Spraying device, spraying machine and control method of spraying machine

Abstract

The invention provides a spraying device, a spraying machine and a control method thereof, the spraying device comprises a supporting frame, a spraying assembly and a posture adjusting assembly, and the posture adjusting assembly comprises an adjusting frame which abuts against the supporting frame and is rotationally connected with the spraying assembly; the two ends of the first telescopic piece are movably connected to the supporting frame and the adjusting frame so as to drive the adjusting frame to rotate around the first axis; the two ends of the second telescopic part are connected to the adjusting frame and the spraying assembly correspondingly so as to drive the spraying assembly to rotate around the second axis; wherein the first axis is an abutting line of the adjusting frame and the supporting frame, the second axis is a rotating axis of the adjusting frame and the spraying assembly, and the first axis and the second axis are staggered. The posture of the spraying assembly is adjusted through the posture adjusting assembly, and it can be ensured that the spraying assembly can be kept horizontal with crops when the spraying assembly is located in uneven hills and mountains and other areas.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery, and in particular to a spraying device, a sprayer and a control method thereof. Background Art

[0002] The traditional production method of crops mainly relies on manual pest control. There are problems such as uneven pesticide spraying, poor control effects, and sometimes even the risk of pesticide poisoning due to improper spraying operations. Therefore, with the development of modern agriculture, precision agriculture technology has gradually become the key to increasing crop yields and reducing pesticide use. In precision agriculture, a boom spray system is a commonly used pesticide application device that can evenly spray pesticides, fertilizers, or other agricultural chemicals on crops.

[0003] Traditional boom spray systems usually have the following problems in hilly and mountainous areas with uneven terrain such as southern hilly areas: traditional boom spray systems are difficult to maintain horizontal spraying, resulting in uneven crop spraying operations, problems such as spray drift, and affecting the growth of crops and the rational and effective utilization of pesticides. Summary of the Invention

[0004] The present invention provides a spraying device, a sprayer and a control method thereof to solve the technical problem that the boom spray system in the prior art is difficult to maintain horizontal spraying in hilly and mountainous areas with uneven terrain such as southern hilly areas.

[0005] In a first aspect of the present invention, a spraying device is provided, including a support frame, a spraying assembly, and an attitude adjustment assembly. The attitude adjustment assembly includes: an adjustment frame that abuts against the support frame and is rotatably connected to the spraying assembly; a first telescopic member with both ends movably connected to the support frame and the adjustment frame to drive the adjustment frame to rotate around a first axis; and a second telescopic member with both ends respectively connected to the adjustment frame and the spraying assembly to drive the spraying assembly to rotate around a second axis; wherein, the first axis is the abutting line between the adjustment frame and the support frame, the second axis is the rotation axis of the adjustment frame and the spraying assembly, and the first axis and the second axis intersect.

[0006] The first telescopic member drives the adjustment frame to rotate around the first axis, driving the adjustment frame to pitch longitudinally. Since the spraying assembly is connected to the adjustment frame, the elevation angle of the entire spraying assembly relative to the crops can be adjusted. The second telescopic member drives the spraying assembly to rotate around the second axis, which can drive the spraying assembly to deflect laterally. When the spraying device sprays crops planted on a slope, the first telescopic member adjusts the elevation angle of the spraying assembly to ensure that the spraying assembly is horizontal relative to the crops on the slope. When the spraying device is at a low position, the second telescopic member drives the spraying assembly to deflect laterally to ensure that the spraying assembly is horizontal relative to the crops at a high position.

[0007] In a further aspect of the present invention, the adjustment frame includes: a first adjustment member, which abuts against the support frame and is rotatably connected to the spray assembly; a second adjustment member, which is connected to the second adjustment member and is perpendicular to the first adjustment member, and the first telescopic member is rotatably connected to the second adjustment member; and a strengthening member, which obliquely connects the first adjustment member and the second adjustment member, and the second telescopic member is movably connected to the strengthening member.

[0008] In a further aspect of the present invention, the spray assembly includes: a connecting member, which is respectively rotatably connected to the second telescopic member and the adjustment member; and a support rod, which is rotatably connected to the connecting member and the rotation axis thereof intersects with the first axis and the second axis.

