WO1993015955A1 - Improvement in or relating to crop spraying or other crop or horticultural assessment operations - Google Patents

Improvement in or relating to crop spraying or other crop or horticultural assessment operations Download PDF

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Publication number
WO1993015955A1
WO1993015955A1 PCT/GB1993/000303 GB9300303W WO9315955A1 WO 1993015955 A1 WO1993015955 A1 WO 1993015955A1 GB 9300303 W GB9300303 W GB 9300303W WO 9315955 A1 WO9315955 A1 WO 9315955A1
Authority
WO
WIPO (PCT)
Prior art keywords
crop
ground
aircraft
monitoring
sensing
Prior art date
Application number
PCT/GB1993/000303
Other languages
French (fr)
Inventor
Maxwell Wingate Davidson
John Edward Hesselgreaves
Original Assignee
Maxwell Davidson Limited
Custom Farm Service Of Arizona
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Maxwell Davidson Limited, Custom Farm Service Of Arizona filed Critical Maxwell Davidson Limited
Publication of WO1993015955A1 publication Critical patent/WO1993015955A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
    • B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides

Definitions

  • the present invention relates to improvements in or relating to crop spraying or assessment operations.
  • a method of detecting irregularities in horticultural or agricultural treatments or in crop growing comprising moving sensing means in at least one pass over field or ground areas where gound or crop treatments have been applied or crop growing is occurring and continuously monitoring the ground by said sensing means during said pass to sense thermal differentials at the ground thereby detecting irregularities in the crop or ground treatment or crop growing.
  • the sensing means are moved over he ground by an overflying operation.
  • he monitoring comprises infra-red sensing.
  • apparatus for carrying out the aforesaid inventive method comprises ground monitoring means adapted for support at a suitable location or locations on carrying means, said monitoring means serving to sense thermal differentials on the ground during movement of the carrying means over the ground.
  • the carrying means preferably comprise an aircraft.
  • a crop spraying or crop assessment operation means for sensing wetted (or non- wetted) areas of the crop. More especially the monitoring sensing means can comprise an infra-red sensing device.
  • the sensing means are linked to navigational equipment of a crop spraying aircraft.
  • the monitoring or sensing means comprises infra-red radiometers adapted for external location on the carrying means or aircraft, the radiometers working in combination to detect temperature differentials.
  • the radiometers can be located adjacent the wing tips of an aircraft.
  • the monitoring or sensing means comprises an infra-red camera and this camera will be set to scan the ground below and preferably slightly forward of the aircraft.
  • the monitoring and sensing means can include a visual display unit (screen) . V.D.U. arranged for convenient viewing within the aircraft, the V.D.U. providing a thermal (differential) image of the scanned ground.
  • the V.D.U. preferably links with aircraft navigational equipment so that the aircraft flight path is also registered on the V.D.U. Screen.
  • the viability of the infra-red sensing device as the sensing means of the invention results from the fact that when a crop is sprayed, the temperature of the sprayed area of the crop is reduced due to the evaporation of the spraying liquid (water) from the crop or from the ground: Lhis reduced temperature condition would be present when the
  • the present invention could be used in other agricultural or horticultural assessmemt operations such as for example: a) Identification o blocked spray heads from the air in systems of large area drip irrigation. b) Identification of crop areas where the plant metabolism is weak due to inadequacies of water, fertilisers and other causes; c) Identification of areas of plants where earlier emergence and other causes can be detected by higher levels of infra-red radiation; d) Detection of areas of crop disease or pest infestation by virtue of differences in temperature. e) Detection of areas of mis-application of fertiliser or irrigation.
