Control System for Spray Equipment and Spray Equipment

Abstract

The present disclosure relates to the field of control technologies, and provides a control system and a spraying facility for a spraying facility. **Solution**: The control system includes a controller and one or more bus networks. Each of the bus networks connects one or more node facilities, and the node facilities include spraying devices. The controller is connected to each of the bus networks and communicates with the node facilities within each of the bus networks. Among them, the controller transmits a control signal to a target node facility among the plurality of node facilities via a corresponding bus network in response to a user performing a control operation on the spraying facility. The spraying device performs a spraying operation while the target node facility is operating according to the control signal. According to the present disclosure, the wire harness of the spraying facility can be reduced, and the maintenance and update costs of the spraying facility can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of control technology, and in particular, to a control system for spraying equipment and spraying equipment.

Background Art

[0002] With the development of agricultural technology in our country, the degree of agricultural automation has been increasing. For example, equipment specialized in plowing, spraying, harvesting, and tilling has been developed by many enterprises. Among these, the spraying operation is an important operation in the process of cultivating crops. Automatic spraying equipment can significantly increase the spraying efficiency of crops compared to manual spraying operations and improve the comprehensiveness of spraying.

[0003] However, in conventional spraying equipment, the node equipment in the spraying equipment is directly connected to the controller. In this installation method, as the number of node equipment increases, the number of wire harnesses of the spraying equipment increases, so the weight of the entire spraying equipment increases, the internal wiring of the spraying equipment becomes very complicated, and it causes great inconvenience to the maintenance and update of the spraying equipment. Moreover, the driving methods in current spraying equipment are mainly internal combustion engine drive and hybrid drive, which consume a large amount of energy and also have a large amount of fuel emissions, causing pollution.

[0004] It should be noted that the information disclosed in the above background art is only used to enhance the understanding of the background of the present disclosure, and may include information that does not constitute prior art known to those skilled in the art.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present disclosure provides a control system for spraying equipment and spraying equipment, which can improve, at least to a certain extent, the problem of excessive wire harnesses of spraying equipment in the prior art and the problem of pollution caused by fuel emissions.

[0006] Other features and advantages of the present disclosure will become apparent from the following detailed description or will be partially learned through the practice of the present disclosure.

Means for Solving the Problems

[0007] According to a first aspect of the present disclosure, a control system for spraying equipment is provided. The control system includes a controller and one or more bus networks. Each of the bus networks connects one or more node devices, and the node devices include spraying devices. The controller is connected to each bus network and communicates with the node devices within each bus network. Among them, the controller transmits a control signal to a target node device among the plurality of node devices via a corresponding bus network in response to a user performing a control operation on the spraying equipment. The spraying device performs a spraying operation while the target node device is operating according to the control signal. In one exemplary embodiment of the present disclosure, before performing the spraying operation, the controller transmits a startup signal to the spraying device via a corresponding bus network in response to a user performing a startup operation on the spraying equipment, causing the spraying device to start the spraying operation.

[0008] In one exemplary embodiment of the present disclosure, while the target node device is operating according to the control signal, the target node device generates execution information and feeds back the execution information to the controller via the bus network to which the target node device is connected.

[0009] In one exemplary embodiment of the present disclosure, the controller analyzes a signal identifier of the control signal, determines a target node device among the plurality of node devices based on the signal identifier, and transmits the control signal to the target node device via a bus network corresponding to the target node device.

[0010] In one exemplary embodiment of the present disclosure, the spray device includes a liquid storage tank, a water pump having an impeller of the water pump, a blowing component, and one or more nozzles. A diversion pipe is connected between the water pump and the liquid storage tank, and the water pump and the blowing component are connected to the controller via the same or different bus networks. Among them, the water pump ejects the liquid in the liquid storage tank from the one or more nozzles by controlling the rotation speed of the impeller of the water pump. The blowing component controls the injection width of the liquid injected from the one or more nozzles.

[0011] In one exemplary embodiment of the present disclosure, the liquid storage tank includes a water tank body and a lid. A water injection port is provided at the upper part of the water tank body, and a water outlet is provided at the lower part of the water tank body. A front boss with a water guiding groove is provided at the front end of the water tank body, and a rear boss with an engaging groove is provided at the rear end of the water tank body. A concave groove is provided at the bottom of the rear boss. Reinforcing grooves for enhancing the rigidity of the water tank body are provided on each surface of the water tank body. The lid is provided above the water injection port of the water tank body.

[0012] In one exemplary embodiment of the present disclosure, the lid includes a lid body and a check member. The lid body has an integral hollow structure, a thread is provided on the side wall of the lid body, and at least one hole is provided on the upper and lower surfaces of the lid body. The check member is formed by connecting the central part of a film made of a connecting nail and an elastic body material, and the check member is connected to the hole on the lower surface of the lid body via the connecting nail. At least one boss is provided on the upper surface of the lid body. Alternatively, two symmetric concave grooves are provided on the upper surface of the lid body.

[0013] In one exemplary embodiment of the present disclosure, the node facility further includes a moving module. The moving module includes a vehicle body module and a traveling module, and the traveling module is attached to both sides of the vehicle body module. The liquid storage tank is detachably connected to the vehicle body frame of the vehicle body module, and the rear end of the front housing of the vehicle body module is detachably connected to the front convex platform with a water guide groove of the liquid storage tank by providing a rear end groove.

[0014] In one exemplary embodiment of the present disclosure, the front housing includes a housing body and a cover plate, and the cover plate is movably connected to the housing body. The housing body is a hollow cavity that is symmetric about the left and right, and an air inlet is provided at the bottom of the housing body, and side connection grooves are provided at the rear parts of both side surfaces of the housing body. Camera side connection holes are provided on both the left and right sides of the side connection groove, and one camera for the forward field of view and one camera for the rearward field of view are respectively attached in each side connection groove through the camera side connection holes above it. An exhaust port is provided above the central part of the side connection groove, and a charging port connection hole is provided at the central part of the side connection groove. A controller mounting groove is provided on the inner bottom surface of the housing body, and the controller is provided in the controller mounting groove. A power supply is connected to the bottom of the controller, and the power supply is fixed to the vehicle body frame to supply power to the entire system. The housing body is also provided with a headlight water guide groove.

