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WO2025045371A1 - Irrigateur aéroponique mobile utilisant des buses à ultrasons - Google Patents

Irrigateur aéroponique mobile utilisant des buses à ultrasons Download PDF

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Publication number
WO2025045371A1
WO2025045371A1 PCT/EP2023/073980 EP2023073980W WO2025045371A1 WO 2025045371 A1 WO2025045371 A1 WO 2025045371A1 EP 2023073980 W EP2023073980 W EP 2023073980W WO 2025045371 A1 WO2025045371 A1 WO 2025045371A1
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WO
WIPO (PCT)
Prior art keywords
irrigation
management unit
nozzles
electronic management
nozzle
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Pending
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PCT/EP2023/073980
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English (en)
Inventor
Vilmantas RAŠTUTIS
Gediminas KUDIRKA
Lukas BARTUSEVIČIUS
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Baltic Freya
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Baltic Freya
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Priority to PCT/EP2023/073980 priority Critical patent/WO2025045371A1/fr
Publication of WO2025045371A1 publication Critical patent/WO2025045371A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
    • A01G25/00—Watering gardens, fields, sports grounds or the like
    • A01G25/09—Watering arrangements making use of movable installations on wheels or the like

Definitions

  • NFT Nutrient Film Technique
  • aeroponic irrigation A potential alternative to hydroponic and hydroponic-derivative greenhouse irrigation limitations is aeroponic irrigation. Unlike hydroponic-based approaches wherein plants are floated in, or are exposed to streams of nutrient solution, aeroponic irrigation works by suspending plant roots in air in enclosed environments, and by irrigating the plant roots with aerosolized nutrient solution at a constant rate, at static intervals or at dynamic intervals. From the biological standpoint, most commercial crops respond more favorably to aeroponic irrigation than to hydroponic techniques and produce a higher yield over a shorter crop cycle, thereby increasing facility productivity. Aeroponic irrigation also lowers the possibility of disease formation and spread. Unlike with hydroponics and its derivatives, aeroponically grown plants are exposed to air and can oxygenate more effectively from air than from water.
  • air has a much higher amount of oxygen ( ⁇ 21%) compared to limited oxygen solubility in the nutrient solution.
  • Various commercially cultivated plants in different CEA facilities respond most favorably to aerosol droplets that have variable mean diameters between 20pm and 100pm. Provided that correct droplet diameters and spray intervals are used, the humidity inside the box or chamber wherein the roots hang will fluctuate and positively affect oxygenation and plant growth.
  • the oxygen needs to be artificially replenished in the nutrient solution - this limitation does not exist in aeroponics.
  • aeroponically grown plants develop significantly larger root surface area, including due to root hair growth, which creates more active area capable of exchanging water, nutrients and gasses, thereby further boosting plant metabolic rate and yield.
  • aeroponic irrigation produces the lowest amount of nutrient solution waste, because tiny droplets can used to precisely coat the root surface with the right amount of liquid, which is then absorbed before the roots are sprayed again. Precision in aeroponics can lead to minimal run-off and thereby reduce or eliminate the need for recirculation, and also importantly, it minimizes the chances of disease formation and transfer.
  • aeroponic irrigation also enables architectural gains.
  • the horizontal plane plant density cap is among the key productivity limitations of hydroponic CEA facilities. While vertical farms can overcome this by stacking layers upon layers of grow-beds with artificial lights, greenhouses rely on natural light as the main source of light and cannot follow this approach. Instead of growing plants on the horizontal plane in hydroponic scenarios, because aerosol can move in three-dimensional space, aeroponics make it possible to grow plants in aeroponic towers, A-Frames and similar installations that contain more active cultivation area than horizontal hydroponic installations per same floor area.
  • a 2 meter tall vertical aeroponic tower (such as the one disclosed in WO2016/156334, more info available at www.aponix.eu), wherein aerosol is supplied to the top of the aeroponic tower and falls down onto plant roots suspended inside the tower, can take up approximately 0.26m 2 of ground area and can hold 144 plants, which can be superior to the limited plant density capacity of hydroponic installations in some scenarios.
  • Horizontal density cap for lettuce in hydroponic installations is approximately 24 plants per lm 2 , therefore, following the lettuce example in an aeroponic tower, the tower offers 6m 2 worth of cultivation area (144 plants / 24 plants/m 2 ) over ground area that is less than the offered cultivation area.
  • aeroponic irrigation can enable irrigation intensity manipulation, which further improves productivity.
  • Hydroponically grown plants such as the plants floating in nutrient solution pools throughout their lifecycle, are exposed to a constant, high irrigation intensity.
  • Irrigation intensity in an ideal scenario, is adapted to such factors as the plant's age or the plant's actual photosynthetic rate, which is derived from such environmental factors as lighting and temperature.
  • Aeroponic irrigation enables adaptive irrigation by, for example, manipulating flow rates of dispersed aerosol.
  • Aerosol production in aeroponic irrigation scenarios is mostly achieved by utilizing fixed-orifice nozzles connected to high-pressure pumps (can be 10 bar and more) via pipes or hoses or tubes or similar.
  • High pressure pumping in aeroponic irrigation is defined as 4 bar and more. The increased pressure forces the nutrient solution through the miniature orifices in nozzles, which break the stream up into droplets between 20pm and 100pm in diameter.
  • nutrient solution contains salts
  • those salts either precipitate and clog the nozzles internally, or obstruct the orifices externally due to calcification, resulting in wilting crops.
  • Clogging is more prevalent where nutrient solution is recirculated after it has been sprayed, because the re-captured nutrient solution contains plant debris and other solid objects.
  • clogging is more prevalent in locations where water contains higher levels of salts and scale. Once nozzles become clogged, it is difficult to detect the clog before crops start wilting, especially if there are hundreds or thousands of nozzles deployed in the facility.
  • Replacing or cleaning the nozzles requires depressurizing the system, physically removing the nozzle, cleaning it or replacing it with a new or a used cleaned nozzle and re-pressurizing the system, as disclosed in EP2858477B1, which can cause system downtime and further wilting, and requires intensive labor and quick reaction time. If solid objects get into the nutrient solution reservoir, said objects cause clogs in more than one nozzle. Clogging occurs because solid objects can block the tiny orifices, often under 0.2 millimeters in diameter, which are required to achieve the desired droplet variable mean diameters, which are between 20pm and 100pm, and up to 200pm.
