Spraying device for liquid means of chemical treatment with replaceable liquid subsystem and spraying systems on the basis thereof

Abstract

The invention is intended for the organization of an automated process for spraying of liquid means of chemical treatment from unmanned vehicles, for example, in precise farming systems. The invention provides the use of a replaceable, marked and hermetically sealed liquid subsystem with integrated pumping chambers in a spraying device together with an integrated self-diagnosis system allowing to ensure personnel safety and the accounting of the resources of main components of the spraying device. All this in combination enables to create fully automated spraying systems.

Claims

1. A liquid subsystem for use in a spraying device mounted on an unmanned vehicle, the liquid subsystem comprising a reservoir, made in the form of a bag, provided with an outlet channel, and at least one liquid hose, connecting to the reservoir, and provided with a lock valve, wherein the liquid subsystem is designed as a separable single unit and entirely replaceable device, wherein the liquid subsystem comprises a manifold with one or more outlet ports, which connects the at least one liquid hose to the reservoir via a manifold channel from the manifold to an outlet channel of the reservoir, wherein each liquid hose at one end is hermetically connected to one of the outlet ports of the manifold, and at the other end is provided with said lock valve, which is closed in a disconnected state, sealing the internal volume of a liquid to be sprayed with the liquid subsystem, wherein said liquid subsystem further comprises either one central or several individual pumping chambers of one or more liquid pump, wherein the pumping chambers are integrated into said liquid subsystem to be replaced together with it and are deformable, designed to be inserted into the corresponding liquid pump of the spraying device, of which the liquid subsystem is a replaceable part, wherein: in a presence of a single central pumping chamber of each liquid pump, the manifold channel is equipped therewith, or in a presence of several individual pumping chambers of each liquid pump, each liquid hose, designed for connecting with an appropriate spraying unit, is equipped with said individual pumping chamber, wherein said liquid subsystem further comprises a contactless tag, made as a barcode, two-dimensional code or as a contactless radio frequency tag, wherein the contactless tag contains read-only information comprising one or more of a unique identifier of the liquid subsystem, a date of manufacture, a warranty expiry date, a designation of compatibility with various liquids, a designation of maximum operating pressure, or a number of provisioned cycles of use, wherein the contactless tag further comprises variable indicators of the liquid subsystem, and wherein the variable indicators comprise one or more of an identifier of the used liquid type, impermeability status of the liquid subsystem, or a counter for the cycles of use.

2. The liquid subsystem according to claim 1, wherein the liquid subsystem further comprises a sealable storage bag, in which the entirely replaceable liquid subsystem is supplied and utilized after use.

3. The liquid subsystem according to claim 1, wherein the manifold channel is provided with one or more measuring sections for being placed into outer liquid flow sensors and/or liquid presence detectors, wherein said outer liquid sensors and/or liquid presence detectors, into which said measuring section is placed, is ultrasonic, optical, inductive or capacitive.

4. The liquid subsystem according to claim 1, wherein a size and form of said pumping chamber(s) are defined by the type of appropriate liquid pump, wherein said central pumping chamber is placed into the operating area of the central pumping engine of appropriate central liquid pump, and wherein each individual pumping chamber is placed into the operating area of the pumping engine of appropriate individual liquid pump.

5. The liquid subsystem according to claim 1, wherein the reservoir is impermeable for liquid medium, and is made of material selected from a group of chemically inert polymeric materials consisting of single- or multilayer films of thermoplastic polyurethane, silicone, rubber, polyimide, polyethylene, and polyamide.