  • FIG. 1(a) and 1(b) show schematic views of an aircraft crop spraying operation, embodying the present invention
  • Fig. 2 shows a similar view to that of Fig. 1 but according to another embodiment of the present invention
  • Fig. 3 shows a schematic view of a visual display unit (V.D.U.) used in the embodiment of Fig. 2.
  • V.D.U. visual display unit
  • a crop spraying aircraft 1 has a pair of infra-red temperature sensing devices (radiometers) 2 located at respective wing tips of the aircraft, and the devices 2 are linked to a visual (warning light) or aural indicator (bell) 3.
  • the arrangement is such that when the radiometers 2 indicate a temperature difference greater than a predetermined amount (i.e. T > X° C) then the indicator 3 is ⁇ ies a warning signal.
  • T > X° C a predetermined amount
  • the temperature of a fairly recently sprayed crop zone will be less than the adjoining non-sprayed zone.
  • the radiometers will detect a distinct temperature difference and the indicator 3 will issue a warning signal so that the pilot may effect an appropriate adjustment in the aircraft flight path i.e. towards the position shown in Fig. 1(a) where the starboard radiometer 2 (for aircraft motion out of the paper) is located substantially above the boundary B at which position the warning signal will cease.
  • the pilot will know of course, which side of the pass has already bee.:: treated (sprayed) so he would readily recognise the required movement when a warning signal issues; i.e. towards the unsprayed side.
  • a suitable spraying technique could involve the flight path being deliberately set initially so as to be partially over the sprayed zone, and the pilot then quickly adjusting the flight path (aided by the indicator 3) so as to fly substantially as shown in Fig. Ka) .
  • a scanning infra-red camera 6 is used instead of infra-red radiometers 2.
  • the infra-red camera 6 is mounted on the aircraft 1 so that it views the ground below and preferably slightly forward of the aircraft, and the view scanned by the camera is reproduced on a visual display unit 7 (Fig. 3) mounted in the aircraft cockpit so that it can be continuously monitored by the pilot.
  • the sprayed and unsprayed areas 4, 5 will show up as different tones on the screen of the display unit 7, e,g, as represented by the diagonal and horizontal hatching 4', 5' respectively, and the boundary B' between the zones will be indicated.
  • the aircraft flight path can be represented by a vertical dashed line 8 and this car- be compared with the line B' to ascertain if an ac-u ⁇ tment of the flight path is required.
  • a linear infra-red scanner is used as opposed to an area infra-red scanner, and the linear scanner would be adapted to scan below and forward of the aircraft on a line perpendicular to the aircraft flight path and the scanned line would be displayed on a suitable visual display unit, with the actual flight path again superimposed on the V.D.U. screen.
  • This spraying apparatus may comprise feed conduits extending over the length of the aircraft wingspan with downward discharge nozzles spaced along the conduits.
  • the crop spraying apparatus can advantageously be that described in the present applicants' co-pending PCT Application filed of ever.- date: thus the spraying apparatus can comprise a spraying device 10 on at least one wing including discharge nozzles 10A.
  • the spraying apparatus may simply comprise discharge nozzle means on the aircraft fuselage.
  • the apparatus could be used with crop spraying machines other than aircraft.
  • the monitoring apparatus could be used to assess other agricultural or horticultural conditions such as the conditions (a) to (e) described above, instead of being utilised solely in crop spraying operations.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Pest Control & Pesticides (AREA)
  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Catching Or Destruction (AREA)