  • US2017/0202163A1 discloses a high-pressure aeroponic irrigation system with a backup system wherein mains water (2 bar pressure) may replace the failed high-pressure pumping system, claiming to provide near-permanent backup irrigation.
  • the disclosure fails to account for a simple fact that mains tap, if seldom used, will collect limescale, and if switched on, will release limescale into the system and cause an immediate and complete clog of all nozzles associated with the pressure line.
  • aeroponic irrigation is difficult, because of the high-level of personnel engagement required - pump maintenance, filter replacement, nozzle cleaning and replacements result in high labor costs, which rarely outweigh the benefits.
  • CN112753560A discloses an aeroponic A-Frame with stationary 2.4mhz ultrasonic atomizers, which have the same limitations - inability to produce the required droplet diameter range, high energy usage, high failure rate, heating of the nutrient solution, pH changes of the nutrient solution - as described above.
  • EP2858477B1 disclosed an A-frame system wherein a mobile irrigation system is used and wherein plants are placed in angled structures and are irrigated by a mobile pressure-based aeroponic system designed to irrigate angled plant-holding structures.
  • EP2858477B1 is only useful in indoor facilities.
  • the system disclosed in EP2858477B1 is designed for cultivating small plants such as leafy greens, and is not compatible with larger commercial crops such as tomatoes, bell peppers, berries and others.
  • a drawback of previously disclosed mobile aeroponic irrigation systems which is non-obvious, is that the systems are designed to provide the entire cultivation platform, such as a frame to displace plants, a carriage engaged with said frame and an irrigation means engaged with said carriage.
  • the non-obvious drawback is that the previously disclosed systems may not be universally used by CEA operators due to non-compatibility with plants or facility. Some plants may have architectural requirements that may not be suitable with the arrangement within the previously disclosed plant cultivation systems.
  • EP2858477B1 utilizes steep cultivation angles (figs. 1, 8, 15) designed to displace small plants with small root architectures (figs. 10b, lOd, 12).
  • US 2017/0202163 discloses a complete system wherein the nozzles on the mobile carriage may be 5 to 60 centimeters from the plant displacement surface, which may not be suitable for such crops as tomatoes which may have a root length of 80 centimeters, or cannabis, which may have a root length of 154 centimeters, or other commercially relevant crops with large root systems.
  • US 4,965,962 discloses a system that necessarily requires a plant cultivation room shielded from sunlight (claim 1), which is not suitable for greenhouse exploitation.
  • Another non-obvious drawback with previously disclosed mobile aeroponic irrigation systems is that they necessarily have limited travel distances. Travel distances are a function of droplet diameters and flow rate. Correct droplet diameters, which are between 20pm and 100pm will induce root morphology changes wherein roots will develop the ability to capture and store droplets, thereby extending irrigation intervals, such as irrigation recipes wherein 1-3 seconds of spray are delivered once every 10-15 minutes.
  • the advantageous recipe may enable the irrigator to travel for over 50 meters or more, thereby irrigating hundreds or thousands of plants, provided that the mobile irrigator delivers sufficient flowrate of between 30 liters per hour and 500 liters per hour, preferably adjustable. If the advantageous result is achieved, the irrigator can travel for more than 100 meters before it needs to return.
  • an A-Frame structure holding 50 lettuce plants over a running meter of the system will hold 5000 plants in a typical 100-meter row. If a mobile irrigator travels for 7 minutes to the end point while spraying, and then travels back for 3 minutes while returning to the starting point, it means that one running meter, or 50 plants, will receive 4.2 seconds of irrigation once every 10 minutes. For this advantageous interval to be sufficient, a droplet diameter of 20pm to 100pm may be required, preferably 50pm, depending on the crop.
  • a 50pm VIVID can be achieved by a typical high pressure aeroponics nozzle, such as the TeeJet XR nozzle, an UDOR Low-Flow Nozzle, a Hypro Ultra Lo-Drift nozzle, AeroJet Aeroponic nozzles, that may atomize 0.5-5 liters per hour at the required droplet diameters.
  • a typical high pressure aeroponics nozzle such as the TeeJet XR nozzle, an UDOR Low-Flow Nozzle, a Hypro Ultra Lo-Drift nozzle, AeroJet Aeroponic nozzles, that may atomize 0.5-5 liters per hour at the required droplet diameters.
  • the environmental variables such as environmental temperature, environmental humidity, root zone temperature, root zone humidity, plant age, root surface area and others, the 5000 lettuce plants will need 20 liters to 55 liters, or more, of spray per spray cycle.
  • the apparatus in the present disclosure may comprise one or more ultrasonic nozzles, preferably 10 ultrasonic nozzles capable of producing aerosol at a rate of 1-50 LPH each, resulting in a combined flowrate of up to 500 LPH or more at the required droplet diameter, and therefore resolve all the obvious and non-obvious drawbacks of previous disclosures.
  • Equipment designed for outdoor applications therefore is intended and designed for applying droplets over 100pm in diameter.
  • the scale of outdoor agriculture compared with CEA scenarios is vastly higher, therefore equipment is designed to carry large sprayers, large containers of liquid and intended to cover large areas, which is not suitable for aeroponic irrigation and reciprocal travel in a protected root-zone.
  • equipment uses pressure sprayers and is not intended to spray nutrient solution at plant roots at relatively short distances. It is an object of the present invention to overcome the disadvantages of prior art by combining a mobile irrigation system with ultrasonic irrigation means with high flow rates of up to 500 liters per hour.
