preferably, the first elastic member 5224 and the second elastic member 5225 in this embodiment are both springs. The springs have high elasticity and repeatability, can maintain stable elastic properties during repeated loading and unloading, and have a service life of up to tens of thousands of times. Secondly, the spring structure is simple, the manufacturing process is mature, it is easy to install and replace, and complex devices are usually not required during the design and maintenance process. In addition, the spring has a fast response speed and can quickly respond to external forces, which is very suitable for application scenarios that require quick response.

[0058] The mounting frame 10 includes a base 110 and a spray frame 120, wherein the base 110 is fixedly mounted on the spray frame 120. The spray frame 120 is usually mounted on a traveling mechanism, and driven by the traveling mechanism, a mobile spraying operation is realized.

[0059] See also Figure 1 and Figure 5 As shown, according to some embodiments of the present invention, the shield bracket 522 further includes a connecting column 5226 and a third elastic member 5227; the connecting column 5226 is provided in the middle of the connecting plate 510, the first end of the intermediate bracket 5223 is hinged to the top of the connecting column 5226, and the first elastic member 5224 and the second elastic member 5225 are both connected to the connecting column 5226; one end of the third elastic member 5227 is connected to the middle of the connecting plate 510, and the other end of the third elastic member 5227 is connected to the intermediate bracket 5223, so that the intermediate bracket 5223 is pushed to swing outward through the third elastic member 5227. By providing the connecting column 5226 and hingedly connecting the first end of the intermediate bracket 5223 to the top of the connecting column 5226, the middle part of the shield body 521 can be lifted up through the intermediate bracket 5223, so that the shield 520 as a whole is in an arched structure when unfolded, thereby improving the overspray prevention effect of the shield 520. By providing a third elastic member 5227, the elastic force can be used to push the intermediate bracket 5223 to unfold when unfolding, and when the overspray prevention assembly 50 is stored in the box body 20, the elastic force is applied to the intermediate bracket 5223 so that the end of the intermediate bracket 5223 abuts against the inner top wall of the box body 20, thereby ensuring the stability of the overspray prevention assembly 50 when it is stored and preventing it from shaking and making abnormal noises in the box body 20.

[0060] It should be noted that the middle portion of the connecting plate 510 specifically refers to Figure 1The connecting plate 510 shown in FIG. 5 is located between the hinge point of the first side bracket 5221 and the hinge point of the second side bracket 5222 .

[0061] Preferably, in this embodiment, the connecting column 5226 is arranged on the vertical center line of the connecting plate 510, the connecting point of the third elastic member 5227 and the connecting plate 510 is located on the vertical center line of the connecting plate 510, and the connecting point of the third elastic member 5227 and the connecting plate 510 is located below the connecting point of the connecting column 5226 and the connecting plate 510. It is ensured that the intermediate bracket 5223 can just arch and unfold the middle part of the shield body 521.

[0062] The third elastic member 5227 can be an elastic member such as a spring, an elastic pad or an elastic bracket. When unfolded, it can be applied with an elastic force to the intermediate bracket 5223.

[0063] Preferably, the third elastic member 5227 of this embodiment also adopts a spring. In specific implementation, a mounting column can be set at the corresponding positions of the connecting plate 510 and the intermediate bracket 5223, and the third elastic member 5227 is sleeved on the mounting column. The length of the mounting column is less than the length of the third elastic member 5227, which can facilitate the installation and arrangement of the third elastic member 5227.

[0064] According to some embodiments of the present invention, the first end of the intermediate bracket 5223 is universally hinged to the top of the connecting column 5226. By configuring the first end of the intermediate bracket 5223 and the top of the connecting column 5226 as a universal hinge, the intermediate bracket 5223 can rotate freely, and when the intermediate bracket 5223 is subjected to external collision, it can be deformed adaptively to prevent breaking.

[0065] Specifically, the first end of the intermediate bracket 5223 and the top of the connecting column 5226 can be a ball joint or a universal joint can be used to configure the two to be universally hinged. Among them, when a ball joint structure is used, a ball joint can be set at the top of the connecting column 5226, and a ball groove matching the ball joint can be set at the first end of the intermediate bracket 5223. The ball joint and the ball groove can cooperate to achieve a universal hinge. Using a universal joint (such as a cross universal joint or a double universal joint) to connect the intermediate bracket 5223 and the connecting column 5226 can enable the intermediate bracket 5223 to achieve a wider range of angle changes.

[0066] According to some embodiments of the present invention, the first elastic member 5224 and the second elastic member 5225 are integrally arranged to form a fourth elastic member, and the middle portion of the fourth elastic member is mounted on the outer wall of the connecting column 5226. By integrally arranging the first elastic member 5224 and the second elastic member 5225, the two ends of the fourth elastic member can be used to apply elastic force to the first side bracket 5221 and the second side bracket 5222, respectively, thereby reducing the number of elastic members and simplifying the structure of the overspray prevention assembly 50.