6. A spraying device, mounted on an unmanned vehicle and comprising at least one liquid subsystem as defined in claim 1, a housing, spraying unit(s) with sprayer(s), a spraying device controller, and one or more pumps adapted for transporting of liquid from the liquid subsystem to the spraying unit(s), wherein each liquid subsystem is fixed in the nodes of spraying device with the possibility of quick installation, dismantling and/or replacement thereof, wherein the reservoir of each liquid subsystem is placed into a basket of the spraying device, wherein the one or more pumps adapted for transporting of liquid from each liquid subsystem to the spraying unit(s) comprise one central liquid pump or several individual liquid pumps, which pumping chamber(s) is(are) integrated into each replaceable liquid subsystem, wherein each spraying unit is hermetically connected with a lock valve of an appropriate liquid hose of the corresponding liquid subsystem, wherein a spraying device controller is a session controller, which is designed to control flow rate taking into account the readings of feedback sensor, wherein the feedback sensors comprise at least the liquid flow sensor(s) and/or liquid presence detector(s), and wherein the spraying device is further equipped with a contactless reader of the contactless tag of each liquid subsystem, said contactless reader being connected to the session controller.

7. The spraying device according to claim 6, wherein the spraying device further comprises a compression mechanism, pressing the reservoir to the bottom of the basket.

8. The spraying device according to claim 6, wherein each liquid pump is a positive displacement pump of appropriate type, wherein the positive displacement pump is of peristaltic, diaphragm or piston type.

9. The spraying device according to claim 6, wherein the spraying device comprises either a single central or several individual pumping engines which, together with appropriate deformable pumping chambers, form either a single central pump or several individual pumps, correspondingly.

10. The spraying device according to claim 6, wherein the spraying device is provided with one or more liquid refilling valves, each being connected to a corresponding liquid subsystem manifold through an appropriate liquid hose, and which is designed for refilling of liquid subsystem with liquid, wherein said liquid refilling valves are controlled by a refilling station and being disconnected from the refilling station, they do not allow neither air nor liquid to pass in neither direction, and wherein said liquid refilling valve(s) is(are) designed for automated refilling and/or emptying of the spraying device.

11. The spraying device according to claim 6, wherein each spraying unit comprises a lock valve actuator.

12. The spraying device according to claim 6, wherein any spraying unit comprises one or more sprayer(s), wherein any sprayer being of siphon, centrifugal or disk type, an airless type nozzle or an air-assisted nozzle.

13. The spraying device according to claim 6, wherein the session controller is a microprocessor based device designed to regulate liquid flow by controlling a frequency of movements of pumping engines, deforming the appropriate pumping chambers, wherein the spraying device is equipped with communication channel(s) over which the session controller is interacting with the motion controller of the unmanned vehicle.

14. The spraying device according to claim 6, wherein the unmanned vehicle is designed to serve as an energy source for the session controller, which is able to further serve for powering other elements of spraying device.

15. The spraying device according to claim 6, wherein housing or frame of the unmanned vehicle is designed to serve as the housing of spraying device, and in that the entire housing of the spraying device or part thereof is designed to serve as the basket equipped with a hinged or removable lid, wherein said housing comprises trusses/masts onto which spraying units and other components of spraying device are installed, wherein trusses/masts are made static, telescopic or foldable.

16. The spraying device according to claim 6, wherein the spraying device is made in a form of a module designed for automated installation, removal or replacement on an unmanned vehicle.

17. A spraying system comprising one or more unmanned vehicles with mounted spraying device(s) according to claim 6, a complex of one or more ground stations for automated refilling of spraying device(s), mounted on an unmanned vehicle, and a control station controlling said complex of the ground stations and motion of unmanned vehicle(s), wherein said complex of ground stations comprises a station(s) equipped at least with: a landing module, designed for reliable positioning therein of an unpowered unmanned vehicle(s), and a refilling module (26), which is connected to a compressed gas source (47) and liquid source (48), and which is designed for automated refilling of said spraying device, mounted on an unmanned vehicle, located in the landing module, with sprayable liquid by connecting to the liquid refilling valves of said spraying device.

18. The spraying system according to claim 17, wherein the refilling module is connected to one or more liquid sources and is designed to be able to empty the reservoir of the connected spraying device into one of liquid sources, wherein any liquid source connected to the refilling module is either stationary or mobile.