  • a modular carriage intended to provide mounting points for any or all the below-mentioned components, wherein the carriage may be triangle-shaped, a rectangle, trapezoid or any other shape suitable to be used as a carriage,
  • An irrigation means wherein at least one ultrasonic nozzle is used, said nozzle having a wide atomization channel of at least 1 millimeter, and up to 6 millimeters diameter, and an accordingly wide inlet diameter, with a tip that has a surface vibrating at least 10,000 times and up to 3 million times per second, and having an aqueous solution flow-rate of at least 1 liters per hour, and up to 50 liters per hour, further, wherein the ultrasonic nozzle is adapted to engage with a controller and programming, and is adapted to atomize the solution into preferred variable mean diameter droplets between 20pm and 200pm using ultrasonic oscillation, preferably between 20pm to 100pm,
  • a means of travel between two points at preferred variable speeds and intervals comprising at least one mechanism for propelling the sprayer in a direction of travel, which may include wheels for independent travel, wheels for travel on rails, caterpillar tracks, linear motion guides, which enable reciprocal travel between two points inside or under a plant cultivation structure,
  • a means of controlling the apparatus which may be a programmable controller, to control the irrigation parameters, such as flow-rates and variable mean diameters of droplets of each individual ultrasonic nozzle, increase or decrease travel speeds, to increase or decrease irrigation intensity based on plant's actual irrigation needs or pre-programmed logic, the means to communicate with external systems or persons and inform about operating status, predictive maintenance needs as well as optionally autonomously adapt irrigation strategies based on external data inputs, wherein the means of controlling the apparatus may be engaged with one or more of the electrically operated components of the apparatus, and wherein the means of controlling the apparatus may provide power for one or more of the electrically operated means,
  • a means for power transfer and communication which may be a wired means for either or both power and communications, or which may be a battery or a supercapacitor for power storage, and wireless means for communications, wherein the means are operatively engaged with the means of controlling the apparatus, 6.
  • a means of transferring an aqueous solution from a solution intake point to one or more ultrasonic nozzles wherein the means may include a low pressure pump with a flow rate between 1 and 500 liters per hour, and the means for aqueous solution intake may be a port, or an opening or a connection point for solution operatively engaged with the said solution distribution means, and the means of connecting the ultrasonic nozzles or ultrasonic nozzle casings to the solution distribution means may be pipes or hoses or any other means that are appropriate, wherein said solution distribution means are engaged with the means of controlling the apparatus,
  • a means of providing additional airflow wherein the means may include a centrally mounted fan operatively engaged with ultrasonic nozzle casings, wherein said casings may provide outlet points, or wherein the means of providing additional airflow may be separate fans, wherein additional airflow means may be operatively engaged with the controller.
  • the invention further provides new, previously unavailable features such as individual ultrasonic nozzle-level configuration of irrigation parameters, unlimited scalability due to plug-and-play capability, enables preprogrammed and autonomous logic implementations surrounding preferred irrigation strategy changes based on live factors, and enables remote upgrades, updates, other improvements, and enables digital irrigation strategies creation, sharing and implementation and any scale.
  • the body of research surrounding aeroponic irrigation focuses almost exclusively on either one of the factors, such as the effect of the variable mean droplet diameter, or the effect of spray intervals.
  • the research surrounding aeroponic irrigation rarely acknowledges that the process is less to do with either one effect, but rather a combination of factors that in effect aim to precisely coat an organic, ever-changing surface with aerosol so that the aerosol may adhere to the entirety of the available surface, and when done correctly, induces specific root morphology expressions, such as root hair development, which further changes the available surface.
  • Intervals are related to the available surface and the plant's ability to adsorb the coating over a specific period of time, so that there is also sufficient time for oxygenation before re-spraying.
  • intervals may need to adapt not only to the photosynthetic rate, but also to the root surface that is available at that stage of the plant's cycle.
  • droplet diameters may also need to differ during day and night, for example, when larger droplets may be required to wash the roots that may be covered in exudates in order to avoid exudate interaction with nutrient solution ions, which may affect the effectiveness of aerosol adherence to the surface.
  • ultrasonic nebulizers such as those that operate by vibrating the entire body of liquid to create droplets in the fine mist range, which are not be beneficial to the plants.
  • Very few previously disclosed inventions have disclosed ultrasonic nozzles suitable to work in aeroponic environments, because the previous disclosures are highly restricted in flow rates and other required qualities, wherein the combination of any previous disclosure with a mobile irrigation platform may require tens or hundreds or more of said nozzles to meet the flow rates required for commercial scale irrigation in controlled environment agriculture.
  • all of the previously disclosed mobile aeroponic irrigators are necessarily engaged with a specific cultivation platform as disclosed in the disclosure, which may or may not be suitable to any operator who may already have a cultivation platform in place that may be retrofitted.
  • ultrasonic nozzles adapted to atomize a high volume of liquid, such as up to 50 liters per hour per ultrasonic nozzle, wherein said ultrasonic nozzle is mounted on a reciprocally travelling carriage, wherein the combined apparatus is intended to integrate with an existing aeroponic installation, may solve many or all of the problems of previously disclosed pressurebased mobile irrigators, as well as the problems of previously disclosed ultrasonic nozzles with highly restricted flow rates.
  • the disclosed apparatus is a mobile irrigation apparatus that is intended to work with a variety of different irrigation platforms and crops, rather than an entire cultivation system that may or may not work with a variety of systems and crops.
  • the apparatus shape/form is intended to be adjustable to engage with any elongated aeroponic irrigation system of commercial scale, therefore the apparatus may work with existing infrastructure, such as existing A-Frames, rolling benches, tables and other infrastructure and may lower the upfront costs for the facility operator.
  • the disclosed apparatus advantageously enables different irrigation rates (flow rates) in any of the ultrasonic nozzles operatively engaged with the apparatus, therefore the apparatus enables the cultivation of different crops that have different irrigation needs at the same time.
  • the disclosed apparatus utilizes uncloggable ultrasonic nozzles and requires no high-pressure pumping or similar high-pressure-based infrastructure to produce aerosol. Furthermore, the spray means of the disclosed apparatus are electronically operated, which enables immediate detection of any failures. Moreover, because no high-pressure or similar pumping infrastructure is required, the disclosed apparatus has no high-risk central point of failure and may adjust the operating capacity of remaining operating ultrasonic nozzles if one or more ultrasonic nozzles fail in order to compensate for the reduced flowrate.
  • the disclosed apparatus may operate a number of nozzles which may suffer operational failures due to mechanical damage or other reasons.
  • the ultrasonic nozzles use electrical signals to produce aerosol.
  • the ultrasonic nozzle casing is designed to enable very quick removal and insertion of an ultrasonic nozzle. Once inserted, the ultrasonic nozzle is immediately detected by the controller via wires inside the casing of the ultrasonic nozzle, or other means, which are connected to said controller. Because the spray means do not require high pressure to produce aerosol, and because the ultrasonic nozzle can be removed and inserted into its casing very quickly, failed ultrasonic nozzle replacement, or ultrasonic nozzle upgrades, or any other such procedures are very fast and can be performed in a matter of minutes even by unskilled persons.
  • This aspect of the present disclosure eliminates the drawback of pressure-based systems wherein nozzle replacements require system depressurization and re-pressurization.