[0067] In some embodiments, a limiting groove can be set at the corresponding position of the connecting column 5226, and the middle part of the fourth elastic member is set in the limiting groove, which can effectively prevent the fourth elastic member from slipping along the length direction of the connecting column 5226.

[0068] In addition, in some embodiments, a plurality of limit grooves may be provided along the length direction of the connecting column 5226. By disposing the middle portion of the fourth elastic member in different limit grooves, the elastic force of the fourth elastic member can be adjusted, thereby adjusting the pre-tightening degree of the first side bracket 5221 and the second side bracket 5222 when they are stored and unfolded, and adjusting the buffering effect of the first side bracket 5221 and the second side bracket 5222 when they are impacted by the outside world.

[0069] See also Figure 5 and Figure 6 As shown, according to some embodiments of the present invention, a first connecting portion is provided on the side wall of the first end of the first side bracket 5221, a spacing is provided between the first connecting portion and the hinge point of the first side bracket 5221 and the connecting plate 510, and one end of the first elastic member 5224 is connected to the first connecting portion; a second connecting portion is provided on the side wall of the first end of the second side bracket 5222, a spacing is provided between the second connecting portion and the hinge point of the second side bracket 5222 and the connecting plate 510, and one end of the second elastic member 5225 is connected to the second connecting portion. By setting a first connecting part on the side wall of the first end of the first side bracket 5221, since there is a gap (forming a lever arm) between the first connecting part and the hinge point of the first side bracket 5221 and the connecting plate 510, the first elastic member 5224 can pull the first side link to rotate through the first connecting part and lower the pair. Similarly, by setting a second connecting part on the side wall of the first end of the second side bracket 5222, since there is a gap (forming a lever arm) between the second connecting part and the hinge point of the second side bracket 5222 and the connecting plate 510, the second elastic member 5225 can pull the second side link to rotate through the second connecting part.

[0070] Preferably, the first connecting portion and the second connecting portion in the present embodiment are both connecting bosses, and the connecting bosses are integrally provided with the corresponding side connecting rods, and have a simple structure and are easy to process and manufacture.

[0071] In some embodiments, the first connection part and the second connection part can be configured to be threadedly connected to the first side connecting rod and the second side connecting rod respectively, and the distance between the connection point between the first elastic member 5224 and the first connection part and the hinge point between the first side bracket 5221 and the connecting plate 510 can be adjusted by rotating the first connection part, thereby adjusting the length of the force arm, so as to adjust the pre-tightening degree of the first side bracket 5221 when it is stored or unfolded, and to adjust the buffering effect of the first side bracket 5221 when it is hit by the outside. Similarly, the distance between the connection point between the second elastic member 5225 and the second connection part and the hinge point between the second side bracket 5222 and the connecting plate 510 can be adjusted by rotating the second connection part, thereby adjusting the length of the force arm, so as to adjust the pre-tightening degree of the second side bracket 5222 when it is stored or unfolded, and to adjust the buffering effect of the second side bracket 5222 when it is hit by the outside.

[0072] In addition, the threaded connection also has a self-locking function, and the first connection part and the second connection part can be maintained at the current position after adjustment, without the need to set up other positioning mechanisms.

[0073] See also Figure 7 As shown, according to some embodiments of the present invention, the spraying assembly 30 includes a nozzle 310 and a nozzle adjustment mechanism 320, the nozzle adjustment mechanism 320 includes a fixed rod 321, a fixed bracket 322 and a second linear drive mechanism 323; the nozzle 310 is connected to the fixed rod 321, the fixed bracket 322 is connected to the mounting frame 10, a sleeve 325 is provided on the fixed bracket 322, the sleeve 325 is sleeved on the fixed rod 321, so that the fixed rod 321 can rotate relative to the sleeve 325, the fixed rod 321 is provided with an abutment plate 324, the second linear drive mechanism 323 is connected to the mounting frame 10, and the output end of the second linear drive mechanism 323 abuts against the abutment plate 324, so as to drive the fixed rod 321 to rotate through the second linear drive mechanism 323. By setting the nozzle adjustment mechanism 320, the spraying direction of the nozzle 310 can be adjusted to prevent the spray mist from causing adverse effects on adjacent crops.

[0074] Specifically, during adjustment, the output end of the second linear drive mechanism 323 applies a driving action to the abutment plate 324 , and the abutment plate 324 drives the fixing rod 321 to rotate and drives the nozzle 310 to rotate, thereby adjusting the direction of the nozzle 310 .

