CN112974068B - Sprayer spray rod system with ground profiling function - Google Patents
Sprayer spray rod system with ground profiling function Download PDFInfo
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- CN112974068B CN112974068B CN202110185709.3A CN202110185709A CN112974068B CN 112974068 B CN112974068 B CN 112974068B CN 202110185709 A CN202110185709 A CN 202110185709A CN 112974068 B CN112974068 B CN 112974068B
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- spray rod
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- hinged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention relates to a spraying machine spray rod system with a ground profiling function, belonging to the technical field of crop protection machinery. Climbing mechanism and sprayer automobile body hang and are connected, and damping mechanism installs on climbing mechanism, and the suspension is installed on damping mechanism flexibly, and the second grade spray lance distributes in suspension mechanism both sides, and global positioning sensor builds at second grade spray lance both ends, and the controller is installed on the sprayer. The spray bar system of the present invention can achieve active and passive balancing. The second-stage spray rod is driven by the driving element to adjust the local posture of the spray rod, so that ground profiling is realized. The invention can be applied to complex operation environments such as fields with large ground fluctuation, lawns, nurseries and the like.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a spraying machine spray rod system with a ground profiling function, which is required when the spraying machine spray rod system is used for the operation of agricultural plant protection machinery.
Background
China is a high disease and insect pest development area of agricultural production, crops are mainly prevented and controlled by a liquid medicine spraying system of a spraying machine, and a folding spraying platform with multiple spray heads is generally adopted to improve the prevention and control efficiency. Therefore, the spray rod type spraying machine is widely applied to fields, lawns and nursery gardens and becomes one of important plant protection machines.
In the operation process of the spraying machine, the operation speed is high, the operation environment is severe, and the movement postures of oscillation, yaw, side inclination and the like displayed by the spray rod have negative influence on the operation effect. Therefore, the height and the posture of the spray rod of the spraying machine are required to be adjusted in real time according to the fluctuation change of the ground and the sudden change of local terrain during the traveling, the spray rod is ensured to be parallel to the ground, and the rigid collision between the spray rod and the ground is prevented.
In order to improve the spraying operation quality, the invention provides a spraying rod system of a spraying machine, which has a self-balancing ground profiling function and detects the height of a spraying rod by means of a global positioning sensor and performs profiling control.
Disclosure of Invention
Aiming at the problems in the prior art, the technical purpose of the invention is to provide a spraying machine spray rod system with a ground profiling function, which solves the existing technical problems, and the technical scheme is as follows:
sprayer spray lance system with ground profile modeling function, including climbing mechanism, damping mechanism, suspension, second grade spray lance, global positioning sensor, controller, climbing mechanism hangs with the sprayer automobile body and is connected, and damping mechanism installs on climbing mechanism's jacking frame, and damping mechanism flexonics is in suspension mechanism, and the second grade spray lance distributes in the suspension both sides, and global positioning sensor builds on the second grade spray lance, and the controller is installed on the sprayer.
The jacking mechanism comprises a vertical guide rail, a jacking frame, a jacking oil cylinder and a guide wheel, the jacking oil cylinder is fixedly connected to the center line of the vertical guide rail, the jacking frame is hinged to the jacking oil cylinder, the hinged jacking frame is driven to move up and down through the stretching of the jacking oil cylinder so as to change the height of the whole spray rod in the vertical direction, the guide wheel is installed on the side face of the jacking frame, and the guide wheel rolls on the surface of the vertical guide rail so as to ensure the stable motion of the jacking frame.
The vibration damping mechanism comprises an upper hinged connecting rod, a lower hinged connecting rod and a longitudinal spring damper, the upper hinged connecting rod is hinged to the upper portions of the jacking frame and the central frame respectively, the lower hinged connecting rod is hinged to the lower portions of the jacking frame and the central frame respectively, the upper hinged connecting rod, the lower hinged connecting rod, the jacking frame and the central frame form a quadrilateral structure, and the longitudinal spring damper is connected with the upper hinged connecting rod and fixedly connected with the bottom of the jacking frame, so that the spray rod can be prevented from integrally tilting forward in the advancing process of the spraying machine, and the vibration of the vehicle body on a rough road surface can be attenuated.