  • the disclosed apparatus may operate the spray means at near-constant interval, which reduces the calibration times, energy loss and other losses that occur when such stationary ultrasonic nozzles are used at intervals, which lowers power consumption and increases the lifetime of the components.
  • the disclosed apparatus utilizes a spray means that enables required droplet diameters of 20p - 100pm production at very high flow rates of up to 50 LPH, which enables very long travel distances of the apparatus before having to return to the starting point for the next spray intervals.
  • the combination of droplet diameters and the available flow rates may enable a single apparatus with 10 ultrasonic nozzles to travel 70 meters or more before having to return to the starting point.
  • a single apparatus may provide sufficient irrigation for up to 6300 kg of gross lettuce yield or more per 70 meter row per year (assuming lettuce target weight of 150 grams and assuming 12 crop cycles per year, and calculated as follows: 70 meter row * 50 plants per one running meter of row * 12 crop cycles * 0.15 kilograms).
  • the disclosed apparatus can also enable easy installation and scalability due to the plug-and-play capability. As such, starting a new CEA project will be significantly faster compared to pressure-based mobile systems installation. Moreover, in a scenario where the CEA facility operator decides to increase or decrease the operating scale, more than one apparatus can be added or removed without the necessity to install or uninstall high-pressure-pumping infrastructure.
  • the disclosed apparatus can exert control over functions such as variable mean droplet diameter selection, flowrate, wherein irrigation intervals can be controlled on ultrasonic nozzle-level, meaning that each individual ultrasonic nozzle may operate at different settings. Those settings may be changed remotely or may follow a pre-programmed logic.
  • connectivity to external systems enables control by an external system, such as a system with advanced cognitive capabilities, such as an artificial intelligence system, that may consider data from other greenhouse systems such as temperature systems, weather forecasts, new scientific learnings, and implement new beneficial settings at extraordinary speeds.
  • developers of the disclosed apparatus may provide their clients with software and firmware upgrades, such as those improving energy or water usage, or such as those enabling or improving predictive maintenance of the apparatus, or those related to learnings derived from plant research that enable extra yields and productivity, thereby continuing to increase the operational and technological value of the apparatus past its initial installation.
  • software and firmware upgrades such as those improving energy or water usage, or such as those enabling or improving predictive maintenance of the apparatus, or those related to learnings derived from plant research that enable extra yields and productivity, thereby continuing to increase the operational and technological value of the apparatus past its initial installation.
  • FIG. 1 Mobile aeroponic irrigation apparatus with a triangular carriage.
  • Figure 3 The apparatus engaged with a triangular cultivation structure.
  • Figure 4 The apparatus engaged with a rectangular cultivation structure.
  • FIG. 1 Mobile aeroponic irrigation apparatus with a rectangular carriage, wherein the height is higher than the width.
  • Figure 9 Electronic management unit connectivity with components of the apparatus.
  • Figure 12 Cross-section of the ultrasonic nozzle inside a casing.
  • Figure 14 Two cross sections of ultrasonic nozzles in casings, wherein one casing is designed to engage with an external airflow source, and wherein one casing is engaged with an airflow means wherein the airflow means is a fan.
  • Figure 15 A potential engagement of the apparatus with a plant cultivation structure, wherein the means of travel is a travel system mounted outside the plant cultivation structure, and wherein the means of travel is engaged with the apparatus.
  • Figure 16 A potential arrangement wherein more than one apparatus is engaged with the same travel means.
  • Figure 17A Front view cross section of the first exemplary embodiment, wherein the embodiment is engaged with a plant cultivation structure.
  • Figure 17B Side view cross section of the first exemplary embodiment, wherein the embodiment is engaged with a plant cultivation structure.
  • Figure 18A Front view cross section of the second exemplary embodiment, wherein the embodiment is engaged with a plant cultivation structure.
  • Figure 18B Side view cross section of the second exemplary embodiment, wherein the embodiment is engaged with a plant cultivation structure.
  • Figure 19 Front view cross section of the third exemplary embodiment, wherein the embodiment is engaged with a plant cultivation structure.
  • Figure 20 Top view of the fourth exemplary embodiment, wherein the embodiment is engaged with a plant cultivation structure.
  • a means for holding any or all the components of the disclosed apparatus is a carriage (Fig 1., ref 1).
  • the carriage (1) is intended for mounting any components, including the irrigation means (8), the mobility means (3), the control and monitoring means (18) and other means.
  • the carriage may be made of lightweight materials that are corrosion-resistant, preferably aluminum or steel.
  • the carriage may also be made of any lightweight, durable inert composites or plastics.
  • the carriage may be in the shape of a triangle (A-Shaped) (Fig 2. 1A) with the top angle between 30° and 80°, a trapezoid (ID), a rectangle (IB, 1C) or any other structure that may align with the plant-suspending surface (Figs. 3, 4).
  • the height or the width of the carriage may be so that it fits inside or under the plant irrigation structure such as a row, an A-Frame, a vertical wall, a grow-table, a gutter system or any other cultivation platform in such a way that enables reciprocal travel between two points while providing sufficient aeroponic irrigation at preferred intervals.
  • the carriage may be such that it provides a distance between the nozzle and the plantsuspending surface of between 10 centimeters to 200 centimeters, preferably 30 centimeters.
  • the carriage may be between 10 centimeters and 300 centimeters in width, preferably 100 centimeters in width.
  • the carriage may be between 20 centimeters and 300 centimeters in height, preferably 100 centimeters in height.
  • the carriage may be between 30 centimeters and 200 centimeters in length, preferably 40 centimeters in length.
  • the carriage may have additional bars mounted on it to provide mounting surfaces for additional components.
  • the carriage advantageously may include manually adjustable structure angles (Fig 5.). Angles may be adjusted by loosening bolts (6), adjusting the preferred angle and tightening the bolts again (7), or any other appropriate mechanism. Angle adjustment may be beneficial for compatibility with different plants, for example, an A-Shaped mobile aeroponic irrigation system wherein an A-shaped plantholding platform may be used for cultivating different crops throughout the year. In such an example, baby leaf lettuce may be grown for one or more cycles, and large head lettuce may be grown for one or more cycles, but not at the same time. The same A-shaped apparatus system can perform the task of irrigation, however adjustments of the top carriage angle may be required (Fig 5., refs. 6, 7) when switching to a different crop, because baby leaf lettuce develop smaller roots compared to head lettuce.