Abstract

An assessment operation for assessing the pattern or performance of crop spraying by a crop spraying aircraft (1) comprises sensing the differential temperature characteristics at the ground due to wet (4) and unwetted (5) areas of the crop during spraying. Suitable sensing means (2, 6) are used on the aircraft (1) for this assessment, such as for example infrared camera equipment to provide a thermal image of the ground. A particular use of the assessment is to assist guiding of the crop spraying aircraft (1) so that substantially optimum spray cover by the aircraft can be achieved, and to this end the sensing means (2, 6) can be linked to the aircraft navigational equipment.

Description

"IMPROVEMENT IN OR RELATING TO CROP SPRAYING OR OTHER CROP OR HORTICULTURAL ASSESSMENT OPERATIONS".
The present invention relates to improvements in or relating to crop spraying or assessment operations.
It is now common practice to use aircraft in the spraying of crops, this spraying operation being achieved by the aircraft provided with crop treatment fluid flying over the crop in a series of passes at a relatively low height and discharging the treatment fluid into the crop by means of nozzle discharges. Previously in the spraying of crops by aircraft, the fluid discharge from the aircraft has not been of great accuracy and consequently the spread of the fluid on the crop during a pass has not been very uniform. To cater for this problem a generous overlap between passes has been employed, but this has had the disadvantage of requiring the usage of greater quantities of treatment fluid and also increased cost of aircraft operation due to the increased number of passes required. However, there has recently been proposed an improved method of spraying crops from an aircraft which gives a considerably more uniform width of spraying band. It is an object of the present invention to enable a more economic application of treatment fluid to a crop, especially when the aforementioned improved more uniform crop spraying method is employed.
According to one aspect of the present invention there is provided a method of detecting irregularities in horticultural or agricultural treatments or in crop growing comprising moving sensing means in at least one pass over field or ground areas where gound or crop treatments have been applied or crop growing is occurring and continuously monitoring the ground by said sensing means during said pass to sense thermal differentials at the ground thereby detecting irregularities in the crop or ground treatment or crop growing. Preferably the sensing means are moved over he ground by an overflying operation.
Preferably he monitoring comprises infra-red sensing.
SUBSTITUTE SHEET According to a second aspect of the present invention apparatus for carrying out the aforesaid inventive method comprises ground monitoring means adapted for support at a suitable location or locations on carrying means, said monitoring means serving to sense thermal differentials on the ground during movement of the carrying means over the ground. The carrying means preferably comprise an aircraft.
In accordance with a further aspect of the present invention, there is provided in a crop spraying or crop assessment operation means for sensing wetted (or non- wetted) areas of the crop. More especially the monitoring sensing means can comprise an infra-red sensing device.
In a preferred embodiment, the sensing means are linked to navigational equipment of a crop spraying aircraft.
Preferably the monitoring or sensing means comprises infra-red radiometers adapted for external location on the carrying means or aircraft, the radiometers working in combination to detect temperature differentials. In particular, the radiometers can be located adjacent the wing tips of an aircraft.
In an alternative embodiment the monitoring or sensing means comprises an infra-red camera and this camera will be set to scan the ground below and preferably slightly forward of the aircraft. The monitoring and sensing means can include a visual display unit (screen) . V.D.U. arranged for convenient viewing within the aircraft, the V.D.U. providing a thermal (differential) image of the scanned ground.
The V.D.U. preferably links with aircraft navigational equipment so that the aircraft flight path is also registered on the V.D.U. Screen.
The viability of the infra-red sensing device as the sensing means of the invention results from the fact that when a crop is sprayed, the temperature of the sprayed area of the crop is reduced due to the evaporation of the spraying liquid (water) from the crop or from the ground: Lhis reduced temperature condition would be present when the
SUBSTITUTE SHEET. crop is still wet and for a period thereafter. The infra¬ red sensing device would detect the reduced temperature area and consequently the wetted area of the crop.