[0015] In one exemplary embodiment of the present disclosure, clips are provided on the housing body and the cover plate, and a sealing material groove is provided under the cover plate. Magnet mounting grooves are provided on both sides of the clip, and cover plate air guide grooves are provided on both sides of the lower surface of the cover plate.

[0016] In one exemplary embodiment of the present disclosure, the air blowing component includes a blower housing provided with a circular duct, a protective net and a wind guiding plate. A fan is fixed on one surface of the wind guiding plate, and a connecting piece and a mounting groove are provided on the other surface of the wind guiding plate. The protective net is fixed to the air intake end of the duct, and the wind guiding plate is fixedly connected to the lower part of the blower housing. The air blowing component is connected to the vehicle body frame of the vehicle body module through the connecting piece, and the mounting groove is inserted and connected to a rear boss with an engaging groove at the rear end of the liquid storage tank. A spray pipe connected to a nozzle is fixed on the surface of the wind guiding plate where the fan is provided, and a filter is fixed on the surface of the wind guiding plate where the mounting groove is provided. The water inlet pipe of the filter is used to be connected to the liquid storage tank, the water outlet pipe of the filter is connected to the water pump, and the water pump is connected to the spray pipe.

[0017] In one exemplary embodiment of the present disclosure, the wind guiding plate is a hollow cavity formed by connecting an enclosing surface between a mounting step surface and a wind guiding surface. The mounting step surface includes an upper step surface and a lower step surface. The height of the lower step surface is lower than that of the upper step surface, and the upper side of the lower step surface is connected to the bottom side of the upper step surface. A boss for connecting to the lower end of the blower housing using bolts is provided at the lower end of the wind guiding surface, and a wind guiding cone with a fan connection part at the tip is provided at the central part of the wind guiding surface. A spray pipe mounting groove is provided at the edge of the wind guiding cone.

[0018] In one exemplary embodiment of the present disclosure, the node device further includes a monitoring module, and the monitoring module is signal-connected to the controller through the bus network. The monitoring module includes a liquid level sensor installed in the liquid storage tank, a water pressure sensor installed at the pressure port of the water pump, and a flow sensor installed in the diversion pipe. Among them, the controller also receives the input location environment data information and obtains the control parameters of the spraying device based on the location environment data information.

[0019] According to a second aspect of the present disclosure, there is provided a spraying facility including the control system of the spraying facility described in any one of the above exemplary embodiments.

[0020] The present disclosure has the following beneficial effects.

[0021] 1. According to the control system of the spraying facility and the spraying facility in this exemplary embodiment, the controller can transmit a control signal to a target node facility among a plurality of node facilities via a corresponding bus network in response to a user's control operation on the spraying facility. While the target node facility is operating according to the control signal, the spraying device performs a spraying operation. By connecting a plurality of node facilities using a bus network, communication between the controller and the node facilities can be facilitated, and at the same time, the number of wire harnesses of the control lines inside the spraying facility can be reduced, and the maintenance and update costs of the spraying facility can be reduced.

[0022] 2. The liquid storage tank of the spraying device in this exemplary embodiment can prevent liquid from flowing into the vehicle body module by utilizing a water guide groove, and can prevent the liquid from entering the vehicle body module and corroding components.

[0023] 3. The exhaust ports of the side connection grooves provided on both sides of the housing body of the front housing of the moving module in this exemplary embodiment serve not only as outlets for discharging heat generated by the devices installed in the housing body, but also the hot air discharged from the exhaust ports can be guided by the air guide grooves under the cover plate and blown towards the charging port connection hole and the camera side connection holes provided on both sides of the exhaust port, reducing or eliminating the adhesion of water droplets to the charging port attached here, the fogging of the camera, or the adhesion of dirt.

[0024] 4. In the exemplary embodiment, the lid of the liquid storage tank of the spray device has a simple structure, is not easy to roll over, and has an integral hollow structure and a check member, so that the effect of preventing the liquid storage tank from overflowing is better.

[0025] 5. In the exemplary embodiment, the conical surface of the air guide plate of the air blowing component of the spray device forms a fan-shaped spray surface under the action of the air cylinder to spray the chemical liquid, so that the spray effect is optimized.

[0026] It should be understood that the above general description and the following detailed description are exemplary and explanatory, and do not limit the present disclosure.

Brief Description of the Drawings

[0027] The drawings shown here are incorporated into this specification, constitute a part of this specification, show the embodiments of the present disclosure, and are used to explain the principles of the present disclosure together with this specification. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and those of ordinary skill in the art can obtain other drawings from these drawings without creative labor.

[0028]

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[0029] Now, with reference to the drawings, exemplary embodiments will be described more comprehensively. However, the exemplary embodiments can be implemented in various forms and are not limited to the examples described herein. Conversely, by providing these embodiments, the present disclosure becomes more comprehensive and complete, and the concept of the exemplary embodiments can be fully conveyed to those skilled in the art. The described features, structures, or characteristics can be combined in a suitable manner in one or more embodiments.

[0030] The exemplary embodiments of the present disclosure first provide a control system for a spraying facility. This system uses a controller to transmit a control signal to node equipment via a corresponding bus network in response to a user's control operation on the spraying facility. The spraying device in the spraying facility can perform a spraying operation while the node equipment operates according to the control signal. By using such a spraying facility, the automation of the spraying operation can be realized, eliminating the need for operators to work in the conventional manual spraying method. Therefore, the efficiency of the spraying operation can be improved, costs such as labor can be reduced, which has important significance for promoting the development of agriculture.