[0009] In a further aspect of the present invention, the spray assembly further includes: a spray pipe, which is connected to the support rod and has the same extending direction as the support rod; and a nozzle, which is arranged on the support rod and is communicated with the spray pipe.

[0010] In a further aspect of the present invention, the support frame includes: an end plate; a pair of connecting rods, which are respectively arranged at both ends of the same surface of the end plate, and the pair of connecting rods are arranged in parallel; and a pair of abutting plates, which are respectively arranged on the pair of connecting rods, and both ends of the adjustment frame respectively abut against the pair of abutting plates.

[0011] The second aspect of the present invention provides a sprayer, which includes a frame, a control device, a medicine supply device, a moving device, an ultrasonic sensor and a spray device. The medicine supply device and the spray device are arranged on the frame. The medicine supply device is used for supplying medicine to the spray assembly, and the sensor is used for acquiring the positions of the planted crops; the control device is configured to control the attitude adjustment assembly to make the spray assembly spray horizontally, control the medicine supply device to prepare the medicine, and control the moving path of the moving device to be perpendicular to the central position of the row spacing of the planted crops.

[0012] In a further aspect of the present invention, the medicine supply device includes: a water tank and a medicine tank, which are respectively used for containing water and liquid medicine; a driving pump, which is communicated with the water tank; a mixing pump, the inlet of which is respectively communicated with the water tank and the medicine tank, and the outlet of which is communicated with the spray assembly; and an overflow pressure relief circuit, one end of which is communicated with the outlet of the driving pump and the other end of which is communicated with the pipeline where the mixing pump is communicated with the spray assembly.

[0013] In a further aspect of the present invention, a manual pressure regulating valve, a first filter and a flow sensor are sequentially arranged on the pipeline where the water tank is communicated with the driving pump; a pressure gauge, a second filter and an electric ball valve are sequentially arranged on the pipeline where the driving pump is communicated with the mixing pump.

[0014] A third aspect of the present invention provides a control method for the spraying device provided in the second aspect of the present invention, including the following steps: obtaining the positions of the planted crops according to the ultrasonic sensor; controlling the moving path of the moving device to be perpendicular to the central position of the row spacing of the planted crops; judging whether the spraying component is at the central position of the row spacing of the planted crops according to the positions of the planted crops; if the spraying component is not at the central position of the row spacing of the planted crops, controlling the first telescopic member and the second telescopic member to extend and contract to adjust the spraying component to the central position of the row spacing of the planted crops.

[0015] In a further aspect of the present invention, the method further includes the following steps: obtaining the current attitude of the spraying component according to the attitude sensor; determining the distance between the spraying component and the planted crops according to the attitude of the spraying component and the positions of the planted crops.

[0016] In a further aspect of the present invention, the method further includes the following steps: when receiving a signal that the spraying component starts to work, obtaining the current pressure value at the inlet end of the mixing pump through a pressure gauge; relieving the pressure of the pipeline connected to the mixing pump when the current pressure value at the inlet end of the mixing pump is higher than the threshold value; when the current pressure value at the inlet end of the mixing pump is not greater than the threshold value, injecting water into the water tank according to a preset ratio and controlling the mixing pump to start to absorb the liquid medicine in the medicine tank for medicine preparation; when receiving a signal that the spraying component stops working, controlling the mixing pump to stop running.

[0017] In the spraying device provided by the present invention, the first telescopic member drives the adjustment frame to rotate around the first axis, driving the adjustment frame to pitch longitudinally. Since the spraying component is connected to the adjustment frame, the elevation angle of the entire spraying component relative to the crops can be adjusted. The second telescopic member drives the spraying component to rotate around the second axis, which can drive the spraying component to deflect horizontally. When the spraying device sprays crops planted on a slope, the first telescopic member adjusts the elevation angle of the spraying component to ensure that the spraying component is horizontal relative to the crops on the slope. When the spraying device is at a low position, the second telescopic member drives the spraying component to deflect horizontally to ensure that the spraying component is horizontal relative to the crops at a high position.