In addition to use in guiding crop spraying operations, the present invention could be used in other agricultural or horticultural assessmemt operations such as for example: a) Identification o blocked spray heads from the air in systems of large area drip irrigation. b) Identification of crop areas where the plant metabolism is weak due to inadequacies of water, fertilisers and other causes; c) Identification of areas of plants where earlier emergence and other causes can be detected by higher levels of infra-red radiation; d) Detection of areas of crop disease or pest infestation by virtue of differences in temperature. e) Detection of areas of mis-application of fertiliser or irrigation.
Embodiments of the present invention will now be described by way of example with reference to the accompanying drawings wherein Figs. 1(a) and 1(b) show schematic views of an aircraft crop spraying operation, embodying the present invention; Fig. 2 shows a similar view to that of Fig. 1 but according to another embodiment of the present invention; and Fig. 3 shows a schematic view of a visual display unit (V.D.U.) used in the embodiment of Fig. 2.
Referring to Figs. 1(a) and 1(b) , a crop spraying aircraft 1 has a pair of infra-red temperature sensing devices (radiometers) 2 located at respective wing tips of the aircraft, and the devices 2 are linked to a visual (warning light) or aural indicator (bell) 3. The arrangement is such that when the radiometers 2 indicate a temperature difference greater than a predetermined amount (i.e. T > X° C) then the indicator 3 isε ies a warning signal. The above apparatus is intended ~o distinguish the boundary B between sprayed 4 and unsprayed zones 5 of the crop in a fairly straightforward crop spraying operation.
As explained previously, the temperature of a fairly recently sprayed crop zone will be less than the adjoining non-sprayed zone. Thus if the aircraft 1 is positioned as shown in Fig. 1(b) the radiometers will detect a distinct temperature difference and the indicator 3 will issue a warning signal so that the pilot may effect an appropriate adjustment in the aircraft flight path i.e. towards the position shown in Fig. 1(a) where the starboard radiometer 2 (for aircraft motion out of the paper) is located substantially above the boundary B at which position the warning signal will cease. During each pass, the pilot will know of course, which side of the pass has already bee.:: treated (sprayed) so he would readily recognise the required movement when a warning signal issues; i.e. towards the unsprayed side. A suitable spraying technique could involve the flight path being deliberately set initially so as to be partially over the sprayed zone, and the pilot then quickly adjusting the flight path (aided by the indicator 3) so as to fly substantially as shown in Fig. Ka) .
In the embodiment shown in Fig. 2, a scanning infra-red camera 6 is used instead of infra-red radiometers 2. The infra-red camera 6 is mounted on the aircraft 1 so that it views the ground below and preferably slightly forward of the aircraft, and the view scanned by the camera is reproduced on a visual display unit 7 (Fig. 3) mounted in the aircraft cockpit so that it can be continuously monitored by the pilot. The sprayed and unsprayed areas 4, 5 will show up as different tones on the screen of the display unit 7, e,g, as represented by the diagonal and horizontal hatching 4', 5' respectively, and the boundary B' between the zones will be indicated. The aircraft flight path can be represented by a vertical dashed line 8 and this car- be compared with the line B' to ascertain if an ac-u≤tment of the flight path is required.
SUBSTITUTE SHEET In a further embodiment (not shown) , a linear infra-red scanner is used as opposed to an area infra-red scanner, and the linear scanner would be adapted to scan below and forward of the aircraft on a line perpendicular to the aircraft flight path and the scanned line would be displayed on a suitable visual display unit, with the actual flight path again superimposed on the V.D.U. screen.
The actual scanning and monitoring arrangement used will of course be compatible with the type of spraying apparatus fitted to the aircraft. This spraying apparatus may comprise feed conduits extending over the length of the aircraft wingspan with downward discharge nozzles spaced along the conduits. By way of example the crop spraying apparatus can advantageously be that described in the present applicants' co-pending PCT Application filed of ever.- date: thus the spraying apparatus can comprise a spraying device 10 on at least one wing including discharge nozzles 10A. Alternatively the spraying apparatus may simply comprise discharge nozzle means on the aircraft fuselage.
Further variations are possible in the scanning and monitoring apparatus, and the apparatus could be used with crop spraying machines other than aircraft. Additionally, the monitoring apparatus could be used to assess other agricultural or horticultural conditions such as the conditions (a) to (e) described above, instead of being utilised solely in crop spraying operations.
SUBSTITUTE SHEET