[0031] Referring to FIG. 1, the control system of the spraying facility in this exemplary embodiment includes a controller and one or more bus networks, and one or more node equipment are connected to each bus network. The node equipment includes a spraying device, and the controller is connected to each bus network and can communicate with the node equipment within each bus network. In the control system of the spraying facility shown in FIG. 1, the number of node equipment connected to each bus network is shown as an example. According to actual needs, a plurality of node equipment can also be connected to each bus network, and this exemplary embodiment does not impose special limitations on this.

[0032] For example, the control system 200 of the spray equipment shown in FIG. 2 includes a controller 110 and bus networks 121 and 122. Since the node equipment 210 and 240 are the node equipment connected to the bus network 121, the node equipment 210 and 240 communicate with the controller 110 via the bus network 121. The node equipment 220 and 230 are connected to the bus network 122, and the node equipment 220 and 230 can communicate with the controller 110 via the bus network 122.

[0033] In this exemplary embodiment, the user can control the spray equipment through a control terminal. The control terminal is a terminal device with a remote control function, such as a remote controller, a smartphone, a tablet PC, a desktop computer, a portable device, etc. The controller is a command generating device that controls the startup, speed adjustment, braking, and reverse rotation of the motor and control elements by changing the connection lines of the main circuit or the control circuit in a predetermined order and changing the resistance value in the circuit, and is used to control the operations of the spray device and other node equipment. The bus network is a CAN (Controller Area Network) bus network, which is a serial communication network that supports distributed control or real-time control. The node equipment is a working unit with an independent function directly or indirectly connected to the bus network, and includes, for example, a switch, a lamp, a motor, etc.

[0034] In one selectable embodiment, the controller generates a control signal for the target node facility in response to the user performing a control operation on the spraying facility, and transmits the control signal to the target node facility via the bus network corresponding to the target node facility. The control signal includes a signal identifier that uniquely identifies the source and destination of the control signal, and this signal identifier may be defined independently by the operator or set by the system by default.

[0035] To achieve the purpose of transmitting the control signal to the target node facility, the user can perform a control operation on the spraying facility through the control terminal. The controller generates a control signal for the target node facility according to the control operation performed by the user. Specifically, the controller identifies the target node facility based on the type and amount of the control operation, and generates a control signal for the target node facility. For example, when the user inputs the number of nozzles opened and the corresponding nozzle code of the spraying facility through the control terminal, the controller generates a control signal for the nozzles of the spraying facility based on the information input by the user. This control signal includes the number of nozzles opened and the nozzle code. Then, the controller transmits the generated control signal to the target node facility via the bus network corresponding to the target node facility, so that the target node facility operates according to the information input by the user. In this method, each node facility does not need to individually confirm whether the control signal is sent to itself, and only the target node facility needs to receive the control signal.

[0036] In one selectable embodiment, before performing the spraying operation, in response to the user performing a startup operation on the spraying facility, the controller transmits a startup signal to the spraying device via the corresponding bus network, causing the spraying device to start the spraying operation. That is, when it is necessary to activate the spraying function of the spraying facility, upon receiving the startup operation performed by the user through the control terminal, the controller transmits a startup signal to the spraying device via the bus network to which the spraying device is connected, and controls the spraying device to start the spraying operation. Thereby, remote spraying operation of the spraying facility can be realized, and the convenience of controlling the spraying facility can be improved.

[0037] In the above-described method, the spraying device, as a node facility within one bus network, can exchange information with the controller via the bus network. Compared with the method in which each node facility is directly connected to the controller, the complexity of the control lines can be significantly simplified, and the number of wire harnesses can be reduced.

[0038] In one selectable embodiment, while the target node facility operates according to the control signal, the target node facility generates execution information and feeds back the execution information to the controller via the bus network to which the target node facility is connected.

[0039] For example, in the control system of the spraying facility shown in FIG. 2, assume that the target node facility is node facility 220. While the target node facility 220 operates according to the control signal transmitted by the controller 110, it synchronously feeds back the execution information generated during the operation process to the controller 110. That is, the execution information is fed back to the controller 110 via the bus network 122 to which the target node facility 220 is connected. Thereby, the controller can return the execution information to the control terminal operated by the user and further analyze and process the execution information. Alternatively, the controller can directly process the execution information to generate a new control signal, improving the real-time performance of the operation of the node facility.

[0040] In one selectable embodiment, the controller analyzes the signal identifier of the control signal, identifies the target node device among the plurality of node devices based on the signal identifier, and transmits the control signal to the target node device via the bus network corresponding to the target node device. Specifically, the controller analyzes the control signal to obtain the signal identifier in the control signal, and identifies the target node device among the plurality of node devices based on the signal identifier. For example, when the user inputs a control signal including the number of nozzle openings and the corresponding nozzle code through the control terminal, the controller analyzes the control signal, and the obtained signal identifier includes the number of nozzle openings and the nozzle code. Then, the controller identifies the target node device based on the nozzle code.

[0041] In one selectable embodiment, the spraying device includes a liquid storage tank, a water pump with a water pump impeller, a blowing component, and one or more nozzles. The water pump is connected to the liquid storage tank via a conduit, and the water pump and the blowing component are connected to the controller via the same or different bus networks. Specifically, the water pump ejects the liquid in the liquid storage tank from one or more nozzles by controlling the rotation speed of the water pump impeller. The blowing component controls the spraying width of the liquid ejected from one or more nozzles. For example, in the control system shown in FIG. 2, the water pump and the blowing component in the spraying device 210 are connected to the controller 110 via the bus network 121. When the user controls the operation or stop of the spraying device 210, the controller 110 can transmit a signal to the water pump and the blowing component in the spraying device 210 via the bus network 121 to start or stop the operation of the water pump and the blowing component.