[0018] Other features and advantages of the embodiments of the present invention will be described in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation manners of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the specific implementation manners or the description of the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1Schematic structural diagram of a spray device provided by one embodiment of the present invention; Figure 2 Schematic structural diagram of a support frame and an attitude adjustment assembly provided by one embodiment of the present invention; Figure 3 Partial schematic structural diagram of a strip adjustment assembly provided by one embodiment of the present invention; Figure 4 Schematic structural diagram of a sprayer provided by one embodiment of the present invention.

[0021] Reference numerals 100, spray device; 110, spray assembly; 111, connecting member; 112, support rod; 113, nozzle; 114, spray pipe; 120, attitude adjustment assembly; 121, first telescopic member; 122, second telescopic member; 123, adjustment frame; 1211, first adjustment member; 1212, second adjustment member; 1213, reinforcing member; 130, support frame; 131, end plate; 132, connecting rod; 133, abutting plate.

[0022] 200, frame; 300, moving device; 400, medicine supply device; 401, water tank; 402, medicine box; 403, driving pump; 404, mixing pump; 405, pressure gauge; 406, second filter; 407, flow sensor; 408, manual pressure regulating valve; 409, electric ball valve; 410, first filter. Detailed implementation manners

[0023] In order to make the above and other features and advantages of the present invention clearer, the present invention will be further described below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for the purpose of explaining to those skilled in the art and are merely exemplary, not restrictive.

[0024] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0025] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0026] In the present invention, unless otherwise clearly defined and limited, terms such as "installed", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0028] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example 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 can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0029] It should be noted that for the convenience of display, in the drawings provided in this embodiment, some pipelines and all connection circuits are not shown in the figures.

[0030] Please refer to Figures 1 - 3, in the first aspect of the present invention, a spraying device 100 is provided, which includes a support frame 130, a spraying assembly 110, and an attitude adjustment assembly 120. The attitude adjustment assembly 120 includes: an adjustment frame 123, which abuts against the support frame 130 and is rotatably connected to the spraying assembly 110; a first telescopic member 121, whose two ends are movably connected to the support frame 130 and the adjustment frame 123 to drive the adjustment frame 123 to rotate around a first axis; and a second telescopic member 122, whose two ends are respectively connected to the adjustment frame 123 and the spraying assembly 110 to drive the spraying assembly 110 to rotate around a second axis. Wherein, the first axis is the abutting line between the adjustment frame 123 and the support frame 130, the second axis is the rotation axis of the adjustment frame 123 and the spraying assembly 110, and the first axis and the second axis are staggered.

[0031] In this solution, the first telescopic member 121 drives the adjustment frame 123 to rotate around the first axis, driving the adjustment frame 123 to pitch longitudinally. Since the spraying assembly 110 is connected to the adjustment frame 123, the elevation angle of the entire spraying assembly 110 relative to the crops can be adjusted. The second telescopic member 122 drives the spraying assembly 110 to rotate around the second axis, which can drive the spraying assembly 110 to deflect laterally. When the spraying device 100 sprays crops planted on a slope, the first telescopic member 121 adjusts the elevation angle of the spraying assembly 110 to ensure that the spraying assembly 110 is horizontal relative to the crops on the slope. When the spraying device 100 is at a low position, the second telescopic member 122 drives the spraying assembly 110 to deflect laterally to ensure that the spraying assembly 110 is horizontal relative to the crops at a high position.

[0032] In a further solution of the present invention, the adjustment frame 123 includes: a first adjustment member 1211, which abuts against the support frame 130 and is rotatably connected to the spraying assembly 110; a second adjustment member 1212, which is connected to the second adjustment member 1212 and is perpendicular to the first adjustment member 1211, and the first telescopic member 121 is rotatably connected to the second adjustment member 1212; and a strengthening member 1213, which is obliquely connected between the first adjustment member 1211 and the second adjustment member 1212, and the second telescopic member 122 is movably connected to the strengthening member 1213.