Claims

1. A method of detecting irregularities in horticultural or agricu] tural treatments or in crop growing characterised by moving sensing means (2, 6) in at least one pass over field or ground areas where ground or crop treatments have been applied or crop growing is occurring and continuously monitoring the ground by said sensing means (2, 6) during said pass to sense thermal differentials at the ground thereby detecting irregularities in the crop or ground treatment or crop growing.
2. A method as claimed in claim 1, characterised in that the sensing means (2, 6) are moved over the ground by an overflying operation.
3. A method as claimed in claim 1 or 2, characterised in that the monitoring comprises infra-red sensing.
4. A method as claimed in claim 1 or 2, characterised in that monitoring is achieved by simultaneous sensing operations by the sensing means (2) at spaced locations for the indication of any temperature differential between these locations.
5. A process of crop spraying or ground treatment utilising the detecting method as claimed in any one of the preceding claims wherein treatment substance such as a liquid is continuously discharged from the carrying means during a pass of the carrying means over the ground characterised in that said monitoring of the detecting method serves to sense areas on the ground which have been treated by said treatment substances and areas which have not been so treated, and utilising said sensing by the sensing means to adjust the directional path of the carrying means so that treatment substance is discharged from the carrying means substantially only on to untreated ground areas during said pass.
6. Apparatus for carrying out the method of claim 1, characterised by ground monitoring means (2, 6) adapted for support at a suitable location or locations on carrying means (1) , said monitoring means (2, 6) serving to sense
SUBSTITUTE SHEET thermal differentials on the ground during movement of the carrying means over the ground.
7. Apparatus as claimed in claim 6, characterised in that the carrying means comprise an aircraft (1) .
8. A crop spraying or crop assessment operation, characterised by the provision of means (2, 6) for sensing wetted or non-wetted areas of the crop.
9. Apparatus as claimed in claim 6 or 8, characterised in that the monitoring or sensing means (6) comprises an infra¬ red sensing device.
10. Apparatus as claimed in claim 9, characterised in that the sensing means (2, 6) are linked to navigational equipment of a crop spraying aircraft (1) .
11. Apparatus as claimed in claim 6 or 8, characterised in that the monitoring or sensing means (2) comprises infra-re radiometers adapted for external location on the carrying means or aircraft, the radiometers (2) working in combination to detect temperature differentials.
12. Apparatus as claimed in claim 11, characterised in that the radiometers (2) are located adjacent the wing tips of an aircraft (1) .
13. Apparatus as claimed in claim 9, characterised in that the monitoring or sensing means comprises an infra-red camera.
14. Apparatus as claimed in claim 13, characterised in that the camera (6) is set to scan the ground below and slightly forward of a carrying aircraft (1) .
15. Apparatus as claimed in claim 6 or 8, characterised in that the monitoring and sensing means (6) include a visual display unit V.D.U. (7) arranged for convenient viewing within the carrying means ' (1) , the V.D.U. providing a thermal (differential) image of the scanned ground.
16. Apparatus as claimed in claim 15, characterised in that the V.D.U. (7) links with the aircraft navigational equipment so that the aircraft flight path (B) is also registered on the V.D.U.- Screen.
SUBSTITUTE SHEET
PCT/GB1993/000303 1992-02-12 1993-02-12 Improvement in or relating to crop spraying or other crop or horticultural assessment operations WO1993015955A1 (en)

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GB929202871A GB9202871D0 (en) 1992-02-12 1992-02-12 Improvements in or relating to crop spraying or other crop or horticultural assessment operations
GB9202871.1 1992-02-12

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2729863A1 (en) * 1995-01-31 1996-08-02 Sextant Avionique FIRE EXTINGUISHING ASSISTANCE DEVICE FOR WATER BOMBAR PLANES
AU698719B3 (en) * 1997-03-14 1998-11-05 Rees Equipment Pty Ltd Overlap monitor
WO2000009990A1 (en) * 1998-08-13 2000-02-24 Rees Equipment Pty Ltd. A protective means or assembly
US6799740B2 (en) * 2002-03-25 2004-10-05 Adapco, Inc. Chemical application and flight guidance control system and method
US6802239B1 (en) * 2002-10-01 2004-10-12 Paul H. Sanderson Sponson tow plate-mounted helicopter armament apparatus and associated methods
US8434397B1 (en) 2012-06-08 2013-05-07 The United States Of America As Represented By The Secretary Of The Navy Helicopter weapon mounting system
CN103523224A (en) * 2013-10-31 2014-01-22 无锡同春新能源科技有限公司 Unmanned aerial vehicle with colorful rice disease image recognition instrument and used for preventing and controlling rice bacterial leaf blight
CN103523225A (en) * 2013-10-31 2014-01-22 无锡同春新能源科技有限公司 Unmanned aerial vehicle with colorized rice insect pest image recognition instrument and for killing rice leaf folders
CN103523234A (en) * 2013-10-31 2014-01-22 无锡同春新能源科技有限公司 Unmanned aerial vehicle with colorized rice insect pest image recognition instrument and for killing rice planthoppers
CN103523226A (en) * 2013-10-31 2014-01-22 无锡同春新能源科技有限公司 Unmanned aerial vehicle with colorized rice disease image recognition instrument and for preventing and treating rice sheath blight diseases
CN104210658A (en) * 2014-05-28 2014-12-17 成都农邦生物科技有限公司 Hot fog type pesticide spraying and applying system for agriculture rotor craft
CN105644787A (en) * 2014-12-02 2016-06-08 天津市中环电子计算机有限公司 Novel pilotless aircraft
CN106556569A (en) * 2016-11-11 2017-04-05 北京林业大学 A kind of plant hydropenia condition diagnosing method based on infrared imaging
CN108780327A (en) * 2016-02-05 2018-11-09 托马斯·伍恩斯特 System and method for the local and precise spreading of solids and liquids and mixtures thereof in agriculture and forestry
CN110254722A (en) * 2018-04-13 2019-09-20 苏州极目机器人科技有限公司 A kind of aerocraft system and its method, the product with computer program
CN113631865A (en) * 2019-04-01 2021-11-09 GfPS有限责任公司 Method and device for disinfecting clean room