[0042] In one selectable embodiment, referring to FIGS. 3, 4, 5, 9 and 10, the liquid storage tank 410 includes a water tank main body 411 and a lid 412. A water injection port is provided at the upper part of the water tank main body 411, and the lid 412 is installed at the water injection port of the water tank main body 411. Reinforcing grooves 4117 and relief grooves 4130 are also provided at the upper part of the water tank main body 411. At the lower part of the water tank main body 411, a water outlet 4115, two liquid level sensor connection holes 4118, wiring grooves 4119, four blind holes 4120, a handle 4116 and reinforcing grooves 4117 are provided. Reinforcing grooves 4117 are also provided on the side wall of the water tank main body 411, and the reinforcing grooves 4117 are provided to enhance the rigidity of the water tank main body 411. A front boss 4112 with a water guide groove is provided at the front end of the water tank main body 411, and a rear boss 4114 with an engagement groove 4113 is provided at the rear end. A concave groove is provided at the bottom of the rear boss 4114, and embedded nuts 4111 are provided at the front and rear ends of the water tank main body 411. The embedded nuts 4111 are connected to a fixed beam 4212 and a detachable beam 4211 of the vehicle body frame 421 (see FIGS. 9 and 10) via bolts 41, whereby the liquid storage tank 410 can be fixedly connected to the vehicle body frame 421. The relief groove 4130 is selectively provided to prevent interference between the water tank main body 411 and adjacent components. The two liquid level sensor connection holes 4118 are selectively used for attaching a liquid level sensor. The wiring groove 4119 is selectively used for arranging wiring, and this wiring can be connected to a liquid level sensor. The four blind holes 4120 are selectively used for attaching legs of the liquid storage tank.

[0043] In one alternative embodiment, referring to FIGS. 6, 7, 8, 9, and 10, the node equipment also includes a moving module. The spraying device is installed on the moving module, and the moving module is used to move the spraying device. The moving module includes a vehicle body module 420 and a traveling module. The traveling module is a wheel or a crawler traveling wheel set 450, and the crawler traveling wheel set 450 is attached to both sides of the vehicle body module 420. The vehicle body module 420 includes a vehicle body frame 421 having a fixed beam 4212 and a detachable beam 4211, a protective plate 423 fixed to the outside of the vehicle body frame 421, a drive module 48 installed at the rear of the vehicle body frame 421, and a front housing 422 containing a power module such as a control module. The front housing 422 is fixed to one end of the vehicle body frame 421, and a rear end groove 4221 into which one end of the liquid storage tank 410 can be engaged is provided at the rear end of the front housing 422. The water pump of the spraying device is fixed to the vehicle body frame 421 of the vehicle body module 420, and the liquid storage tank 410 is detachably connected to the vehicle body frame 421 of the vehicle body module 420.

[0044] As can be understood, in other alternative embodiments, the moving module includes a vehicle body module, a wheel or a crawler traveling wheel set, and the wheel or the crawler traveling wheel set is attached to both sides of the vehicle body module. The water pump is fixed to the vehicle body frame of the vehicle body module, and the liquid storage tank is detachably connected to the vehicle body frame by installing embedded nuts or L-shaped connectors at its front and rear ends. The boss with a water guiding groove at the front end of the liquid storage tank is fitted into the rear end groove of the front housing.

[0045] As can be understood, in other alternative embodiments, when the connection parts at the front and rear ends of the liquid storage tank are both L-shaped connection parts, with the surface provided with the liquid outlet of the liquid storage tank facing the vehicle body frame, lower both sides of the liquid storage tank so that they rest on the longitudinal beams on both sides of the vehicle body frame respectively, then push the liquid storage tank forward so that its front end abuts against the fixed beam at the front of the vehicle body frame. After that, hold down the L-shaped connection part fixed to the rear end of the liquid storage tank with a single detachable beam, and fix both ends of the detachable beam to the side longitudinal beams on both sides of the vehicle body frame with bolts, thereby enabling the liquid storage tank to be fixedly connected onto the vehicle body frame. Also, the method of connecting other accessories such as cameras and various sensors to the moving module is the same as that of existing other plant protection machines and is the normal processing method for technicians in the field of plant protection machine equipment, so the description is omitted here.

[0046] In one alternative embodiment, referring to FIGS. 11 and 12, the lid on the upper part of the water tank body includes a lid body 51 and a check member 56. The lid body 51 has an integral hollow structure. Threads 52 are provided on the side wall of the lid body 51, and at least one hole 54 is provided on the upper and lower surfaces of the lid body 51. The check member 56 is formed by connecting the connecting nail 57 and the middle part of a film 58 made of an elastic material. The check member 56 is connected to the hole 54 on the lower surface of the lid body 51 via the connecting nail 57. The check member 56 is formed by fixing one surface of the disc-shaped film 58 and the lower end of the connecting nail 57.

[0047] In one alternative embodiment, four holes 54 and one boss 55 are provided on the upper surface of the lid body 51. The four holes 54 on the upper surface are for ventilation, and five holes are provided on the lower surface. One of the five holes in the middle on the lower surface is for attaching the check member 56, and the remaining four holes are for ventilation. Thanks to the boss 55, it becomes convenient when screwing the lid into or out of the water injection port of the liquid storage tank. Specifically, the method of attaching the check member 56 to the lid body 51 may be to insert the upper part of the check member 56 into the central hole on the lower surface of the lid body 51.

[0048] In one selectable embodiment, two symmetrical concave grooves are provided on the upper surface of the lid body. Thanks to these concave grooves, it becomes convenient when screwing the lid into or removing it from the water inlet of the liquid storage tank.

[0049] When using the lid, place the surface of the lid provided with the check member 56 facing the water inlet of the liquid storage tank and place it on the water inlet. Hold the boss 55 on the upper surface of the lid body 51 or the raised part between the concave grooves by hand and rotate it clockwise to tighten the lid, and rotate it counterclockwise to remove the lid. The lid can realize the anti-overflow function of the liquid storage tank, and its anti-overflow principle is as follows. The check member 56 keeps the ventilation in the liquid storage tank smooth, and at the same time prevents the liquid splashed by vibration from flowing out from the hole 54 on the lid body 51. In addition, the cavity in the hollow lid body 51 can temporarily store the liquid that overflows beyond the check member 56 and return it to the liquid storage tank, so it has a double anti-overflow function.