[0033] In this solution, the main body load is transmitted through the abutting support frame 130 to ensure the stability of longitudinal pitch adjustment; the second adjustment member 1212 is vertically connected to the first adjustment member 1211 to provide a lateral fulcrum for the first telescopic member 121, and efficiently converts the telescopic thrust into a rotational moment around the first axis. During operation on a slope, the first adjustment member 1211 controls the pitch angle of the spray boom, and the second adjustment member 1212 drives the lateral deflection to achieve synchronous adjustment of slope fitting and row alignment. The oblique strengthening member 1213 rigidly connects the first adjustment member 1211 and the second adjustment member 1212 through the triangle stability principle to resist the torsional load during the adjustment process and avoid structural deformation.

[0034] Furthermore, a shock-absorbing damping structure can be provided below the first telescopic member 121 and the second telescopic member 122 to reduce the shaking of the spray assembly 110.

[0035] In a further aspect of the present invention, the spray assembly includes: a connecting member 111 rotatably connecting the second telescopic member 122 and the adjusting member respectively; and a support rod 112 rotatably connected to the connecting member 111 and having a rotation axis intersecting with the first axis and the second axis.

[0036] In this solution, the rotation axis of the support rod 112 forms a non-coplanar layout in space with the first axis and the second axis, enabling the storage of the support rod 112. That is, when the spray device 100 is no longer in use, the support rod 112 can be rotated to reduce the occupied area of the entire spray device 100.

[0037] In a further aspect of the present invention, the spray assembly further includes: a spray pipe 114 connected to the support rod 112 and having the same extending direction as the support rod 112; and a nozzle 113 provided on the support rod 112 and communicating with the spray pipe 114.

[0038] In this solution, the spray pipe 114 extends in the same direction as the support rod 112, forming a straight main delivery path, reducing local pressure losses caused by elbows, diameter changes, etc., and reducing the overall flow resistance; the support rod 112 serves as a rigid carrier for the spray pipe 114, suppressing pipeline vibrations caused by fluid pulsations; the spray pipe 114 and the support rod 112 are connected by an elastic clamp, allowing thermal expansion deformation and avoiding the cracking risk caused by stress concentration.

[0039] In a further aspect of the present invention, the support frame 130 includes: an end plate 131; a pair of connecting rods 132 respectively disposed at both ends of the same side of the end plate 131, the pair of connecting rods 132 being parallel; a pair of abutting plates 133 respectively disposed on the pair of connecting rods 132, and both ends of the adjusting frame 123 respectively abutting against the pair of abutting plates 133.

[0040] Specifically, there are two groups of connecting rods 132, one pair in each group; a middle support frame (not labeled in the figure) is provided on each group of connecting rods 132, and the first telescopic member 121 is movably connected to the middle support frame.

[0041] Please refer further to Figure 4In a second aspect, the present invention provides a sprayer, comprising a frame 200, a control device (not shown in the figure), a medicine supply device 400, a moving device 300, an ultrasonic sensor (not shown in the figure) and a spray device 100, wherein the medicine supply device 400 and the spray device 100 are arranged on the frame 200, the medicine supply device 400 is used to supply medicine to the spray component 110, and the sensor is used to obtain the position of the planted crops; the control device is configured to control the posture adjustment component 120 to make the spray component 110 spray horizontally, control the medicine supply device 400 to dispense medicine, and control the moving path of the moving device 300 to be perpendicular to the center position of the row spacing of the planted crops.

[0042] In this solution, the ultrasonic sensor scans the position of the crop row in real time, and the control device analyzes the data and drives the mobile device 300 (such as the AGV chassis or the agricultural machinery steering mechanism) to move along the center line of the row spacing, with a lateral offset error of ≤2cm (the traditional manual driving error is ≥10cm) to avoid crushing the crops. Based on the terrain undulation and crop height data, the control device synchronously adjusts the pitch angle and deflection angle of the spray device 100 to ensure that the nozzle 113 maintains a preset distance (such as 30-50cm) from the crop canopy and a horizontal atomization surface, and the deposition uniformity is improved by 35%).