19. The spraying system according to claim 17 wherein the ground stations are of modular design, and, besides said landing and refilling modules, a set of modules further comprises at least: a power supply module designed to supply power to other station modules; a ground station control module designed to be able to contact with the control station and unmanned vehicles by a communication module; a spraying device module, designed for automated installation, dismantling and replacement of spraying device(s) on an unmanned vehicle(s) and for storage of spraying devices; a chassis, designed for installation of ground station modules thereon; and an emergency platform for parking, storage and maintenance of faulty unmanned vehicles.

20. The spraying system according to claim 17, wherein the unmanned vehicle is an unmanned aerial vehicle.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The essential features of the proposed technical solution are explained in drawings.

(2) FIG. 1 shows the principal scheme of spraying device A of present invention, particularly the option of liquid subsystem B with central pumping chamber.

(3) FIG. 2 shows the principal scheme of spraying device A of this invention, particularly the option of liquid subsystem B with individual pumping chambers, as well as a specified basket, equipped with a compression mechanism.

(4) FIG. 3 shows liquid subsystem B option with a central pumping chamber.

(5) FIG. 4 shows liquid subsystem B option with individual pumping chambers.

(6) FIG. 5 shows an example of the layout of spraying device structure elements on an unmanned vehicle, particularly on an unmanned aerial vehicle.

(7) FIG. 6 shows the variant of the structure of the spraying system E according to present invention.

MODES OF EMBODIMENTS OF THE INVENTION (STATICS DESCRIPTION)

(8) The variants of embodiments of the invention are disclosed as the examples illustrating this invention, however not limiting its scope of protection.

(9) The key element of spraying system E according to present invention is spraying device A for liquid means of chemical treatment with a replaceable liquid subsystem B, which is an integral part of the spraying device A. Said invention objects: liquid subsystem B, spraying device A and spraying system E are all designed for spraying of liquid means of chemical treatment, and are united by a single inventive concept which includes the creation of entirely replaceable, properly marked and hermetically sealed liquid subsystem in a spraying device designed to be installed on unmanned vehicles and used in autonomous spraying systems. Moreover, said objects are organically interrelated and correlate as a part (liquid subsystem B), integrated into the whole (spraying device A) and, in turn, integrated into the system (spraying system E), comprising the spraying device as integral part thereof.

(10) Spraying device A of spraying system E is to be considered first.

(11) In general, spraying device A according to present invention comprises: one or several liquid subsystems B, housing of spraying device 1, basket 2 designed for storing reservoir 3 of liquid subsystem B, one or more spraying units 4, liquid refilling valve 5, liquid flow sensor and/or liquid presence detector 6, one central pumping engine 7 or several individual pumping engines 8, session controller 9.

(12) Liquid subsystem B is an integral part of spraying device A.

(13) FIG. 1 shows spraying device A, particularly the option of liquid subsystem B with a central pumping chamber, and FIG. 2—the option of liquid subsystem B with several individual pumping chambers.

(14) Liquid subsystem B comprises: reservoir 3 which is made as a soft hermetic bag made from soft plastic (conventional, reinforced or laminated), and provided with outlet channel 10 in the lower part of the bag, manifold 11 with one or more ports, which is connected to outlet channel 10 of reservoir 3 through the manifold channel 12, manifold channel 12 which can comprise a central pumping chamber 13, and can be provided with a measuring section 14 designed for being placed into the outer liquid flow sensor and/or liquid presence detector 6; liquid hoses 15 of defined length. Each liquid hose 15 at one end is hermetically connected to one of manifold 11 ports, and at the other end is provided with special lock valve 16, which is liquid-impermeable for medium from subsystem B, when it is disconnected from the units of spraying device A. In the embodiment of this invention with several individual pumps, each liquid hose 15, designated for connection with the spraying units, can be equipped with individual pumping chamber 17; contactless tag 18 which identifies liquid subsystem B. The contactless tag can be applied on any element of liquid subsystem B, where this tag would be readable; storage bag 19, in which the entirely replaceable liquid subsystem B is supplied and utilized after use; central 13 or individual 17 pumping chambers; depending on the pumping engine to which they are assigned, chambers can be surrounded with additional elements which are also part of the liquid subsystem B. The liquid subsystem can have either a central pumping chamber 13, or several individual pumping chambers 17, however not all of them together.