  • the apparatus may therefore have a different top angle in order to provide more distance between the boards or other structures wherein the plants are displaced and the mobile carriage itself in order to avoid any root damage as the carriage travels. Furthermore, advantageously, adjustments of all angles may be made to accommodate two varieties of crops on two different sides of the A-shaped cultivation platform at the same time in a scenario wherein root architectures are different. It is further advantageous to adjust the various angles and therefore the size and shape of the carriage of the apparatus in other scenarios, such as tomato cultivation. Over their crop cycle, tomatoes develop very long roots. It is therefore advantageous to irrigate tomatoes from the bottom rather than the side in regard to the plant displacement board or structure early in the crop cycle when roots are shorter (fig.
  • the ability to adjust the size and shape of carriage of the apparatus may eliminate the need to make adjustments to the plant cultivation platform or cultivation structure throughout crop cycles, or when switching between crops.
  • the irrigation means may be one or more ultrasonic aeroponic nozzles (Fig. 8, ref. 8) adapted to provide a flowrate, which is several times higher than previous disclosures, and has also been adapted to engage with the on-board means to control the device to provide beneficial features of flowrate management, individual nozzle settings adjustment, self-cleaning and other as listed below.
  • the nozzle may be made of titanium parts or other appropriate materials.
  • the ultrasonic nozzle comprises a wide atomization channel of at least 1 millimeter in diameter (9) that has a tip (10) with a vibrating surface of 10,000 times to 3 million times per second and atomizes solution flow into droplets and prevents sedimentation, and a wide solution inlet of at least 1 millimeter in diameter (11).
  • the internal channel (12) diameter of the nozzle may be between 1 millimeter and 6 millimeters.
  • the flow rates of solution for atomization in the nozzle may be between 1 liter per hour to 50 liters per hour.
  • the vibration and ultrasonic waves provide droplets with initial inertia for aerosol travel without additional airflow.
  • the nozzle comprises a back mass (13), two or more piezoceramic units (14) with electrodes (15), a front mass with a tip (16), and a bolt to bind components together (17).
  • Solution flow in the present invention is atomized into droplets of 20 to 200pm, preferably into droplets of 20pm to 100pm in variable mean diameter.
  • the nozzle is connected to a controller means (fig. 9, ref. 18) via physical connectors (19) that are also connected to the electrodes (Fig. 8, ref. 15) which may be placed between nozzle parts including front mass (16), back mass (13) and piezoceramic units (14).
  • the controller means Fig. 9, ref.
  • the nozzle may have a front mass (Fig. 10, ref,16A) that is designed to work with replaceable tips (17A, 17B) that may be detached from the front mass (16A) (Fig. 10).
  • Different shapes of tips can be used to help manage aerosol dispersal shape, dispersal distance, droplet diameter and other operationally relevant parameters.
  • ultrasonic calibration which may take place between the time when a cold nozzle (Fig. 1, ref. 8) is switched on and the time the nozzle reaches its operating temperature, may be highly reduced or eliminated compared to static nozzles operating at intervals.
  • Nozzles may be mounted on the carriage (Fig. 1, ref. 1) using casings (20) designed to be attached onto the carriage to maintain a fixed position, and to provide a stable waterproof housing for the nozzle (8).
  • the casing provides a secure and waterproof connection between nozzle electrodes and wires connected to the controller means (18).
  • the casing (20) provides a tight connection between the nozzle inlet (Fig. 12, ref. 11) and the solution supply means (Figs. 2 & 6, ref. 23).
  • the fixed mounting position and the stable housing for the nozzle may be joined by a joint, such as a ball joint (fig. 13, ref. 24), a Stewart platform or another mechanism that provides tilting and aiming ability.
  • Fixed nozzle (8) position may be adjusted in any direction on the carriage (Fig. 1, ref.
  • the joints in between the fixed position latch and the stable nozzle holder may be tilted to any direction by at least 30 degrees from the central point (fig. 13).
  • the tilt may be done manually, or may be motor-assisted by the use of a Stewart platform.
  • motor-actuated tilting of the nozzle (8) may be done while the carriage (Fig. 1, ref.
  • the holders include O-rings (fig. 12, ref. 22) to seal electrical connections between the electrodes (15) on the nozzle (8) and the electrodes (26) in the nozzle stable housing (20), and between the solution inlet (11) and electrodes (15, 26).
  • O-rings (fig. 12, ref. 22) to seal electrical connections between the electrodes (15) on the nozzle (8) and the electrodes (26) in the nozzle stable housing (20), and between the solution inlet (11) and electrodes (15, 26).
  • the housing (20) enables easy replacement of the nozzle (8) even while the apparatus is in operation, which also advantageously solves the drawback of pressure-based systems of having to stop the operation, depressurize any lines, replace/clean the nozzles and repressurize the lines to check if the issue has been resolved.
  • the nozzle (Fig. 8, ref. 8) creates excess heat, constant high solution flow, such as the nutrient solution flowing at the high flowrate, such as 1-50 liters per hour per nozzle (8) internal channel (12) in the front mass (16), which is possible due to the wide internal channels (12) of the nozzle (8), provides cooling effect due to temperature exchange with the solution.
  • the nutrient solution is often cooled in CEA scenarios to be several degrees lower than the ambient facility temperature, it may provide a significant cooling effect.
  • the nozzles (8) may have extra channels in or around the front mass, such as inlets being drilled from the bottom of the nozzle front mass to the top of the nozzle front mass, to provide more surface area for heat transfer to the solution.
  • the nozzles may advantageously be cooled by air flow, such as direct air flow delivered by the air flow system (Fig. 1, ref. 27) that may be advantageously mounted on the carriage (1) and which may also be engaged to provide directional air from the nozzle casing outlets (fig. 14, ref. 30) flow to affect aerosol flow dynamics including speed, travel distance and others, thereby creating the benefits of cooling and aerosol management with the same means.
  • directional air flow may be achieved by a centrally mounted fan (Fig. 1, ref.
  • the apparatus is designed to move between two points.
  • the apparatus may move in a reciprocal manner at preferred intervals and preferred speed.
  • the apparatus may move in an endless loop (fig. 20).
  • the travel speed and travel intervals may be adjustable.