Citations (2)

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Publication number Priority date Publication date Assignee Title
DD234735A1 (en) * 1985-02-19 1986-04-09 Inst Forstwissenschaften PROCESS FOR QUALITY CONTROL AND SIGNALING IN AVIOCHEMICAL PLANT PROTECTION
FR2650476A1 (en) * 1989-08-01 1991-02-08 Rhone Poulenc Agrochimie Method for detecting in plants diseases with visible symptoms

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DD234735A1 (en) * 1985-02-19 1986-04-09 Inst Forstwissenschaften PROCESS FOR QUALITY CONTROL AND SIGNALING IN AVIOCHEMICAL PLANT PROTECTION
FR2650476A1 (en) * 1989-08-01 1991-02-08 Rhone Poulenc Agrochimie Method for detecting in plants diseases with visible symptoms

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2729863A1 (en) * 1995-01-31 1996-08-02 Sextant Avionique FIRE EXTINGUISHING ASSISTANCE DEVICE FOR WATER BOMBAR PLANES
WO1996023549A1 (en) * 1995-01-31 1996-08-08 Sextant Avionique Fire-fighting aid device for water bombers
AU698719B3 (en) * 1997-03-14 1998-11-05 Rees Equipment Pty Ltd Overlap monitor
WO2000009990A1 (en) * 1998-08-13 2000-02-24 Rees Equipment Pty Ltd. A protective means or assembly
US6799740B2 (en) * 2002-03-25 2004-10-05 Adapco, Inc. Chemical application and flight guidance control system and method
US6802239B1 (en) * 2002-10-01 2004-10-12 Paul H. Sanderson Sponson tow plate-mounted helicopter armament apparatus and associated methods
US8434397B1 (en) 2012-06-08 2013-05-07 The United States Of America As Represented By The Secretary Of The Navy Helicopter weapon mounting system
US8850950B2 (en) 2012-06-08 2014-10-07 United States Of America As Represented By The Secretary Of The Navy Helicopter weapon mounting system
CN103523225A (en) * 2013-10-31 2014-01-22 无锡同春新能源科技有限公司 Unmanned aerial vehicle with colorized rice insect pest image recognition instrument and for killing rice leaf folders
CN103523234A (en) * 2013-10-31 2014-01-22 无锡同春新能源科技有限公司 Unmanned aerial vehicle with colorized rice insect pest image recognition instrument and for killing rice planthoppers
CN103523226A (en) * 2013-10-31 2014-01-22 无锡同春新能源科技有限公司 Unmanned aerial vehicle with colorized rice disease image recognition instrument and for preventing and treating rice sheath blight diseases
CN103523224A (en) * 2013-10-31 2014-01-22 无锡同春新能源科技有限公司 Unmanned aerial vehicle with colorful rice disease image recognition instrument and used for preventing and controlling rice bacterial leaf blight
CN104210658A (en) * 2014-05-28 2014-12-17 成都农邦生物科技有限公司 Hot fog type pesticide spraying and applying system for agriculture rotor craft
CN105644787A (en) * 2014-12-02 2016-06-08 天津市中环电子计算机有限公司 Novel pilotless aircraft
CN108780327A (en) * 2016-02-05 2018-11-09 托马斯·伍恩斯特 System and method for the local and precise spreading of solids and liquids and mixtures thereof in agriculture and forestry
CN106556569A (en) * 2016-11-11 2017-04-05 北京林业大学 A kind of plant hydropenia condition diagnosing method based on infrared imaging
CN110254722A (en) * 2018-04-13 2019-09-20 苏州极目机器人科技有限公司 A kind of aerocraft system and its method, the product with computer program
CN113631865A (en) * 2019-04-01 2021-11-09 GfPS有限责任公司 Method and device for disinfecting clean room

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AU3461593A (en) 1993-09-03
GB9202871D0 (en) 1992-03-25

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