The suspension comprises a central frame, an upper seat type bearing, a lower seat type bearing, an upper optical axis, a lower optical axis, a central spray rod, a guide restraint wheel, a pendulum type casting, a swing hydraulic oil cylinder and a transverse spring damper, wherein the central frame is of a hexahedral structure, the two upper seat type bearings are fixedly connected at the top center line of the central frame of the suspension, the upper optical axis penetrates through the upper seat type bearings, the two pendulum type castings are hung on the upper optical axis and swing by the upper optical axis, the guide restraint wheel is arranged at the top center line of the central spray rod and can roll on an arc-shaped boss of the pendulum type casting so as to drive the central spray rod to swing in a small range, the bottom center line of the central spray rod is fixedly connected with a lower seat type bearing, the lower optical axis penetrates through the lower seat type bearings and the pendulum type casting, the transverse spring damper is respectively hinged with the central frame and the pendulum type casting so as to reduce the swinging degree of the whole spray rod in the horizontal direction, the passive balance of the spray rod is realized, the swing hydraulic oil cylinder is respectively hinged on the central spray rod and the swing casting, when the spraying machine moves to a road surface with little fluctuation, the central spray rod is driven to swing around the lower optical axis in a small range through the stretching of the swing hydraulic oil cylinder, and the active balance of the spray rod is realized.
The second-stage spray rod comprises a truss, a lifting hydraulic oil cylinder, a folding hydraulic oil cylinder, a rotary connecting piece, a double-rotary-degree-of-freedom connecting piece and a rotary shaft, wherein the rotary shaft is connected to two sides of the central spray rod, the rotary connecting piece is arranged at the upper end of the rotary shaft, the double-rotary-degree-of-freedom connecting piece is arranged at the lower end of the rotary shaft, the lifting hydraulic oil cylinder is connected with the truss and the rotary connecting piece in an articulated mode, the second-stage spray rod drives the truss to swing up and down by adjusting the stroke of the lifting hydraulic oil cylinder, the spray rod is prevented from colliding with the ground, the ground profiling function is achieved, the folding hydraulic oil cylinder on the lower side of the second-stage spray rod is hinged with the truss and the double-rotary-degree-of-freedom connecting piece, the truss is driven to rotate at the rotary shaft by utilizing the stretching of the folding hydraulic oil cylinder, the folding of the second-stage spray rod is achieved, and the width of the spray rod in a non-operation state is shortened.
The global positioning sensor and the controller are connected with the control system, and the attitude control method of the spray rod height comprises the following steps: the global positioning sensor arranged on the secondary spray rod receives satellite signals in real time, the signals are input to the controller after being conditioned, the controller compares the real-time elevation and longitude and latitude information of the global positioning sensor with known elevation and longitude and latitude information, compares the real-time elevation and longitude and latitude information with an ideal spray height value, calculates a spray rod height adjusting value, outputs corresponding control signals to control the jacking oil cylinder, the swing hydraulic oil cylinder and the lifting hydraulic oil cylinder to stretch and retract through algorithm processing, and achieves spray rod height and attitude control.
Drawings
FIG. 1 is a front view of a profiling spray bar of the present invention;
FIG. 2 is a left side view of the profiling spray bar of the present invention;
FIG. 3 is a schematic perspective view of the jacking mechanism of the profiling spray bar of the present invention;
FIG. 4 is a schematic perspective view of the damping mechanism of the profiling nozzle bar of the present invention;
FIG. 5 is a front view of the profiling boom suspension of the present invention;
FIG. 6 is a front view of the secondary spray bar of the profiling spray bar of the present invention;
FIG. 7 is a schematic perspective view of a pendulum casting;
FIG. 8 is a flow chart of a control method;
in the figure: 1. the hydraulic lifting device comprises a lifting mechanism, 2, a vibration damping mechanism, 3, a suspension, 4, a two-stage spray rod, 5, a global positioning sensor, 6, a controller, 101, a vertical guide rail, 102, a lifting frame, 103, a lifting oil cylinder, 104, a guide wheel, 201, an upper hinged connecting rod, 202, a lower hinged connecting rod, 203, a longitudinal spring damper, 301, a central frame, 302, an upper seat bearing, 303, a lower seat bearing, 304, an upper optical axis, 305, a lower optical axis, 306, a central spray rod, 307, a guide constraint wheel, 308, a pendulum casting, 309, a swing hydraulic oil cylinder, 310, a transverse spring damper, 401, 402, a lifting hydraulic oil cylinder, 403, a folding hydraulic oil cylinder, 404, a rotary connecting piece, 405, a double-rotary-degree-of-freedom connecting piece and 406.