[0050] In one selectable embodiment, the anti-overflow method of the check member 56 is that the outside air flows from the hole 54 on the upper part of the lid body 51 to the hole 54 on the lower surface, further pressing the film 58 on the check member 56, and can enter the water tank from the gap between the film 58 and the lower surface of the lid body 51. However, when the splashed liquid impacts the check member 56, the film 58 is pressed against the hole 54 on the lower surface of the lid body 51, preventing the liquid in the liquid storage tank from flowing out, and realizing the anti-overflow by the check member 56.

[0051] In one selectable embodiment, referring to FIGS. 13 and 14, the air blowing component 430 includes a blower housing 432 provided with a circular duct, a protective net 434, and a wind guiding plate 431. A fan is fixed to one surface of the wind guiding plate 431, and a connecting piece 4313, a first mounting groove 4311, and a second mounting groove 4314 are provided on the other surface. The first mounting groove 4311 and the second mounting groove 4314 are mounting grooves opened on the other surface of the wind guiding plate 431. The protective net 434 is fixed to the intake end of the blower housing 432, and the wind guiding plate 431 is fixedly connected to the lower part of the blower housing 432 by bolts 41. A connecting part 433 is provided in the air duct formed between the wind guiding plate 431 and the blower housing 432. The air blowing component 430 is inserted and connected to the rear convex platform 4114 with an engaging groove 4113 at the rear end of the liquid storage tank 410 through a liquid storage tank connection groove 4312 in the first mounting groove 4311 on the wind guiding plate 431, and is connected by fixing the connecting piece 4313 at the lower part of the wind guiding plate 431 to the vehicle body frame 421 with bolts 41. A nozzle pipe 42 connected to the nozzle 43 is fixed to the surface of the wind guiding plate 431 where the fan is provided, and a filter 44 is fixed to the surface of the wind guiding plate 431 where the second mounting groove 4314 is provided. The filter 44 is fixed in the second mounting groove 4314 of the wind guiding plate 431 by a connecting part such as a screw. The water inlet pipe of the filter 44 is connected to the liquid storage tank, the water outlet pipe of the filter 44 is connected to the water pump, and the water pump is connected to the nozzle pipe 42. The chemical liquid in the liquid storage tank is sent to the nozzle 43 through the filter, the water pump, and the nozzle pipe 42. When the fan rotates under the control of the controller, air flow blows out from the gap between the blower housing 432 and the wind guiding plate 431, entrains the droplets of the chemical liquid ejected from the nozzle 43, and can perform the plant protection operation more efficiently and uniformly. Among them, the filter 44 is detachably connected between the liquid storage tank and the water pump, and the filter 44 is used to filter the dregs of the medicine and make the spraying of the nozzle 43 smooth.

[0052] In one selectable embodiment, referring to FIGS. 15, 16, and 17, the air guide plate 6100 is a hollow cavity formed by connecting the surrounding surface 630 between the mounting step surface 610 and the air guiding surface 620, and can be manufactured by blow molding a plastic material such as high-density polyethylene or polycarbonate.

[0053] The mounting step surface 610 includes an upper step surface 611 and a lower step surface 612. The height of the lower step surface 612 is lower than that of the upper step surface 611, and the upper side of the lower step surface 612 is connected to the bottom side of the upper step surface 611. At least two bolt holes 650 for connecting the air ducts are provided on the lower step surface 612.

[0054] At the lower end of the air guiding surface 620, a boss 623 for connecting to the lower end of the air duct using bolts is provided. In the middle of the air guiding surface 620, an air guiding cone 621 is provided. At the tip of the air guiding cone 621, a fan connection part 6212 is provided, and on the circumferential surface, air guiding convex strips 6211 are provided. At the edge of the air guiding cone 621, a nozzle mounting groove 6221 is provided. In the nozzle mounting groove 6221, a nozzle insertion hole 6222 is provided, and on both sides thereof, screw holes 640 for tightening the connecting part and the crimping piece are provided.

[0055] One selectable embodiment of the air blowing component will be described below. The air blowing component includes an air duct, a connecting part, a crimping piece, a filter, a nozzle, a fan, a lamp, a protective net, and one of the above air guide plates. The lower end surface of the air outlet of the air duct is connected to the lower end of the air guide plate with bolts, and the connecting part is fixed between the end surface of the air outlet of the air duct and the air guiding surface. The filter is detachably connected to the mounting step surface with screws. The water inlet pipe of the filter is connected to the water outlet of the liquid storage tank, and the water outlet pipe of the filter is connected to the water pump. The main body of the nozzle is fixed in the nozzle mounting groove by one end of the connecting part and / or the crimping piece. The fan is fixed to the fan connection part at the tip of the air guiding cone by its motor, and the protective net is fixed to the end surface of the air inlet of the air duct with screws. The lamp is provided on the surrounding surface and / or the air duct. In the selection of the fan, a fan directly connected to the motor is selected.

[0056] The air supply component is used by being connected to the moving module. When it is necessary to perform pesticide spraying operations in an orchard planted with low-growing fruit trees, insert the upper stepped surface of the air deflector of the air supply component downward from above into the rear boss with an engaging groove corresponding to the liquid storage tank, and then fix the lower end of the air deflector to the screw hole of the vehicle body frame with screws. When it is necessary to perform pesticide spraying operations in an orchard planted with tall-growing fruit trees, insert the lower stepped surface of the air deflector of the air supply component downward from above into the rear boss with an engaging groove corresponding to the liquid storage tank, and then simply fix the lower end of the air deflector to the screw hole of the vehicle body frame with screws.