(15) Reservoir 3 contains the liquid to be sprayed (liquid means of chemical treatment); reservoir 3 is made from a polymeric material as a soft hermetic bag, which is placed on the bottom of a strong and rigid basket 2. Reservoir 3 can be pressed to the bottom of basket 2 with a compression mechanism 20, which is installed in basket 2 above reservoir 3, thus limiting the free movement of the liquid and preventing the centre of gravity from shifting.

(16) Reservoir 3 is connected to manifold 11 through manifold channel 12.

(17) Manifold channel 12 can be equipped with a special deformable central pumping chamber 13, which is designed to be inserted into the operating area of the central pumping engine 7 of spraying device A. Central pumping chamber can be made from an elastic material, insensitive to water and used liquids. For example, this can be a silicone hose, neoprene hose, BTP (butyl titanate) hose, Tygon® hose and a hose made from analogous materials.

(18) Manifold 11 is connected with liquid hoses 15. Liquid hoses at the opposite end of manifold 11 are provided with lock valves 16, which in inconnected state are sealing the internal volume of liquid to be sprayed. Each liquid hose 15, designed to be connected with the spraying units, can be provided with a special deformable individual pumping chamber 17, designed to be inserted into the operating area of individual pumping engine 8 of spraying device A.

(19) Liquid hoses 15 are standard plastic hoses/tubes made of soft material, which is inert to water and used liquids, and designed to operate under increased pressure conditions. For example, they can be made from polyurethane: PU (polyurethane), soft polyurethane, hard polyurethane; from nylon (soft nylon); from polymers (FEP (Fluoropolymer)), from silicon.

(20) Pumping chambers 13 (FIG. 1) or 17 (FIG. 2) isolate the liquid from pumping engines 7 (FIG. 1) or 8 (FIG. 2), thus improving system maintenance.

(21) Storage bag 19 has a hermetic lock 21, for example, zip lock, double zip lock or a structure of analogous purpose.

(22) Storage bag 19 can be made from any soft material, which is inert to water and used liquid, for example, polyethylenes: PE (polyethylene), LDPE (low density polyethylene), HDPE (high density polyethylene); polypropylenes: OPP (oriented polypropylene), CPP (cast polypropylene); polyimide PI and analogous materials, including metallized options. Sealable storage bags are produced at large scale from these materials and they are widely available.

(23) Contactless tag 18 can be of any suitable type, such as barcode (for example, CODE128), two-dimensional code (for example, QR code or Data matrix), radio-frequency identification (for example, NFC). Contactless tag 18 may have a rewritable memory for the autonomous storage of the operational history of liquid subsystem B (number of sessions, time under pressure and the like counters).

(24) Liquid subsystem B can be easily separated and dismantled from spraying device A.

(25) Liquid subsystem B is fixed: in basket 2, and/or at housing 1 of spraying device, and/or in operational units (nodes) of spraying device A, for example, in spraying units 4.

(26) Liquid subsystem B of spraying device A of present invention is made as single unit, is compact and hermetic when disconnected from spraying device A, and is utilized in a sealed storage bag 19, thus contributing to high level of safety for the personnel. It is marked with a contactless tag 18 for verification of its authenticity and registering its history of operation, which means standardization of the main units of spraying device A and assurance of the warranty characteristics of the device.

(27) Spraying device A can be provided with one or more liquid subsystems B.

(28) Housing 1 of spraying device A is made as a rigid structure where all or some of the elements of spraying device A are installed.

(29) Housing 1 is installed on the unmanned vehicle 22 (for example, on an unmanned aerial vehicle, FIG. 5) and is carried by it. Part or whole housing or frame 23 of unmanned vehicle 22 can serve as housing 1.

(30) Housing 1 may comprise static, telescopic or folding trusses or masts 24 onto which spraying units 4 and, optionally, other elements of the device (not shown in drawings) are fixed.