Detailed Description
To clarify the technical solution and working principle of the present invention, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The spraying machine spray rod with the ground profiling function is in the shape as shown in figures 1 and 2. The spray lance includes climbing mechanism 1, damping mechanism 2, suspension 3, second grade spray lance 4, global positioning sensor 5, controller 6, climbing mechanism 1 hangs with the sprayer automobile body and is connected, and damping mechanism 2 installs on climbing frame 102 of climbing mechanism 1, and damping mechanism 2 flexonics is on suspension mechanism 3, and second grade spray lance 4 distributes in 3 both sides of suspension, and global positioning sensor 5 is built on second grade spray lance 4, and controller 6 installs on the sprayer.
As shown in fig. 3, the jacking mechanism 1 includes a vertical guide rail 101, a jacking frame 102, a jacking cylinder 103, and a guide wheel 104. The jacking cylinder 103 is fixedly connected with the center line of the vertical guide rail 101 frame, in the embodiment, the jacking frame 102 is hinged with the jacking cylinder 103, the hinged point is arranged at the symmetrical line of the central cross rod of the jacking frame 102, and the hinged jacking frame 102 is driven to perform vertical reciprocating movement through the telescopic action of the jacking cylinder 103 so as to change the horizontal height of the spray rod and the ground. The guide wheel 104 is arranged on the side surface of the jacking frame 102, and the guide wheel 104 rolls on the surface of the groove-shaped track of the vertical guide rail 101, so that smooth and stable reciprocating motion is ensured.
As shown in fig. 4, the vibration damping mechanism 2 includes an upper hinge link 201, a lower hinge link 202, and a longitudinal spring damper 203. The upper hinge connecting rod 201 is hinged on the upper parts of the jacking frame 102 and the central frame 301 respectively, so that the jacking frame 102 and the central frame 301 are parallel in the horizontal direction, and the lower hinge connecting rod 202 is hinged on the lower parts of the jacking frame 102 and the central frame 301 respectively. In the embodiment, the upper hinge connecting rod 201, the lower hinge connecting rod 202, the jacking frame 102 and the central frame 301 form a quadrilateral structure, the quadrilateral structure is matched with the longitudinal spring damper 203 to realize flexible connection required by the invention, and the longitudinal spring damper 203 is connected with the upper hinge connecting rod 201 and is fixedly connected with the bottom of the jacking frame 102, so that the spray rod of the spraying machine is prevented from integrally tilting forward in the advancing process, and the vibration of a vehicle body on a rough road surface is attenuated.
As shown in fig. 5, the suspension 3 is provided with a center frame 301, an upper seat bearing 302, a lower seat bearing 303, an upper optical axis 304, a lower optical axis 305, a center boom 306, a guide restricting wheel 307, a pendulum casting 308, a pendulum hydraulic cylinder 309, and a lateral spring damper 310. The central frame 301 is a hexahedral structure, two upper seat bearings 302 are fixedly connected to the top center line of the suspension central frame 301, and an upper optical axis 304 passes through the upper seat bearings 302. The two pendulum castings 308 are hung on the upper optical axis 304, the two pendulum castings 308 horizontally swing left and right depending on the upper optical axis 304, the guide restriction wheel 307 is arranged at the top center line position of the center spray rod 306 and can roll on the arc-shaped boss of the pendulum casting 308 to play a role in stable motion, and the actuator is driven to drive the center spray rod 306 to swing in a small range. A lower seat bearing 303 is fixedly connected to the bottom center line of the center spray rod 306, and a lower optical axis 305 passes through the lower seat bearing 303 and the two pendulum castings 308. In this embodiment, the transverse spring damper 310 is hinged to the central frame 301 and the pendulum casting 308, so that the horizontal swinging degree of the whole spray rod is reduced, and the passive balance of the spray rod is realized. In this embodiment, the swing hydraulic cylinder 309 is hinged to the central boom 306 and the swing casting 308 respectively, the flow of the hydraulic cylinder is controlled by a system when the sprayer works on a working road with little fluctuation, and the central boom 306 is driven to swing around the lower optical axis 305 within a small range by the extension and contraction of the swing hydraulic cylinder 309, so that the boom is actively balanced.