[0075] The second linear drive mechanism 323 may also be an electric push rod, a pneumatic push rod, a hydraulic push rod or an electric control telescopic rod, etc., which are well known in the prior art. When the output end of the second linear drive mechanism 323 is extended, the contact plate 324 can be pushed to drive the fixed rod 321 and the nozzle 310 to rotate, thereby adjusting the direction of the nozzle 310.

[0076] See also Figure 8As shown, according to some embodiments of the present invention, one end of the box body 20 is hinged to the mounting frame 10; a third linear drive mechanism (not shown in the figure) is also included, the third linear drive mechanism is connected to the mounting frame 10, and the output end of the third linear drive mechanism is connected to the box body 20 to drive the box body 20 to rotate around the hinge point between the box body 20 and the mounting frame 10. By configuring one end of the box body 20 and the mounting frame 10 to be hinged, and providing the third linear drive mechanism, the output end of the third linear drive mechanism can drive the box body 20 to rotate, thereby achieving obstacle avoidance.

[0077] Specifically, the third linear drive mechanism can also adopt an electric push rod, a pneumatic push rod, a hydraulic push rod or an electric control telescopic rod known in the prior art. By hingedly connecting the output end of the linear drive mechanism to the corresponding position of the box body 20, the output end of the third linear drive mechanism can extend outward to drive the box body 20 to tilt upward, and vice versa, the output end of the third linear drive mechanism can retract inward to drive the box body 20 to move downward.

[0078] The spray system provided by the present invention is described below. The spray system described below and the spray device described above can be referred to each other.

[0079] See also Fig. 9 As shown, the spray system provided by an embodiment of the present invention includes: a traveling device 60, an image recognition device 70 and a spray device as described in any of the above embodiments, the mounting frame 10 is arranged on the traveling device 60, and the image recognition device 70 is arranged on the traveling device 60 or the mounting frame 10 to obtain the relative position information between the spraying component 30 and the boundary of the farmland.

[0080] The spray system provided by the present invention, by setting a spray device and an image recognition device 70, can control the extension and retraction of the first linear drive mechanism 40 to open or close the overspray prevention component 50 based on the relative position information between the spray component 30 and the farmland boundary collected by the image recognition device 70, and can also control the spraying direction of the spray component 30 through the second linear drive mechanism 323 when the overspray prevention component 50 is turned on to prevent the spray mist from being sprayed into the area where the adjacent crops are located.

[0081] Specifically, the image recognition device 70 can use an industrial camera known in the prior art to collect images, identify and monitor the relative position of the farmland boundary and the spraying assembly 30.

[0082] The number of image recognition devices 70 may be single or multiple. For example, when the spraying assembly 30 is only provided on one side of the mounting frame 10, only a single image recognition device 70 may be provided to detect the relative position between the farmland boundary on one side and the spraying assembly 30. When the spraying assembly 30 is provided on both sides of the mounting frame 10, two image recognition devices 70 may be provided to detect the relative position between the farmland boundary on both sides and the spraying assembly 30.

[0083] The spray method provided by the present invention is described below. The spray system described below and the spray device and the spray system described above can be referred to each other.

[0084] See also Fig.10 As shown, the spraying method provided by the embodiment of the present invention includes the following steps.

[0085] S1. Obtaining the relative position information between the spraying assembly 30 and the farmland boundary.

[0086] S2. Based on the relative position information between the spraying assembly 30 and the farmland boundary, a control instruction is issued to the first linear drive mechanism 40 and the second linear drive mechanism 323.

[0087] The spraying method provided by the present invention can control the extension and retraction of the first linear drive mechanism 40 to open or close the overspray prevention component 50 based on the relative position information between the spraying component 30 and the farmland boundary collected by the image recognition device 70. It can also control the spraying direction of the spraying component 30 through the second linear drive mechanism 323 when the overspray prevention component 50 is turned on to prevent the spray mist from being sprayed into the area where the adjacent crops are located.

[0088] Specifically, in step S1 , the relative position information between the spraying assembly 30 and the farmland boundary can be collected and processed by the image recognition device 70 .

[0089] It is understandable that during the movement of the spray device, the relative position of the farmland boundary and the spraying assembly 30 may change because the movement trajectory of the traveling device 60 is in a dynamic state and the farmland boundary may change. In the present application, the image recognition device 70 can collect the change information of the farmland boundary position during the movement of the sprayer in real time and input it into the computer, so as to control the first linear drive assembly and the second linear drive assembly through the above data information.

[0090] In step S2, the overspray prevention component 50 can be driven by the first linear drive mechanism 40 according to the relative position information of the farmland boundary relative to the spraying component 30, and the spraying direction of the nozzle 310 can be adjusted by the second linear drive mechanism 323 to prevent the spray mist from being sprayed to the area where the adjacent crops are located.