[0057] The upper air deflector surface of the air deflector of the present disclosure is easy to manufacture in an arc shape, and compared with a general flat air deflector, it can reduce scratches on branches and fruits. The mounting stepped surface of the air deflector is designed in a stepped shape. Even when the air deflector is mounted at a high or low position on other platforms such as the vehicle body frame or the liquid storage tank, the weight of the air deflector is supported by the stepped surface, ensuring the stability of the mounting of the air deflector. When adjusting the mounting height of the air supply component with respect to the fixture, it is only necessary to change the insertion position on the mounting stepped surface of the air deflector, which is convenient for adjustment. The air deflector is made of plastic material, with easy styling design, high efficiency in mass production, and low cost.

[0058] In one selectable embodiment, referring to FIGS. 18, 19, 20, 21, 22, and 23, the front housing of the vehicle body module includes a housing body 9100 and a cover plate 920, and the cover plate 920 is movably connected to the housing body 9100. The housing body 9100 is a bilaterally symmetric hollow cavity formed by blow molding plastic such as high-density polyethylene or polycarbonate. The housing body 9100 is provided with an exhaust port 9104, an intake port 9105, a vehicle body frame mounting groove 9109, a convex cavity 9110, a waterproof flange 9111, a water guide groove 9112, a power supply fixing bracket mounting groove 9114, and a controller mounting groove 9115. The intake port 9105 is provided at the bottom of the housing body 9100, and air enters from the intake port 9105 and is discharged from the exhaust port 9104 to dissipate heat. The water guide groove 9112 is provided on the outer periphery of the waterproof flange 9111, and the convex cavity 9110 is provided behind the water guide groove 9112 and is used for mounting devices such as antennas. The power supply fixing bracket mounting groove 9114 and the controller mounting groove 9115 are provided on the inner bottom surface of the housing body 9100, and the controller is installed in the controller mounting groove 9115. A power supply is connected to the bottom of the controller, and the power supply is fixed to the vehicle body frame to supply power to the entire system. The vehicle body frame mounting groove 9109 is provided at the bottom of the housing body 9100. An engaging groove 9119 is provided at the rear end of the housing body 9100 and is used for engaging with one end of a liquid storage tank attached to the moving module. Side connection grooves 9103 are provided at the rear parts of both side surfaces of the housing body 9100, and camera side connection holes 9122 are provided on both the left and right sides of the side connection grooves 9103. In each side connection groove 9103, a camera for the front field of view and a camera for the rear field of view are respectively mounted through the camera side connection holes 9122 above. An exhaust port 9104 is provided above the middle of the side connection groove 9103, and a charging port connection hole is provided in the middle of the side connection groove 9103. This side connection groove 9103 protects the camera, and the exhaust port 9104 serves to blow away dust and water vapor above the camera.The power supply is electrically connected to a controller, a water pump, a ventilation component (such as a fan, a lamp, etc.), and a vehicle body module, supplies power to the controller, the water pump, the ventilation component, and the vehicle body module, and thereby supplies power to the entire system.

[0059] Under this condition, the control system and the node equipment adopt pure electric drive, which has the advantages of low energy consumption, no pollution, light weight, and environmental friendliness. Also, because it is pure electric drive, the situation of a large amount of pollutant emissions caused by fuel use can be reduced. Furthermore, by adopting pure electric drive, the weight of the node equipment can be reduced, the accuracy of the control system in controlling the node equipment, especially the vehicle body module, can be improved, and the movement accuracy of the vehicle body module can be enhanced.

[0060] The selectable embodiments are described below. First, a headlight water guide tank is also provided on the housing body, and the headlight water guide tank is provided above the headlight mounting hole. Second, a clip 9120 is also provided on the housing body 9100, and the clip 9120 is provided at the front end of the upper surface of the housing body 9100.

[0061] In one selectable embodiment, a concave groove 921 for attaching a sealing material is provided at the central part of the lower surface of the cover plate 920, and a clip 9120 is provided at the central part of the front end of the lower surface of the cover plate 920. Air guide grooves 922 are provided on both sides of the lower surface of the cover plate 920, and a nut 930 is embedded at the rear end of the cover plate 920. The nut 930 is used to connect a hinge. The rear end of the cover plate 920 is connected to the upper surface of the housing body 9100 via a hinge and is movably connected to the housing body 9100. The cover plate 920 can be firmly closed on the upper surface of the housing body 9100 by the clip 9120. The front housing is fixed to the vehicle body frame of the moving module through the vehicle body frame mounting groove 9109 at the bottom of the front housing, provides a mounting platform for power modules such as the control module of the moving module, and performs waterproof and anti-collision protection.

[0062] The principle of anti-fogging and reduction of camera lens contamination when the front housing is applied to the moving module is as follows. When the front housing is applied to the moving module for operation, the heat generated by the power module such as the control module installed in the housing body 9100 is discharged by the fan from the exhaust port 9104 on the side connection groove 9103. Then, the relatively dry hot air flow discharged from the exhaust port 9104 is guided by the air guiding groove 922 on the inner side surface of the cover plate 920 and blows hot air towards the charging port position and the cameras installed on both sides of the exhaust port 9104. Thereby, the fog on the lens can be dried, and contaminants such as dust near the camera, flying insects, and small droplets can be blown away from the camera. As a result, the camera can maintain a good display effect for a longer time, reduce the cleaning frequency of the camera, improve the efficiency of the plant protection operation, and avoid operation accidents caused by display interference. When the front housing is applied to the moving module, when it is necessary to inspect and maintain the components in the housing body 9100, it can be opened by grasping the front end of the cover plate 920 by hand and pulling it up with force (pulling up will disconnect the clip 9120 and / or magnet on the housing body 9100 and the corresponding clip 9120 and / or magnet at the corresponding position on the cover plate 920). After the inspection and maintenance work is completed, the cover plate 920 can be lowered again and attached to the housing body 9100.