[0043] In a specific embodiment: when working on a 5° slope, the path of the mobile device 300 is automatically corrected to the contour line direction, and the spray assembly 110 is tilted in real time (i.e., the first telescopic member 121 is controlled to achieve tilt compensation), and the coverage rate of the liquid medicine is increased from 65% to 92%. The drug supply device 400 dynamically adjusts the mixing ratio of the mother liquid and water according to the moving speed, spray width, and target concentration, and the flow control accuracy reaches ±1.5%. It supports the import of prescription maps to achieve meter-level variable spraying, saving 20%-40% of the liquid medicine. The drug supply device 400 adopts a multi-chamber isolation structure (such as A / B liquid medicine tank + clean water tank), combined with the switching of the solenoid valve group to avoid cross-contamination of the medicine, and is suitable for time-sharing operation of organic / inorganic fertilizers, herbicides / insecticides. The control device dynamically adjusts the power of the pump group (such as frequency conversion control) according to the real-time liquid medicine flow and pressure requirements, which reduces energy consumption by 30% compared with the traditional constant power mode. The frame 200 adopts a topologically optimized hollow structure, integrating the medicine supply device 400, the spray device 100, and the control box in the center of gravity area, reducing the weight of the entire machine by 25% and extending the battery life by 2 hours.

[0044] In a further embodiment of the present invention, the medicine supply device 400 includes: a water tank 401 and a medicine box 402, which are respectively used to contain water and liquid medicine; a driving pump 403, which is connected to the water tank 401; a mixing pump 404, whose inlet is respectively connected to the water tank 401 and the medicine box 402, and whose outlet is connected to the spray assembly 110; and an overflow pressure relief circuit, one end of which is connected to the outlet of the driving pump 403 and the other end is connected to the pipeline connecting the mixing pump 404 and the spray assembly.

[0045] In this solution, the excess pressure at the outlet of the drive pump 403 is directed to the outlet pipeline of the mixing pump 404 to maintain a constant differential pressure at the inlet of the mixing pump 404 (ΔP = 0.2 - 0.5 MPa), ensuring a stable drug suction ratio. When the nozzle 113 is blocked or the pipeline is abnormal, the overflow circuit automatically relieves pressure, and the system pressure peak is limited within 1.2 times the rated value (the traditional system can reach 2 - 3 times), preventing pipe bursts.

[0046] In a further solution of the present invention, a manual pressure regulating valve 408, a first filter 410, and a flow sensor 407 are sequentially arranged on the pipeline connecting the water tank 401 and the drive pump 403; a pressure gauge 405, a second filter 406, and an electric ball valve 409 are sequentially arranged on the pipeline connecting the drive pump 403 and the mixing pump 404.

[0047] Among them, the filter uses a hydraulic pneumatic pre-filter, and the mixing pump 404 uses a water pressure self-priming fertilizer and water integrated dilution mixing pump 404. The water tank 401 and the medicine tank 402 can be made of Upvc corrosion resistance.

[0048] Specifically, the mobile device 300 includes a universal wheel fixing plate (not marked in the figure) and an electric steering universal wheel (not marked in the figure), and the electric steering universal wheel is connected to the bottom of the frame 200 through the universal wheel fixing plate. The third aspect of the present invention provides a control method for the spraying device 100 provided in the second aspect of the present invention, including the following steps: obtaining the position of the planted crops according to the ultrasonic sensor; controlling the moving path of the mobile device 300 to be perpendicular to the central position of the row spacing of the planted crops; judging whether the spraying assembly 110 is at the central position of the row spacing of the planted crops according to the position of the planted crops; if the spraying assembly 110 is not at the central position of the row spacing of the planted crops, controlling the first telescopic member 121 and the second telescopic member 122 to expand and contract to adjust the spraying assembly 110 to the central position of the row spacing of the planted crops.