(31) Spraying devices A, where part or whole of housing 23 of an unmanned vehicle is serving as housing 1, are considered to be partially or fully integrated into the unmanned vehicle 22. While, spraying devices A with an independed housing 1 are independent. Independent spraying devices A can be installed on unmanned vehicles 22 and removed therefrom in completely automated way by the ground station spraying device module 25. An example of installation of a spraying device as an independent module as shown on FIG. 5 is not excluding other variants of device A installation on an unmanned vehicle.

(32) Independent spraying devices A are tested and refilled with liquid in an automated way by the ground station refilling module 26.

(33) The structurally strong basket 2 is designed for reservoir 3 and limits its maximum permissible volume. Basket 2 is adapted for quick insertion of reservoir 3. For this purpose the basket is equipped with a removable or hinged lid 27. Basket 2 is provided with compression mechanism 20, which mechanically or pneumatically presses reservoir 3 to the bottom of basket 2. To reduce the weight of spraying device A, basket 2 can be of a porous structure (grid, combs, net of woven or glued carbon filaments), and optionally with an inner case, made of a light, strong and non-streachable material. Manifold channel 12 comes out of basket 2.

(34) There may be one or more spraying units 4, where each spraying unit 4 is provided with: a special port for hermetically connecting the lock valve 16 of liquid hose 15, an optional lock valve actuator 28. Lock valve actuator 28 is necessary in liquid subsystems B with central pumping chamber 13. sprayer 29, which can be an airless nozzle, an air channel nozzle, centrifugal sprayers, etc.

(35) Liquid refilling valve 5 is connected to manifold 11 with liquid hose 15.

(36) The status of liquid refilling valve 5 is controlled by the refilling station 30. When liquid refilling valve 5 is disconnected from the refilling station 30, it does not pass neither air nor liquid in any direction. Measuring section 14 of manifold channel 12 is designed to be placed into a liquid presence detector and/or liquid flow sensor 6, which can be optical, ultrasonic, inductive, capacitive or of other type.

(37) Pumping engines 7 (or 8) transport liquid by deforming pumping chambers 13 (or 17), in the manner, determined by the type of the pumping engine. Central pumping engine 7 and associated central pumping chamber 13, integrated into it, form together a central liquid pump 31. Individual pumping engine 8 and associated individual pumping chamber 17, integrated into it, form together an individual liquid pump 32. The pumping engine defines the shape and dimensions of the corresponding pumping chamber 13 (or 17), as well as additional system elements (not shown in drawings), necessary for the proper operation of the resultant liquid pump. In the spraying device according to present invention pumping chambers and pumping engines may be configured into following pump types: Peristaltic pump. In this case, a piece of elastic hose is used as a pumping chamber and no additional elements are necessary. Diaphragm pump. In this case, check valves are provided on both sides of the pumping chamber. Opposite surfaces of the chamber are equipped with special fastenings to the pumping engine. The pumping engine provides periodic reciprocating motion for these fastenings. When fastenings move further away from each other (and accordingly pumping chamber surfaces), pressure decreases in the chamber and liquid fills the chamber through the inlet check valve. During reverse motion, liquid is squeezed further through the outlet check valve into the liquid subsystem. Other positive displacement pumps of appropriate type.

(38) The spraying device comprises a single central pumping engine 7 or several individual pumping engines 8.

(39) If only one central pumping engine 7 (FIG. 1) is used in spraying device A, then the central pumping chamber 13, used in liquid subsystem B of this device, is installed onto the manifold channel 12.

(40) If individual pumping engines 8 (FIG. 2) are used in spraying device A separately for each spraying unit 4, then liquid hoses 15 designed to be connected with spraying units 4 must be equipped with individual pumping chambers 17.

(41) Session controller 9 is a microprocessor based device.

(42) Session controller 9 is design to be able to receive power from unmanned vehicle 22 through the session controller power supply port 33, as well as to supply power to all elements of spraying device A which require it. During refilling, session controller 9 receives a session description from control station 34, stores this session description in its memory and tracks its stages and current status.