As shown in fig. 6, secondary spray bar 4 includes truss 401, lift hydraulic cylinder 402, fold hydraulic cylinder 403, swivel connection 404, dual swivel degree of freedom connection 405, and swivel axis 406. The swivel shafts 406 are installed on both sides of the central boom 306, the swivel connectors 404 are disposed at the upper ends of the swivel shafts 406, the dual-swivel-degree-of-freedom connectors 405 are disposed at the lower ends of the swivel shafts 406, and the lifting hydraulic cylinders 402 connect the trusses 401 and the swivel connectors 404 in a hinged manner. In this embodiment, the secondary spray rod 4 drives the trusses 401 on both sides to swing up and down by adjusting the stroke of the lifting hydraulic cylinder 402, so that the ground profiling function is realized, and the rigid collision between the secondary spray rod 4 and the ground is avoided. In the embodiment, the folding hydraulic oil cylinder 403 on the lower side of the second-stage spray rod 4 is hinged with the truss 401 and the double-rotation-degree-of-freedom connecting piece 405, the truss 401 is driven to rotate on the rotating shaft 406 by utilizing the extension and retraction of the folding hydraulic oil cylinder 403, the folding movement of the second-stage spray rod 4 is realized, the width of the spray rod in a non-operation state is shortened, and the sprayer is convenient to transfer and transport.
As shown in fig. 1 and 8, the control method of the spraying machine spray rod system with the ground profiling function comprises the following steps: the global positioning sensor 5 installed on the secondary spray rod 4 receives satellite signals in real time, the signals are input to the controller 6 after being conditioned, the controller 6 compares elevation and longitude and latitude information acquired by the global positioning sensor 5 with known elevation and longitude and latitude information, compares the elevation and longitude and latitude information with an ideal spray height value, calculates a spray rod height adjusting value, outputs corresponding control signals through algorithm processing, and controls the jacking oil cylinder 103, the swing hydraulic oil cylinder 309 and the lifting hydraulic oil cylinder 402 to stretch and retract through a driving circuit so as to realize spray rod height and attitude control.
The invention aims to solve the problems of vibration, swing, forward inclination and the like of a spray rod of a spraying machine caused by vibration of a vehicle body in the operation process of the spraying machine and overcome the defect that the spray rod is easy to be subjected to rigid collision due to the influence of fluctuation of the ground and local terrain mutation factors. The active balance and the passive balance required by the spray rod are realized through the damping mechanism 2 and the suspension 3. The ground profiling function required by the spray rod is realized through the jacking mechanism 1 and the secondary spray rod 4. The vibration damping mechanism 2 of the present invention is only one of the feasible solutions, and the vibration damping elements of the vibration damping mechanism 2 can be realized by springs, hydraulic damping, air damping, etc. The suspension 3 in the invention is only one of the feasible solutions, the driving device of the suspension mechanism 3 can be realized by a cylinder, a screw rod and a gear rack, and the passive balancing device of the suspension 3 can be realized by a spring, hydraulic damping, air damping and the like instead.
The above-described embodiments are merely preferred examples of the present invention, which is not intended to limit the embodiments of the present invention, and it will be understood that various changes and modifications may be made by those skilled in the art based on the above description without departing from the spirit and scope of the present invention.