[0063] In one selectable embodiment, the moving module can be connected to any one bus network, thereby enabling communication with the controller. Based on this, the controller can transmit a movement signal to the moving module via any one bus network connected to the moving module. The moving module can move forward or backward according to the movement signal transmitted by the controller, and can also stop or start moving according to the movement information. While the spraying device is operating, the controller can also transmit a movement signal to the moving module via any one bus network connected to the moving module in response to the user's movement operation on the moving module, and move the spraying device according to the movement signal. Thereby, a mobile spraying operation is realized, the flexibility and applicability of the spraying device are enhanced, and the spraying needs in different scenarios can be met.

[0064] In one selectable embodiment, the controller can receive the operation data of the moving module and the spraying device via any one bus network, and can collect working data, environmental data, etc. These data are used to display the working status of the node equipment on the controller, and can provide the user with a highly reliable data reference. At the same time, these data also serve as the basis for the analysis and optimization of subsequent spraying operation methods.

[0065] In one selectable embodiment, the controller can also stop the water pump and the blowing component of the spraying device when the moving module stops moving according to the received operation data of the moving module. When the moving module starts, the water pump and the blowing component of the spraying device can be started.

[0066] Under this condition, when the moving module stops moving, the spraying device automatically stops spraying, so that duplicate spraying on the same area does not occur, effectively saving the liquid volume and reducing waste. In addition, when the moving module starts, the water pump and the blowing component automatically start, so that the automatic start and stop of the spraying device are realized, improving the working efficiency and reducing the waste of resources.

[0067] In one selectable embodiment, the node facility also includes a monitoring module, and the monitoring module is signal-connected to the controller via any one bus network. The monitoring module includes a liquid level sensor installed in the liquid storage tank, a water pressure sensor installed at the pressure port of the water pump, and a flow sensor installed in the diversion pipe connecting the liquid storage tank and the water pump. Among them, the controller also receives the input environmental data information of the working place and obtains the control parameters of the spraying device therefrom. During the operation state, the monitoring module feeds back the data of each sensor to the controller in real time, and the controller receives the fed-back data and performs calculation and adjustment to realize the variable control of the water pump and the blowing component. Specifically, the environmental data of the working place includes information such as the area of the spraying target, the interval between trees, and the interval between rows, and the control parameters of the spraying facility include parameters such as the adjustment speed of the water pump impeller, the operating speed of the moving module, and the number of nozzles. According to the on-site situation, the spraying operation can be accurately controlled in real time.

[0068] Under this condition, the controller can timely variably control the water pump and the blowing component of the spraying device according to the water level in the liquid storage tank, the water pressure of the water pump, and the flow rate in the diversion pipe. Therefore, the spraying device does not continue to spray even when at least one of the water level, water pressure, and flow rate does not meet the requirements, and the situation of no-load operation can be avoided. When at least one of the water level, water pressure, and flow rate does not meet the requirements, the spraying device can be immediately inspected to identify specific problems, and effective protection of the spraying device can be realized.

[0069] As described above, according to the control system of the spray equipment in this exemplary embodiment, the controller can transmit a control signal to the target node equipment among the plurality of node equipments via the corresponding bus network in response to the user performing a control operation on the spray equipment. The spray device performs a spraying operation while the target node equipment is operating according to the control signal. By connecting a plurality of node equipments using a bus network, the communication between the controller and the node equipment can be facilitated, and at the same time, the number of wire harnesses of the control lines inside the spray equipment can be reduced, and the maintenance and update costs of the spray equipment can be reduced.

[0070] This exemplary embodiment also provides spray equipment. This spray equipment is provided with the control system of the spray equipment described above. Referring to FIG. 24, the spray equipment includes a spray device 10410 and a moving module 10420. At this time, the moving module 10420 is a vehicle, the spray device 10410 is stably mounted on the moving module 10420, and a nozzle is mounted at the tail of the spray device 10410. During the process of the vehicle moving, a spraying operation can be performed according to the user's control operation. However, the spray vehicle shown in FIG. 24 is only an example of the spray equipment in this exemplary embodiment. Depending on the working scene and development needs, the spray equipment may be a dedicated spray vehicle for agriculture or a dedicated spray machine, etc. The example here does not limit the protection scope of the present disclosure. Specifically, the details of each module of the control system of the spray equipment described above have already been described in detail in the above embodiments. For the technical content not disclosed, reference can be made to the above embodiments, so it will not be described again here.

[0071] As the degree of agricultural mechanization continues to increase, the quality requirements for various working facilities are also becoming increasingly high. Therefore, it is becoming increasingly necessary to provide a more reasonable and stable control system. By adopting the control system of the above spray equipment, not only can the number of wire harnesses inside the spray equipment be reduced, but also great convenience can be brought to subsequent maintenance, update, upgrade of the spray equipment, such as identifying faults in the spray equipment and expanding new functional modules.

[0072] In the above, the preferred exemplary embodiments of the present disclosure have been described with reference to the drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical idea of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and all these simple modifications belong to the protection scope of the present disclosure.

[0073] Those skilled in the art can easily conceive of other embodiments of the present disclosure by considering this specification and practicing the inventions disclosed herein. This application aims to cover any variations, uses, or adaptive changes of the present disclosure, and these variations, uses, or adaptive changes follow the general principles of the present disclosure and include the common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. This specification and the embodiments are considered as illustrative only, and the true scope and spirit of the present disclosure are indicated by the claims.

Claims

1. A control system for a spraying facility, wherein the control system comprises a controller and one or more bus networks, each of the bus networks connects one or more node facilities, the node facilities include spraying devices, the controller is connected to each of the bus networks and communicates with the node facilities within each of the bus networks, the controller transmits a control signal to a target node facility among the plurality of node facilities via a corresponding bus network in response to a user performing a control operation on the spraying facility, and the spraying device performs a spraying operation while the target node facility is operating according to the control signal. A control system characterized by this.