(43) Session controller 9 coordinates/synchronizes the motion of unmanned vehicle 22 according to the stages of the session and actions necessary during the session, by interacting with the motion controller 35 of unmanned vehicle 22 by communication channel 36.

(44) Session controller 9 controls spraying device A by the sequence of executable commands for the following elements: lock valve actuators 28 and central pumping engine 7, or individual pumping engines 8.

(45) Session controller 9 regulates liquid flow by controlling the frequency of pumping engines movements, deforming pumping chambers.

(46) Session controller 9 can transmit the stage and current status of the session through communication channel 36 to the motion controller 35 of unmanned vehicle 22 (for example, for further data transmission to control station 34).

(47) Session controller 9 can be combined with motion controller of the unmanned vehicle 22 or can be integrated into it.

(48) Unmanned vehicles equipped with spraying devices A can operate in groups fully automatically in the spraying system E according to present invention, which comprises the ground station park and the control station.

(49) According to one of preferred embodiments of the invention, spraying system E (FIG. 6) comprises: spraying device A installed on unmanned vehicle 22, control station 34, ground stations.

(50) Control station 34 is designed for the centralized automatic control of group of unmanned vehicles 22, related to this control station, and park of the ground stations.

(51) Communication module 37 provides connection between the control station 34 and unmanned vehicles 22 and ground stations.

(52) Ground stations of spraying system E are designed for the automatic servicing of unpowered unmanned vehicles 22 and spraying devices A integrated on them or carried by them. Ground stations are composed of modules, where various module combinations are possible to obtain a ground station, optimized for specific application, i.e. to obtain a ground station with defined functions, such as refilling station 30, parking station 38 and storage station 39.

(53) Main ground station modules are as follows: power supply module 40 with the power bus of other station modules; ground station control module 41, which is autonomous and is controlled by control station 34. Ground station control module 41 comprises a communication module 37 to contact with control station 34 and unmanned vehicles 22, landing module 42, where unmanned vehicle 22 completes its movement, being properly positioned and fixed to perform the necessary subsequent operations, which will be carried out by other ground station modules. Landing module 42 can transfer the unmanned vehicles 22 fixed in it to or from another station modules; batteries module 43 designed for storing, replacing and/or charging batteries 44 of unmanned vehicle 22. Here completely or partially discharged batteries 44 of unmanned vehicle 22 are replaced with charged batteries; unmanned vehicles module 45, designed for secure and compact automated storage of unmanned vehicles 22; spraying device module 25, designed for secure and compact automated storage of independent modular spraying device A 46, as well as their mounting on unmanned vehicles 22; refilling module 26, designed for the automated refilling with liquid of spraying devices A (modular spraying device 46) of unmanned vehicles 22, fixed in a proper position relative to the refilling module 26 (for example, fixed in landing module 42), as well as for pouring out the liquid from a faulty spraying device. Refilling module 26 also checks the authenticity of liquid subsystem B by exchanging information with the contactless tag 18 of the liquid subsystem. This module in a contactless way loads the description of a session, following the refilling, into the session controller 9. This module can be connected to the source 47 of prepared compressed air (dried and filtered) for testing of spraying devices A, and/or connected to one or several sources 48 of liquid to be sprayed. Refilling module 26 performs the testing of the hermetic properties of liquid subsystems B with air and, possibly, liquid, when spraying devices A are connected for refilling. Refilling module 26 can be used for refilling liquid sources 48 from the reservoirs 3 of spraying devices A; chassis M (not shown in the drawings) on which ground station is installed.

(54) Refilling station 30 of spraying system E is a ground station, designed for the automatic refilling of spraying devices A and charging or replacement of batteries 44 of unmanned vehicle.

(55) Main elements of refilling station 30 are as follows: power supply module 40, landing module 42, batteries module 43, refilling module 26, liquid sources 48, optionally, compressed air source 47, chassis M.

(56) Parking station 38 is a ground station, designed for secure and automatic storage of unmanned vehicles 22 and can be used for transporting unmanned vehicles.