Claims (1)
1. Sprayer spray lance system with ground profile modeling function, including climbing mechanism (1), damping mechanism (2), suspension (3), second grade spray lance (4), global positioning sensor (5), controller (6), its characterized in that: the lifting mechanism (1) is connected with a sprayer body in a hanging mode, the vibration reduction mechanism (2) is installed on a lifting frame (102) of the lifting mechanism (1), the vibration reduction mechanism (2) is flexibly connected to the suspension (3), the secondary spray rods (4) are distributed on two sides of the suspension (3), the global positioning sensor (5) is built on the secondary spray rods (4), and the controller (6) is installed on the sprayer;
the jacking mechanism (1) comprises a vertical guide rail (101), a jacking frame (102), a jacking oil cylinder (103) and a guide wheel (104), wherein the jacking oil cylinder (103) is fixedly connected to the center line of the vertical guide rail (101), the jacking frame (102) is hinged to the jacking oil cylinder (103), the hinged jacking frame (102) is driven to move up and down by the telescopic action of the jacking oil cylinder (103), the guide wheel (104) is installed on the side surface of the jacking frame (102), and the guide wheel (104) rolls on the surface of the vertical guide rail (101);
the vibration reduction mechanism (2) comprises an upper hinged connecting rod (201), a lower hinged connecting rod (202) and a longitudinal spring damper (203), the upper hinged connecting rod (201) is hinged to the upper parts of the jacking frame (102) and the central frame (301) respectively, the lower hinged connecting rod (202) is hinged to the lower parts of the jacking frame (102) and the central frame (301) respectively, the upper hinged connecting rod (201), the lower hinged connecting rod (202), the jacking frame (102) and the central frame (301) form a quadrilateral structure, and the longitudinal spring damper (203) is connected with the upper hinged connecting rod (201), fixedly connected with the bottom of the jacking frame (102) and used for damping vibration of a vehicle body;
the suspension (3) comprises a central frame (301), upper seat type bearings (302), lower seat type bearings (303), an upper optical axis (304), a lower optical axis (305), a central spray rod (306), a guide constraint wheel (307), pendulum type castings (308), a pendulum hydraulic oil cylinder (309) and a transverse spring damper (310), wherein the central frame (301) is of a hexahedral structure, the two upper seat type bearings (302) are fixedly connected at the top center line of the central frame (301) of the suspension, the upper optical axis (304) penetrates through the upper seat type bearings (302), the two pendulum type castings (308) are hung on the upper optical axis (304), the guide constraint wheel (307) is arranged at the top center line of the central spray rod (306) and can roll on an arc-shaped boss of the pendulum type bearings (308) so as to drive the central spray rod (306) to swing, and the bottom center line of the central spray rod (306) is provided with a lower seat type bearing (303), the lower optical axis (305) penetrates through the lower seat type bearing (303) and the pendulum casting (308), the transverse spring damper (310) is hinged with the central frame (301) and the pendulum casting (308) respectively to reduce the swinging degree of the whole spray rod in the horizontal direction, the swing hydraulic oil cylinder (309) is hinged on the central spray rod (306) and the pendulum casting (308) respectively, and the central spray rod (306) is driven to swing around the lower optical axis (305) through the expansion and contraction of the swing hydraulic oil cylinder (309);
the two-stage spray rod (4) comprises a truss (401), a lifting hydraulic oil cylinder (402), a folding hydraulic oil cylinder (403), a rotary connecting piece (404), a double-rotary-degree-of-freedom connecting piece (405) and a rotary shaft (406), the rotary shaft (406) is connected to two sides of the central spray rod (306), the rotary connecting piece (404) is arranged at the upper end of the rotary shaft (406), the double-rotary-degree-of-freedom connecting piece (405) is arranged at the lower end of the rotary shaft (406), the lifting hydraulic oil cylinder (402) is connected with the truss (401) and the rotary connecting piece (404) in a hinged mode, the two-stage spray rod (4) drives the truss (401) to swing up and down by adjusting the stroke of the lifting hydraulic oil cylinder (402) to realize the ground profiling function, the folding hydraulic oil cylinder (403) on the lower side of the two-stage spray rod (4) is hinged with the truss (401) and the double-rotary-degree-of-freedom connecting piece (405), the truss (401) is driven to rotate by utilizing the extension and retraction of the folding hydraulic oil cylinder (403), so that the folding motion of the two-stage spray rod (4) is realized, and the width of the spray rod in a non-operation state is shortened;
the global positioning sensor (5) and the controller (6) are connected with the control system, the attitude control method of the spray rod height comprises the steps that the global positioning sensor (5) installed on the secondary spray rod (4) receives satellite signals in real time, the signals are input into the controller (6) after being conditioned, the controller (6) compares the real-time elevation and longitude and latitude information of the global positioning sensor (5) with the known elevation and longitude and latitude information, the comparison with an ideal spray height value is carried out, a spray rod height adjustment value is calculated, corresponding control signals are output through algorithm processing to control the jacking oil cylinder (103), the swing hydraulic oil cylinder (309) and the lifting hydraulic oil cylinder (402) to stretch, and the spray rod height and attitude control is achieved.