  • the mobility means of the apparatus may be self-propelled through the use of a motor (fig. 9, ref. 32), such as a stepper motor or a servo motor, with or without a gearing system, or may be engaged with a belt (fig. 3, ref. 33), a wire or a cable, or a combination of these or any other means to propel the apparatus at adjustable speed towards any direction on its intended travel path, or to stop the apparatus and maintain said apparatus in place.
  • the travel speed of the apparatus may be between 0.1 meter per second and 10 meters per second.
  • a stepper motor or a servo motor may provide for a means to calculate the exact position of the apparatus through the use of an encoder.
  • the disclosed apparatus may travel by engaging with the ground through wheels (34), which may be rubber, plastic or metal wheels with rubber tires, or any other combination of appropriate materials.
  • Said wheels (34) or may be engaged with a rail (35), which may be a guided rail, or a number of rails, wherein the wheels may be metal or plastic or rubber wheels designed to engage with said rails. Wheels may or may not be flanged.
  • the wheels may be operatively engaged with a motor through gears or other means.
  • the apparatus may also use a caterpillar (fig. 4, ref. 36) system to engage with the ground.
  • a travel path start-point and end-point detection devices which may be induction sensors, may be engaged with the apparatus, and may be configured to engage with start-point and end-point markers, which may be any markers appropriate for engagement with said detection devices, and which may be displaced and preferred start point and end point of the preferred travel path.
  • the apparatus may also be pulled or pushed by an external system (fig. 15, ref. 37), such as a system with ropes, wires or cables, a belt, or a combination thereof, and pulleys designed to move the mobile system.
  • an external system such as a system with ropes, wires or cables, a belt, or a combination thereof, and pulleys designed to move the mobile system.
  • Such wires or cables or other physical mobility connectors may be also used to transfer the power, communications and the nutrient solution to the disclosed apparatus.
  • linear bearings may be used wherein faster travel speeds may be required, which is especially beneficial for longer distances such as those that may be required in commercial greenhouses.
  • a combined mobility system Fig. 16
  • a boom (38) may be engaged with the apparatus to provide mobility, solution and power
  • the mobility means may comprise a motor engaged with a rail so as to provide mobility (39)
  • the boom may comprise wheels (34), and said wheels may engage with rails (35), or any other appropriate travel means.
  • an external power source (fig. 17B, ref. 53) may be used to power the apparatus, and wherein said external power source may be engaged with the by a power cable (ref. 51), which may be engaged with a self-reeling drum (49) fitted on the apparatus.
  • a battery fitted to the carriage inside a waterproof casing may be used to power the propellant system, wherein the battery may be the main power source, further, wherein the battery may be a backup power source.
  • supercapacitors may be used, which are beneficial due to their fast charging time.
  • a means of controlling and monitoring apparatus such as an electronic management unit (EMU) (Fig. 9, ref. 18), which may be a programmable controller, may be attached to the carriage (1), or may be mounted outside a cultivation platform and connected to the moving apparatus through cables or wires.
  • the EMU may be inside a waterproof casing.
  • the EMU may be connected to at least one component of the apparatus via wires or other physical connectors (19).
  • the EMU may be programmable to control at least one or more of the following, including travel speeds, irrigation intervals, solution flow rates, air flow rates, droplet diameters or other operating variables (Fig. 11).
  • the EMU may detect failures of any individual nozzles and inform the required systems or persons about said failure through wired or wireless communications.
  • the EMU may contain ultrasonic drivers to power associated nozzles.
  • the EMU may adjust the atomization rate of at least one nozzle by adjusting power, oscillation, solution flow to the nozzle or other relevant operating parameters.
  • the EMU may be programmed to change the aerosol flow rate of other nozzles operating on the apparatus in order to compensate for the loss of flow rate from the failed nozzle.
  • the EMU may also adjust nozzle direction by controlling the motor-assisted aiming system and airflow to ensure plants do not wilt until the operator has replaced the affected nozzle.
  • any number of contingencies and predictive maintenance scenarios can be programmed into the EMU, thereby resolving the drawbacks of system maintenance, fixed orifice nozzle-clogging and related wilting, adjustable flow rate and other disadvantages of previously disclosed systems.
  • the EMU may optionally be used for real-time scanning of nozzle (Fig. 1, ref. 8) acoustic profile to detect new tip shapes (17A, 17B) and autonomously adjust the resonance frequency based on the changed acoustic profile enabling autonomous optimal solution atomization with different tip shapes without manual firmware and software reconfiguration.
  • the EMU may scan in real-time nozzle resonance frequency and phase shift, which may enable performance tracking, physical degradation tracking and data flows collection required for predictive maintenance and self-cleaning.
  • the EMU may have a wired and/or wireless connectivity to on-site or remote physical or digital control or management tools.
  • the EMU may have a pre-built contingency management logic for operating in low energy mode in power grid failure scenarios when running on backup power infrastructure).
  • the EMU is engaged with a primary power source, and wherein a secondary power source is made available by, for example, greenhouse infrastructure or a battery fitted to the apparatus, and wherein the EMU detects an interruption of the primary power supply, the EMU may switch to backup power.
  • the EMU may be programmed to implement at least one contingency logic to reduce power usage, for example, by disabling optional or ancillary functions, spacing out spray intervals, reducing flow rate, or implementing any such logic that is appropriate or required. This is especially important in indoor farms or greenhouses utilizing aerosol irrigation, wherein the interruption to power and the resulting interruption to irrigation will rapidly cause wilting and death of plants.
  • the disclosed apparatus does not require high pressure infrastructure and may autonomously change dispersal intervals to keep the plants alive by working with limited backup power infrastructure.
  • nozzle resonance frequency and phase shift enable autocalibration and optimal operating performance of nozzles, therefore manufactured nozzles may not need to be precisely tuned. This is important because the scanning of the nozzle enables the utilization of nozzle parts manufactured by different suppliers who may use different manufacturing techniques and quality standards. Furthermore, the nozzle's performance depends on the ability to precisely reach peak vibration at tip (Fig. 8, ref. 10) - in real world scenarios this may be impacted by wear, operator damage or any other mechanical changes to the nozzle front mass (Fig. 10, refs. 16, 16A) or tip (fig. 8, ref. 10, fig. 10, refs. 17A, 17B).
  • the novelty and importance of the self-scanning ability of the nozzle in the EMU may enables selfoptimization wherein the EMU is able to repeatedly scan the nozzle and autonomously alter the signal thereby adjusting performance to continuously deliver results regardless of operational wear or structural damage.