[0091] It can be understood that, first, based on the farmland position information collected by the image recognition device 70, the computer calculates the position change of the farmland boundary relative to the spraying mechanism, and the electronic control unit controls the first linear drive mechanism 40 and the second linear drive mechanism 323 to operate according to this information, so as to compensate for the misalignment of the shield 520 and the farmland boundary caused by the change in relative position, and the terminal nozzle 310 sprays across the boundary, so as to realize that the shield 520 is kept directly above the farmland boundary in real time and prevents the spray from falling directly on the adjacent crop area.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spray device, characterized in that: include: A mounting frame, a box body, a spraying assembly, a first linear drive mechanism and an overspray prevention assembly, wherein the box body is arranged on the mounting frame; The overspray prevention assembly includes a connecting plate and a shield, the shield includes a shield body and a shield bracket, the shield bracket includes a first side bracket, a second side bracket, an intermediate bracket, a first elastic member and a second elastic member, the first side bracket and the second side bracket are respectively arranged on both sides of the shield body, and the intermediate bracket is arranged in the middle of the shield body; The first end of the first side bracket is hinged to one side of the connecting plate, one end of the first elastic member is connected to the first end of the first side bracket, and the other end of the first elastic member is connected to the connecting plate, so as to pull the first side bracket to swing outward through the first elastic member, the first end of the second side bracket is hinged to the other side of the connecting plate, the first end of the middle bracket is connected to the connecting plate, one end of the second elastic member is connected to the first end of the second side bracket, and the other end of the second elastic member is connected to the connecting plate, so as to pull the second side bracket to swing outward through the second elastic member; The output end of the first linear drive mechanism is hinged to the connecting plate, and the first linear drive mechanism is used to drive the connecting plate to move along the length direction of the box body. The spraying assembly is connected to the mounting frame, and when the shield is unfolded, the spraying assembly is located on the inner side of the shield.

2. The spray device according to claim 1, characterized in that The shield bracket also includes a connecting column and a third elastic member; The connecting column is arranged in the middle of the connecting plate, the first end of the intermediate bracket is hinged to the top of the connecting column, and the first elastic member and the second elastic member are both connected to the connecting column; One end of the third elastic member is connected to the middle portion of the connecting plate, and the other end of the third elastic member is connected to the intermediate bracket, so that the intermediate bracket is pushed to swing outward through the third elastic member.

3. The spray device according to claim 2, characterized in that The first end of the intermediate bracket is universally hinged to the top of the connecting column.

4. The spray device according to claim 2, characterized in that The first elastic member, the second elastic member and the third elastic member are all springs.

5. The spray device according to claim 2, characterized in that: The first elastic member and the second elastic member are integrally arranged to form a fourth elastic member, and a middle portion of the fourth elastic member is laid on the outer wall of the connecting column.

6. The spray device according to any one of claims 1 to 5, characterized in that: A first connecting portion is provided on the side wall of the first end of the first side bracket, a distance is provided between the first connecting portion and a hinge point between the first side bracket and the connecting plate, and one end of the first elastic member is connected to the first connecting portion; A second connecting portion is provided on the side wall of the first end of the second side bracket, a spacing is provided between the second connecting portion and a hinge point between the second side bracket and the connecting plate, and one end of the second elastic member is connected to the second connecting portion.

7. The spray device according to any one of claims 1 to 5, characterized in that: The spraying assembly includes a nozzle and a nozzle adjustment mechanism, and the nozzle adjustment mechanism includes a fixed rod, a fixed bracket and a second linear drive mechanism; The nozzle is connected to the fixed rod, the fixed bracket is connected to the mounting bracket, a sleeve is provided on the fixed bracket, and the sleeve is sleeved on the fixed rod so that the fixed rod can rotate relative to the sleeve, an abutment plate is provided on the fixed rod, the second linear drive mechanism is connected to the mounting bracket, and the output end of the second linear drive mechanism abuts against the abutment plate to drive the fixed rod to rotate through the second linear drive mechanism.

8. The spray device according to any one of claims 1 to 5, characterized in that: One end of the box body is hinged to the mounting frame; It also includes a third linear drive mechanism, which is connected to the mounting frame, and an output end of the third linear drive mechanism is connected to the box body to drive the box body to rotate around a hinge point between the box body and the mounting frame.

9. A spray system, characterized in that: It comprises a traveling device, an image recognition device and the spray device as described in any one of claims 1 to 8, wherein the mounting frame is arranged on the traveling device, and the image recognition device is arranged on the traveling device or the mounting frame to obtain the relative position information between the spraying component and the boundary of the farmland.

10. A spraying method, characterized in that: Based on the spray device according to any one of claims 1 to 8 or the spray system according to claim 9, it includes: Obtaining relative position information between the spraying assembly and the farmland boundary; Based on the relative position information between the spraying assembly and the farmland boundary, a control instruction is issued to the first linear drive mechanism and the second linear drive mechanism.

Images