[0049] In this solution, the mobile device 300 is controlled to travel along the vertical direction of the center line of the crop row spacing, ensuring that the spray width coverage is strictly aligned with the crop row, which can effectively reduce the lateral missed spraying rate. The ultrasonic sensor scans the crop row position at a frequency of 10 Hz, and combines the Kalman filtering algorithm to eliminate the interference of foliage shaking, supporting precise operation for narrow row spacing (20 cm) crops. If the spraying assembly 110 deviates from the row center, the second telescopic member 122 drives lateral deflection to compensate for the deviation. The first telescopic member 121 adjusts the pitch angle (±25°) to maintain a constant distance between the nozzle 113 and the crop canopy.

[0050] In a further aspect of the present invention, the following steps are further included: obtaining the current attitude of the spray assembly 110 according to the attitude sensor; determining the distance between the spray assembly 110 and the planted crops according to the attitude of the spray assembly 110 and the positions of the planted crops.

[0051] In a further aspect of the present invention, the following steps are further included: when receiving the signal that the spray assembly 110 starts to work, obtaining the current pressure value at the inlet end of the mixing pump 404 through the pressure gauge 405; relieving the pressure of the pipeline connected to the mixing pump 404 when the current pressure value at the inlet end of the mixing pump 404 is higher than the threshold; when the current pressure value at the inlet end of the mixing pump 404 is not greater than the threshold, injecting water into the water tank 401 and controlling the mixing pump 404 to start according to a preset ratio to absorb the liquid medicine from the medicine tank 402 for medicine preparation; when receiving the signal that the spray assembly 110 stops working, controlling the mixing pump 404 to stop running.

[0052] Specifically, the pressure relief during the system startup self-check phase can be carried out through an overflow valve, that is, an overflow valve is arranged at the inlet end of the mixing pump 404. When the obtained pressure value is greater than the threshold, the overflow valve can be controlled to start working, so as to ensure that the pressure during the working process of the mixing pump 404 is always under the pressure of the target working condition.

[0053] Specifically, if the pressure > the threshold, activate the electric overflow valve (position: the pipeline in front of the mixing pump), relieve the pressure to a safe value (such as 0.5 MPa), and then restart the pressure regulating valve and gradually increase it to the working range (0.6 - 0.7 MPa). If the pressure ≤ the threshold, directly start the mixing pump 404 and link the electric regulating valve of the medicine tank 402 to inhale the liquid medicine according to the preset ratio.

[0054] The preset ratio can be selected in advance after determining the crops, or it can be determined according to the on-site collected crop data and by judging the crop state.

[0055] Normal shutdown: After receiving the stop signal, the mixing pump 404 delays for 10 seconds to stop, so as to drain the residual liquid in the pipeline, and then close all valves. When the emergency stop button is triggered, cut off the main power supply, fully open the pressure relief valve, and reset the spray boom to the safe position.

[0056] An automatic pipeline flushing program (duration: 30 seconds) can also be set to flush the entire pipeline after receiving the stop signal to prevent the liquid medicine from crystallizing and blocking.

[0057] Through the above-provided solution, online real-time medicine preparation can be realized. The actual spray flow rate is monitored in real time through the flowmeter and the pressure sensor, and the rotation speed of the mixing pump and the liquid medicine inhalation amount are dynamically adjusted to achieve "preparing as much as used". The liquid medicine in the medicine tank can also be recycled or reserved for the next use after the sprayer finishes working, thereby effectively reducing the waste of the liquid medicine.

[0058] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A spray device (100), characterized in that, It includes a support frame (130), a spray assembly (110), and an attitude adjustment assembly (120). The attitude adjustment assembly (120) includes: An adjustment frame (123) that abuts against the support frame (130) and is rotatably connected to the spray assembly (110); A first telescopic member (121) whose two ends are movably connected to the support frame (130) and the adjustment frame (123) to drive the adjustment frame (123) to rotate about a first axis; and A second telescopic member (122) whose two ends are respectively connected to the adjustment frame (123) and the spray assembly (110) to drive the spray assembly (110) to rotate about a second axis; Wherein, the first axis is the abutting line between the adjustment frame (123) and the support frame (130), the second axis is the rotation axis of the adjustment frame (123) and the spray assembly (110), and the first axis and the second axis are staggered.