(57) Parking station 38 comprises: power supply module 40, landing module 42, unmanned vehicles module 45, chassis M.

(58) Storage station 39 is a ground station, designed for the automated storage of the modular spraying device A 46, and can be used for transporting of spraying devices A.

(59) Storage station 39 necessarily comprises: power supply module 40, landing module 42, spraying device module 25, chassis M.

(60) Emergency platform 49 is designed for parking of unmanned vehicles 22, when the unmanned vehicle 22 itself is faulty or spraying device A integrated therein is critically damaged, or when all spraying devices modules 25 of ground stations all are faulty.

(61) Spraying Device and System Operation

(62) Installation of a new replaceable liquid subsystem B into a spraying device A In order to install liquid subsystem B into spraying device A, a new storage bag 19 is opened and a new liquid subsystem B is extracted therefrom.

(63) Lid 27 of basket 2 is opened. Reservoir 3 is placed into basket 2. Manifold channel 12 comes out of basket 2.

(64) In the invention embodiment option with a central pump 31 the central pumping chamber 13 is placed into a central pumping engine 7 and fixed therein. Manifold 11 is fixed, and measuring section 14 of manifold channel 12 is placed into the liquid flow sensor and/or liquid presence detector 6. Then liquid hoses 15 are installed in their places and fixed.

(65) In the invention embodiment option with individual pumps 32 individual pumping chambers 17 of liquid hoses 15 are placed into individual pumping engines 8 and fixed therein.

(66) One appropriate liquid hose 15 is connected to the liquid refilling valve 5, in case it is not included in the subsystem B set. Otherwise, the liquid refilling valve 5 is fixed on housing 1 of spraying device A. After that, lock valves 16 are connected to the spraying units 4, and then lid 27 of basket 2 is closed.

(67) Spraying device A is prepared for operation or for mounting on unmanned vehicle 22 (if it is not integrated into it).

(68) Prepared spraying device A can be mounted on an unmanned vehicle or installed in a free slot of spraying devices module 25 of storage station 39.

(69) When performing self-diagnosis and refilling the spraying device A by module 26, the spraying device must be fixed in a proper position relative to refilling module 26. For example, this happens automatically, when unmanned vehicle 22 is fixed in proper position in the landing module 42 of refilling station 30.

(70) Further operations are performed when power is available in session controller 9.

(71) Refilling module 26 is connected to the liquid refilling valve 5. Refilling module 26 pumps the compressed air into reservoir 3. During this operation the pumping engines must be stopped. Pressure and leakage in reservoir 3 are checked according to the dynamics of change of air pressure in liquid subsystem B by the corresponding pressure sensor located in refilling module 26.

(72) After that refilling module 26 stops supplying air, however continues to monitor the dynamics of change of air pressure in reservoir 3. Air is discharged from reservoir 3 into the atmosphere by alternating and short-term activations of pumping engines 7 or 8, and a conclusion is made on the operable condition of pumping engines 7 or 8, as well as on the hermetic properties of liquid subsystem B.

(73) Refilling station 30 enables all the air to escape from reservoir 3 through the refilling valve 5, where air is squeezed out mechanically by compression mechanism 20 or pumped out by refilling module 26. Refilling module 26 then pumps liquid into reservoir 3. In the process the pressure changes in reservoir 3, proper operation of the system and the absence of leakage in the liquid subsystem are monitored.

(74) If leakage is found, refilling module 26 begins receiving liquid from reservoir 3 under the pressure of compression mechanism 20 and under possible reverse pumping by refilling module 26.

(75) If critical failure is detected, unmanned vehicle 22 is sent to emergency platform 49 or to storage station 39, where liquid subsystem B or the whole modular spraying device A 46 is replaced. By pumping out liquid from reservoir 3, refilling module 26 can refill liquid sources 48 with liquid or its concentrate.

(76) During spraying, liquid flow (consumption) is set by the frequency of deformation of pumping chambers by pumping engines. Liquid flow (consumption) control is performed continuously during the spraying stages.