2. In the control system according to Claim 1, before performing the spraying operation, the controller transmits a startup signal to the spraying device via a corresponding bus network in response to a user performing a startup operation on the spraying facility, and causes the spraying device to start the spraying operation. A control system characterized by this.

3. In the control system according to Claim 1, simultaneously with the target node facility operating according to the control signal, the target node facility generates execution information and feeds back the execution information to the controller via the bus network to which the target node facility is connected. A control system characterized by this.

4. In the control system according to Claim 1, the controller analyzes the signal identifier of the control signal, determines a target node facility among the plurality of node facilities based on the signal identifier, and transmits the control signal to the target node facility via the bus network corresponding to the target node facility. A control system characterized by this.

5. In the control system according to Claim 1, the spraying device comprises a liquid storage tank, a water pump with a water pump impeller, a blowing component, and one or more nozzles. The water pump and the liquid storage tank are connected via a diversion pipe. The water pump and the blowing component are connected to the controller via the same or different bus networks, and the water pump ejects the liquid in the liquid storage tank from the one or more nozzles by controlling the rotational speed of the water pump impeller. The air supply component is a control system characterized by controlling the injection width of the liquid injected from the one or more nozzles.

6. In the control system according to claim 5, the liquid storage tank includes a water tank main body and a lid. An injection port is provided at the upper part of the water tank main body, and a water outlet is provided at the lower part. A front boss with a water guide groove is provided at the front end of the water tank main body, and a rear boss with an engagement groove is provided at the rear end. A concave groove is provided at the bottom of the rear boss. Reinforcing grooves for enhancing the rigidity of the water tank main body are provided on each surface of the water tank main body. The lid is provided on the injection port of the water tank main body. A control system characterized by this.

7. In the control system according to claim 6, the lid includes a lid main body and a check valve member. The lid main body has an integral hollow structure. Threads are provided on the side wall of the lid main body. At least one hole is provided on the upper surface and the lower surface of the lid main body. The check valve member is formed by connecting the middle part of a film made of a connecting nail and an elastic body material. The check valve member is connected to the hole on the lower surface of the lid main body through the connecting nail. At least one boss is provided on the upper surface of the lid main body. Or, at least two symmetric concave grooves are provided on the upper surface of the lid main body. A control system characterized by this.

8. In the control system according to claim 6, the node equipment further includes a moving module. The moving module includes a vehicle body module and a traveling module. The traveling module is attached to both sides of the vehicle body module. The liquid storage tank is detachably connected to the frame of the vehicle body module. The rear end of the front housing of the vehicle body module is detachably connected to the front boss with a water guide groove of the liquid storage tank by providing a rear end groove. A control system characterized by this.

9. In the control system according to claim 8, the front housing includes a housing main body and a cover plate. The cover plate is movably connected to the housing main body. The housing main body is a hollow cavity that is symmetric left and right. An air inlet is provided at the bottom of the housing main body. Side connection grooves are provided at the rear parts of both side surfaces. Camera side connection holes are provided on both the left and right sides of the side connection grooves. One camera for the forward field of view and one camera for the rearward field of view are respectively attached in each side connection groove through the camera side connection holes above it. An exhaust port is provided above the central part of the side connection groove, and a charging port connection hole is provided at the central part. A controller mounting groove is provided on the inner bottom surface of the housing body, the controller is provided in the controller mounting groove, a power source is connected to the bottom of the controller, and the power source is fixed to the frame to supply power to the entire system. A control system, wherein a headlight water drainage groove is provided in the housing body.

10. In the control system according to claim 9, Clips are provided on the housing body and the cover plate, a sealing material groove is provided under the cover plate, magnet mounting grooves are provided on both sides of the clip, and cover plate air guiding grooves are provided on both sides of the lower surface of the cover plate. A control system characterized by this.

11. In the control system according to claim 8, The air blowing component includes a blower housing provided with a circular duct, a protective net and a wind guiding plate. A fan is fixed on one surface of the wind guiding plate, and a connecting piece and a mounting groove are provided on the other surface. The protective net is fixed to the air intake end of the duct, and the wind guiding plate is fixedly connected to the lower part of the blower housing. The air blowing component is connected to the frame of the vehicle body module through the connecting piece, and the mounting groove is inserted and connected to the rear convex platform with an engaging groove at the rear end of the liquid storage tank. A spray pipe connected to a nozzle is fixed on the surface of the wind guiding plate where the fan is provided, and a filter is fixed on the surface of the wind guiding plate where the mounting groove is provided. A control system, wherein the water inlet pipe of the filter is connected to the liquid storage tank, the water outlet pipe of the filter is connected to the water pump, and the water pump is connected to the spray pipe.

12. In the control system according to claim 11, The wind guiding plate is a hollow cavity body formed by connecting an enclosing surface between a mounting step surface and a wind guiding surface. The mounting step surface includes an upper step surface and a lower step surface. The height of the lower step surface is lower than that of the upper step surface, and the upper side of the lower step surface is connected to the bottom side of the upper step surface. A convex platform for connecting to the lower end of the blower housing using bolts is provided at the lower end of the wind guiding surface, a wind guiding cone with a fan connection part at the tip is provided in the middle of the wind guiding surface, and a spray pipe mounting groove is provided at the edge of the wind guiding cone. A control system characterized by this.

13. In the control system according to claim 5, The node device further comprises a monitoring module, the monitoring module is signal-connected to the controller via the bus network, and the monitoring module includes a liquid level sensor installed in the liquid storage tank, a water pressure sensor installed at the pressure port of the water pump, and a flow sensor installed in the diversion pipe. Among them, the controller is characterized in that it receives the input location environment data information and obtains the control parameters of the spraying device therefrom.

14. A spraying facility, characterized in that it comprises the control system of the spraying facility according to any one of Claims 1 to 13.

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