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| CN202110185709.3A CN112974068B (en) | 2021-02-11 | 2021-02-11 | Sprayer spray rod system with ground profiling function |
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| CN202110185709.3A CN112974068B (en) | 2021-02-11 | 2021-02-11 | Sprayer spray rod system with ground profiling function |
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| CN112974068B true CN112974068B (en) | 2021-11-26 |
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| CN113575548B (en) * | 2021-07-27 | 2023-02-28 | 南京林业大学 | Spray lance conversion equipment of automatic profile modeling spraying frame of forest |
| CN113661974B (en) * | 2021-08-11 | 2022-12-06 | 六夫丁作物保护有限公司 | A pesticide sprinkler for agricultural |
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| CN101285686A (en) * | 2008-05-29 | 2008-10-15 | 中国农业大学 | Agricultural machines navigation hierarchical positioning process and system |
| CN103245964A (en) * | 2013-04-09 | 2013-08-14 | 哈尔滨工程大学 | Ship attitude composite detection device and detection method thereof |
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| CN103404501A (en) * | 2013-07-20 | 2013-11-27 | 李海舰 | Ultra-wide lance boom type spraying machine |
| DE102013214469A1 (en) * | 2013-07-24 | 2015-01-29 | Horsch Leeb Application Systems Gmbh | Agricultural distribution machine with distribution device and system for controlling the distribution device |
| GB201508250D0 (en) * | 2015-05-14 | 2015-06-24 | Norac Systems Internat Inc | Control system and method for a suspended boom sprayer |
| CN104886026B (en) * | 2015-06-12 | 2018-09-14 | 武汉理工大学 | A kind of self balancing spray boom |
| CN105660578A (en) * | 2016-04-11 | 2016-06-15 | 富锦市立兴植保机械制造有限公司 | Automatic balance vibration reduction liftable spraying frame |
| CN106172353A (en) * | 2016-09-26 | 2016-12-07 | 山东农业大学 | A kind of boom sprayer sprayer unit |
| CN106622773B (en) * | 2016-11-19 | 2022-05-27 | 农业农村部南京农业机械化研究所 | Spraying machine profiling spray rod and control method thereof |
| CN107876280A (en) * | 2017-12-11 | 2018-04-06 | 山东五征集团有限公司 | Boom sprayer spray boom profiling intelligence control system and its control method |
| CN109197844A (en) * | 2018-11-12 | 2019-01-15 | 南京林业大学 | A kind of foldable self-balancing damping spray boom |
| CN110637801B (en) * | 2019-10-24 | 2021-07-30 | 农业农村部南京农业机械化研究所 | Electro-hydraulic active suspension system for controlling rolling motion of large-scale spray rod and control method |
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|---|---|---|---|---|
| CN101285686A (en) * | 2008-05-29 | 2008-10-15 | 中国农业大学 | Agricultural machines navigation hierarchical positioning process and system |
| CN103245964A (en) * | 2013-04-09 | 2013-08-14 | 哈尔滨工程大学 | Ship attitude composite detection device and detection method thereof |
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