2. The spray device (100) according to claim 1, characterized in that, The adjustment frame (123) includes: A first adjustment member (1211) that abuts against the support frame (130) and is rotatably connected to the spray assembly (110); A second adjustment member (1212) that is connected to the second adjustment member (1212) and is perpendicular to the first adjustment member (1211), and the first telescopic member (121) is rotatably connected to the second adjustment member (1212); and A reinforcing member (1213) that obliquely connects the first adjustment member (1211) and the second adjustment member (1212), and the second telescopic member (122) is movably connected to the reinforcing member (1213).

3. The spray device (100) according to claim 2, characterized in that, The spray assembly includes: A connecting member (111) that is respectively rotatably connected to the second telescopic member (122) and the adjustment member; and A support rod (112) that is rotatably connected to the connecting member (111) and whose rotation axis is staggered with the first axis and the second axis.

4. The spray device (100) according to claim 3, characterized in that, The spray assembly further includes: A spray pipe (114) that is connected to the support rod (112) and has the same extending direction as the support rod (112); and A nozzle (113) that is arranged on the support rod (112) and is communicated with the spray pipe (114).

5. A sprayer, characterized in that, It includes a frame (200), a control device, a medicine supply device (400) according to any one of claims 1 - 4, a moving device (300), an ultrasonic sensor, and a spray device (100) according to any one of claims 1 - 5. The medicine supply device (400) and the spray device (100) are arranged on the frame (200). The medicine supply device (400) is used to supply medicine to the spray assembly (110), and the sensor is used to obtain the position of the planted crops; the control device is configured to control the attitude adjustment assembly (120) to make the spray assembly (110) spray horizontally, control the medicine supply device (400) to prepare the medicine, and control the moving path of the moving device (300) to be perpendicular to the central position of the row spacing of the planted crops.

6. The sprayer according to claim 5, characterized in that, The medicine supply device (400) includes: A water tank (401) and a medicine tank (402) that are respectively used to contain water and liquid medicine; A driving pump (403) is connected to the water tank (401); A mixing pump (404) has an inlet respectively connected to the water tank (401) and the medicine tank (402), and an outlet connected to the spray assembly (110); and An overflow pressure relief circuit has one end connected to the outlet of the driving pump (403) and the other end connected to the pipeline where the mixing pump (404) is connected to the spray assembly.

7. The sprayer according to claim 6, characterized in that, A manual pressure regulating valve (408), a first filter (410), and a flow sensor (407) are sequentially arranged on the pipeline connecting the water tank (401) and the driving pump (403); a pressure gauge (405), a second filter (406), and an electric ball valve (409) are sequentially arranged on the pipeline connecting the driving pump (403) and the mixing pump (404).

8. A control method for controlling the sprayer according to claim 7, characterized in that, It includes the following steps: According to the position of the planted crops obtained by the ultrasonic sensor; Control the moving path of the mobile device (300) to be perpendicular to the central position of the row spacing of the planted crops; According to the position of the planted crops, judge whether the spray assembly (110) is at the central position of the row spacing of the planted crops; If the spray assembly (110) is not at the central position of the row spacing of the planted crops, control the first telescopic member (121) and the second telescopic member (122) to expand and contract to adjust the spray assembly (110) to the central position of the row spacing of the planted crops.

9. The control method according to claim 8, wherein, It also includes the following steps: Obtain the current attitude of the spray assembly (110) according to the attitude sensor; Determine the distance between the spray assembly (110) and the planted crops according to the attitude of the spray assembly (110) and the position of the planted crops.

10. The control method according to claim 8, wherein It also includes the following steps: When receiving the signal that the spray assembly (110) starts to work, obtain the current pressure value at the inlet end of the mixing pump (404) through the pressure gauge (405); When the current pressure value at the inlet end of the mixing pump (404) is higher than the threshold, relieve the pressure of the pipeline connected to the mixing pump (404); When the current pressure value at the inlet end of the mixing pump (404) is not greater than the threshold, inject water into the water tank (401) according to a preset ratio and control the mixing pump (404) to start to absorb the liquid medicine in the medicine tank (402) for medicine preparation; When receiving the signal that the spray assembly (110) stops working, control the mixing pump (404) to stop running.

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