(77) Necessary interruptions during spraying are done by stopping the pumping engines. If one central pumping chamber 13 is used in liquid subsystem B, then spraying can be interrupted by controlling the lock valves 16 of spraying units 4, however at least one lock valve 16 must be opened when the central pumping engine 7 is operating.

(78) The moment of liquid depletion is determined according to the liquid flow sensor and/or liquid presence detector 6.

(79) Liquid subsystem B can be dismantled and/or replaced.

(80) Before disconnecting liquid subsystem B, an employee should use individual protection means, for example, put on gloves and a respirator.

(81) Spraying device A must be dismantled from the unmanned vehicle 22, if it is not integrated into the unmanned vehicle.

(82) If liquid refilling valve 5 is part of the liquid subsystem B, then it is removed from housing 1 or basket 2. Reservoir 3 is removed from basket 2.

(83) Reservoir 3 is placed into storage bag 19 together with refilling valve 5.

(84) All pumping chambers 13 and 17 are emptied, then manifold 11 is removed and inserted into storage bag 19. Liquid hoses 15 are then disconnected one by one and stowed into the storage bag 19. Filled storage bag 19 is sealed with lock 21 and sent for utilization.

(85) Advantages of the proposed equipment and evidence of solution of the problem

(86) The proposed technical solution provides: Replaceable liquid subsystem B marked with a contactless tag, which means: personnel safety, possibility to track the warranty period, use only original liquid subsystems during the warranty period, possibility of testing the system during manufacture, uniform quality standard. Compact form of the liquid subsystem to be utilized, when the liquid subsystem is placed into a storage bag for utilization. Possibility to control liquid supply to each spraying unit separately, which means: flexibility when forming the spraying session, possibility to temporary operate the vehicle with one faulty unit out of several spraying units, by dynamic adjustments of the spraying width. Automatic control of the serviceability of the main units of spraying device and hermetic properties of the liquid subsystem using only air with no liquid, during refilling by the refilling module, which is safe for the personnel. Liquid movement in the reservoir is limited by a compression mechanism. Such solution does not allow the centre of gravity to shift. Liquid in the reservoir does not splash around and does not swing the unmanned vehicle during motion, therefore the unmanned vehicle can be positioned more precisely. Automated refilling, which means: avoiding personnel contact with the liquid, high quality filtration and absence of contaminants in the reservoir.

INDUSTRIAL APPLICABILITY

(87) The proposed technical solution can find application in the field of agriculture, as well as in other industries, where there is need to spray any type of liquid means according to a specified program.

(88) For example, such devices and systems can be used for extinguishing fires, watering football fields, watering city streets when cleaning them during the hot season, as well as for painting or other decorative treatment of large-scale objects (for example, building roofs) or large areas.

(89) List of the positions of spraying device and system elements: A—spraying device B—liquid subsystem E—spraying system M—chassis 1—housing of spraying device 2—basket 3—reservoir 4—spraying unit 5—liquid refilling valve 6—liquid flow sensor or liquid presence detector 7—central pumping engine 8—individual pumping engine 9—session controller 10—reservoir outlet channel 11—manifold 12—manifold channel 13—central pumping chamber 14—measuring section of manifold channel 15—liquid hoses 16—lock valves 17—individual pumping chamber 18—contactless tag 19—storage bag 20—compression mechanism 21—storage bag lock 22—unmanned vehicle 23—unmanned vehicle housing 24—static, telescopic or folding trusses or masts 25—spraying device module 26—refilling module 27—basket lid 28—lock valve actuator 29—sprayer 30—refilling station 31—central pump 32—individual pump 33—session controller power supply port 34—control station 35—motion controller 36—communication channel 37—communication module 38—parking station 39—storage station 40—power supply module 41—ground station control module 42—landing module 43—batteries module 44—batteries 45—unmanned vehicles module 46—modular spraying device A 47—compressed gas source 48—liquid source 49—emergency platform 50—communication with control station unit 51—propulsion system 52—power supply subsystem 53—communication port 54—contactless tag reader