  • the EMU may detect plaque, limescale, biofilm or other solid particle formation on the nozzle surface enabling fast autonomous self-clearing programs, wherein peak vibration is delivered at increased power and amplitude, resulting in increased oscillation.
  • liquid flow may be autonomously switched off for the period of increased oscillation.
  • a library of deviations between primary and secondary profiles may be generated for diagnostic purposes and predictive maintenance recommendations.
  • the self-scanning ability may identify wear, mechanical damage and other factors that may affect the operating capacity of the ultrasonic nozzle.
  • the EMU may be operatively engaged with any or all carriage-mounted or externally mounted sensors, including light sensors, temperature sensors, three-dimensional space scanners and other sensors, in order to make decisions based on pre-programmed logic to adjust flowrates based on required flowrate estimations, which may be based on changing temperatures, changing lighting, or changes other changes that require to increase or decrease flowrate to reduce or eliminate watering stress that may affect the plants.
  • carriage-mounted or externally mounted sensors including light sensors, temperature sensors, three-dimensional space scanners and other sensors, in order to make decisions based on pre-programmed logic to adjust flowrates based on required flowrate estimations, which may be based on changing temperatures, changing lighting, or changes other changes that require to increase or decrease flowrate to reduce or eliminate watering stress that may affect the plants.
  • the EMU may be operatively engaged with any sensor to scan the root development and inform any systems or persons via wired or wireless communication about root development, which may be used to determine whether the plant roots are developing as expected or as required, and furthermore, enable the operators to inspect any under-developing areas for diseases or pests or other irritants, as well as enable the operators to inspect any over-developing areas to optionally learn about a combination of factors that may have affected the unexpected growth, and therefore design and implement new strategies to achieve the extra growth at the entire facility if so desired.
  • An aqueous solution which may be a water-based solution containing nutrient salts, may be supplied to the disclosed apparatus from any external storage (fig. 15, ref. 43), or from an on-board solution container (fig. 2, ref. 44) attached to the carriage (1) of the apparatus, or from a gutter engaged with the plant cultivation platform (figs. 18A, 18B, ref. 62), or from any such source of solution that is appropriate.
  • the solution may be supplied to a solution distribution means (fig. 2, ref. 23) mounted to the carriage.
  • the solution distribution system may be operatively engaged with one or more nozzles attached to the carriage, wherein the solution distribution system may provide the solution at a required flowrate between 1 LPH to 500 LPH to the nozzle inlet (fig. 8, ref. 11).
  • the solution distribution means (Fig. 2, ref. 23) may be engaged with one or more of the nozzles via hoses (45), pipes displaced within the carriage frame, or any other suitable means.
  • the solution distribution system may utilize a low-pressure pump to move the solution from the supply source to the nozzle inlet.
  • the solution distribution means may include valves that selectively open or close and required times, which is beneficial because each nozzle may operate at a different flowrate.
  • Aeroponic irrigation works by suspending plant roots in air in enclosed environments, and by irrigating the plant roots with aerosolized nutrient solution at a constant rate, at static intervals or at dynamic intervals.
  • the plants may be suspended in aeroponic walls, aeroponic tables, aeroponic grow boxes, aeroponic A- Frames, trapezoids and any other appropriate structures designed to, at minimum, support the plant so that the direction of the foliar part is exposed to the arranged artificial light or the natural sunlight, and so that the structure protects the plant's roots from light, pests and other unwanted irritants.
  • aeroponic mist is delivered to plant roots hanging inside any elongated structure by the use of ultrasonic nozzles, which operate as described above.
  • Additional airflow may be used to provide additional inertia to the dispersed aerosol if required. Intervals are achieved through programming of the travel mechanism, therefore as the travel mechanism moves the mobile aeroponic irrigation system at any speed in a reciprocal manner, plants may be exposed to a specific volume of aerosol at a rate that may be proportional to the speed of the travel mechanism and the determined flowrate of the ultrasonic nozzle.
  • said apparatus comprises a triangle-shaped carriage (Fig. 2, ref. 1A) wherein the angles are configured to be 60 degrees.
  • the carriage is further configured to operatively engage with an A-Frame cultivation structure with angles of 60 degrees wherein plants with short lifecycles (such as lettuce) are grown in a commercial greenhouse.
  • the carriage carries ten nozzles (8) attached to said carriage, wherein the nozzles are ultrasonic nozzles with internal channels of 4 millimeters in diameter and wherein the nozzles are displaced in casings that are attached to the carriage in fixed positions.
  • the nozzles may atomize solution at a rate between 1 LPH to 20 LPH per nozzle.
  • the nozzles are configurable to provide droplet diameters of either 30pm, 50pm, 70pm or 100pm.
  • the mobility means comprises an electric motor (Fig. 17A, ref. 46) and a gearing system (47) designed to engage with a belt (48), wherein the belt is attached to both ends of said cultivation platform and creates a longitudinal travel path along the center of said A-Frame cultivation structure.
  • the travel means may propel the apparatus at a variable speed between 1 cm/second and 100 cm/second.
  • the apparatus is configured so that the exact location of the sprayer is calculated by the steps of the motor.
  • the carriage also has a solution distribution means attached to it, wherein the solution distribution means is operatively engaged with a solution supply on one end, and the nozzles on the other end.
  • the carriage further comprises a self-reeling drum (49), wherein a solution supply hose (Fig. 17B, ref. 50) and a power supply cable (51) are connected to a greenhouse irrigation solution supply system (52) and a greenhouse power supply system (53) respectively outside of the A-frame cultivation structure, and wherein the solution supply hose and the power cable are engaged together (54) so as to engage with the self-reeling drum (49), and wherein the self-reeling drum and the power supply cable are engaged with the solution distribution system and electronic management unit (Fig. 17A, ref. 55), respectively, on the carriage.
  • the irrigation means starts spraying the plants on one end, wherein each plant receives approximately 2 seconds of spray time at 10 LPH, further, the carriage reaches the preferred end of travel path, switches off the spray means and returns to the preferred starting point.
  • the apparatus further comprises an integrated airflow unit (56), wherein a central fan is engaged with nozzle casings (20) via soft tubes displaced within the frame of the carriage.
  • the apparatus is programmable to increase or decrease the irrigation intensity based on the apparatus' location within the cultivation system as young plants may be displaced on one side of the cultivation platform, and older plants may be displaced on the other end of the cultivation platform.
  • the apparatus comprises a rectangleshaped carriage wherein the height of the apparatus exceeds the width of the apparatus by at least an order of three.
  • the carriage is further configured to operatively engage with a rectangular cultivation structure with annual-lifecycle plants displaced at regular intervals in the top of the cultivation platform so as to provide for a travel path for the irrigation apparatus between the plant roots, as well as to maximize foliage access to light.
  • the carriage carries 6 nozzles attached to said carriage, wherein the nozzles are ultrasonic nozzles with internal channels of 6 millimeters in diameter and wherein the nozzles are displaced in casings that are attached to the carriage with balljoints in manually adjustable positions.
  • the nozzles may atomize solution at a rate between 1 LPH to 50 LPH per nozzle.
  • the nozzles are configurable to provide droplet diameters between 50pm and 150pm.
  • additional airflow means which are individual fans (57), are attached to each nozzle casing.
  • the mobility means comprises a caterpillar system (58) engaged with the ground of said cultivation structure, and is configured to travel longitudinally between two ends of the cultivation structure in a reciprocal manner.
  • a means of sensing (59) the start and end point of travel path are mounted on the front and back side of the carriage and are operatively engaged with the electronic management unit (60).
  • the travel means may travel at a variable speed between 1 cm/second and 50 cm/second.
  • the carriage also has a solution distribution means attached to the carriage (61), wherein the solution distribution means is operatively engaged with the nozzles.
  • the solution distribution means is engaged with a solution supply gutter (62) with flowing nutrient solution displaced within the cultivation structure.
  • the power supply means is a battery (63) displaced within a waterproof casing on the apparatus, wherein the battery charge port (64) engages with an external recharge plug (65) mounted at the start point of the preferred travel path, further, wherein the battery is rapidly recharged at appropriate times.
  • the irrigation means starts spraying the plants on one end, wherein 1 plant receives approximately 3 seconds of spray time at 15 LPH, further, the carriage reaches the preferred end point of the travel path, switches off the spray means and returns to the preferred starting point.
  • the apparatus is programmable to increase or decrease the irrigation intensity based on inputs from the greenhouse environment monitoring system.
  • more than one A-frame cultivation structure row may be irrigated by more than one triangle-shaped apparatus, wherein each carriage (1) is equipped with any number of nozzles (8), and wherein each carriage is engaged with a boom (66), wherein said boom is also engaged with a motor (67), wherein a motor is travelling along the longitudinal path of the irrigation structure on a rail while moving the boom accordingly.
  • the boom contains power supply, the solution supply and the airflow supply, wherein the connections are displaced within the frame on the apparatus, and wherein the inputs engaged with the boom may be displaced in the greenhouse facility outside the cultivation structure.
  • more than one A-frame cultivation structure row may be irrigated by one or more apparatuses, wherein the carriage (1) is equipped with any number of nozzles (8), and wherein each apparatus is engaged with any appropriate mobility mechanism, and wherein the apparatus is engaged to travel inside more than one cultivation structure, and wherein the apparatus is engaged with any appropriate liquid and power supply mechanism, and wherein the apparatus may travel in an endless loop between cultivation structures.
  • this embodiment may eliminate return time and maximize resource utilization within a CEA facility.

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  • Engineering & Computer Science (AREA)
  • Water Supply & Treatment (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)

Abstract

La présente invention concerne un appareil d'irrigation ultrasonore mobile, l'appareil atomisant une solution aqueuse à des vitesses variables, dans des diamètres de gouttelettes variables, et en outre, l'appareil pouvant se déplacer par mise en prise avec une structure de culture de plantes. La solution nutritive en aérosol peut être avantageusement utilisée pour irriguer des cultures dans l'agriculture à environnement contrôlé. Les cultures répondent plus favorablement à l'irrigation aéroponique qu'à des techniques d'irrigation alternatives telles que l'hydroponie. De plus, l'irrigation aéroponique permet des gains tridimensionnels. Des structures de culture de plantes peuvent être agencées sous la forme de cadres en A, de tours verticaux, de parois et d'autres structures de ce type qui fournissent une augmentation considérable de la surface de culture active par zone de plancher d'installation disponible. Étant donné que l'irrigation aéroponique est effectuée par intervalles, des plantes peuvent être pulvérisées pendant quelques secondes à des intervalles de quelques minutes, de manière avantageuse, un irrigateur aéroponique peut être mobile pour éliminer le temps d'arrêt et la complexité et le coût du système. L'état de la technique divulgue des buses d'irrigation ultrasonores dans lesquelles le débit est limité à un niveau qui n'est pas pertinent dans l'irrigation à grande échelle. L'état de la technique divulgue également des irrigateurs aéroponiques mobiles basés sur la pression. Des pompes haute pression et des buses à orifice fixe sont en prise avec des chariots mobiles. Des problèmes inhérents au pompage sous pression et aux buses, tels que des défaillances de système et des obstructions, et les coûts associés, l'emportent sur les avantages potentiels. La présente divulgation permet une irrigation aéroponique ultrasonore mobile à grande échelle dans divers scénarios agricoles et résout les problèmes de l'état de la technique.
PCT/EP2023/073980 2023-08-31 2023-08-31 Irrigateur aéroponique mobile utilisant des buses à ultrasons Pending WO2025045371A1 (fr)

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WO2022137193A1 (fr) * 2020-12-23 2022-06-30 Arno Drechsel Système de régulation du débit d'un liquide et procédé de régulation correspondant
WO2022153058A1 (fr) 2021-01-14 2022-07-21 Lettus Grow Ltd Appareil aéroponique
CN112753560A (zh) 2021-01-25 2021-05-07 吴涛 一种生态农业用无土栽培装置
WO2023043306A1 (fr) 2021-09-17 2023-03-23 Sime Darby Plantation Intellectual Property Sdn Bhd Pulvérisateur agricole
CA3188090A1 (fr) 2022-02-03 2023-08-03 Stout Industrial Technology, Inc. Pulverisateur intelligent pour l'agriculture de precision
CN217308891U (zh) 2022-03-07 2022-08-30 肇庆市南药科技发展有限公司 一种农林病虫害防治用喷药机
CN217771238U (zh) 2022-06-18 2022-11-11 沙湾县广大农业机械制造有限责任公司 一种智慧农业用可移动喷药器

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