CN104621083A - Self-adaptation spraying air capacity adjusting device based on plant characteristics and method - Google Patents
Self-adaptation spraying air capacity adjusting device based on plant characteristics and method Download PDFInfo
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Abstract
The invention discloses a self-adaptation spraying air capacity adjusting device based on plant characteristics and method. The device comprises five-finger sprayers, a draught fan, a hose, electromagnetic valves, flow guide pipes, a hose, an air nozzle, a laser sensor, a touch screen, a radar speed sensor, an ARM Cortex controller and an embedded PC/104 computer, wherein the draught fan is driven by PTO; the hose enables the five-finger sprayers and an air outlet of the draught fan to be connected; the electromagnetic valves are arranged on the flow guide pipes and are used for controlling air capacity of the five-finger sprayers; the flow guide pipes are connected with the electromagnetic valves to output air; the hose are connected with all the flow guide pipes; the air nozzle enables a converge hose on the left and a converge hose on the right to be connected; the laser sensor is installed at the front end of a spraying machine; the touch screen is installed in a cab; the radar speed sensor is installed at the bottom of the spraying machine; the ARM Cortex controller is used for controlling the air capacity and variations; the embedded PC/104 computer is connected with the touch screen, the laser sensor, the speed sensor and the ARM Cortex controller. According to the device, all the five-finger sprayers can perform self-adaptation air capacity adjustment according to plant characteristics in corresponding areas, reduce fog drop drifting for areas with sparse plants, increase the penetrability of fog drops on areas with dense plants and branches and leaves and increase the attachment rate of fog drops inside the plants.
Description
Technical field
The present invention relates to a kind of spraying volume adjusting apparatus, especially relate to a kind of based on plant morphological characteristics self adaptation spraying volume adjusting apparatus and method.
Background technology
The plant such as fruit tree, flowers presents different resemblances in process of growth, and the density degree of its branches and leaves changes with seasonal shift in time.The air-assisted type spraying machine application designed target technology based on infrared rays, ultrasonic is comparatively extensive, but owing to being subject to the impact of testing environment in actual mechanical process, as temperature, humidity, sprayer spray medicine air-flow etc., reduce the accuracy of testing result, thus affect effect and the efficiency of its spray medicine.Adopt the wind spraying aid type spraying system of sensors with auxiliary electrode, due to cannot the minutia of Obtaining Accurate plant target various piece, consider less to spraying air quantity Automatic adjusument, easily there is the problem of droplet drift in the sparse part of plant target branches and leaves, have impact on the settling amount of influences of plant crown spray liquor.
The patent No. is 201210549172.5 disclose a kind of orchard spraying machine with rotation speed of fan manual regulating device, by being arranged on the relevant information of control device on console and display, operating personnel can adjust the size of rotation speed of fan at any time, change air quantity and the wind speed of blower fan.The patent No. is that 201210549173.X discloses a kind of rotation speed of fan controllable type orchard spraying machine, by generator for two groups of blower fans provide electric power, regulates rotation speed of fan size by ultrasonic sensor and speed sensor signal, changes air quantity and the wind speed of blower fan.These two kinds of methods are all realize air quantity adjustment by changing rotation speed of fan size, but produce in electric energy and then the process by electromotor generation wind energy at tractor by generator, there is twice power conversion, easily cause energy loss problem, need extra high-power blower driver module and corresponding control circuit simultaneously.
The patent No. is 201210545679.3 disclose a kind of air-assisted type spraying machine volume adjusting apparatus, according to the size of the tree crown size adjustment air-assisted type spraying machine air outlet of fruit tree, can change the size of air-assisted spraying fan delivery.The patent No. is 201210549174.4 disclose a kind of target spraying fan delivery self-checking device, can automatically control the size adjusting air-assisted type spraying machine air outlet, change the size of wind speed sprayer air quantity according to the tree crown size of automatic detection fruit tree.These two kinds of methods are all that the size by changing air outlet realizes air quantity adjustment, controlled the size of air outlets, thus control outlet air quantity by driving stepper motor two pieces of baffle plate foldings.But this apparatus structure is comparatively complicated, when air outlet reduces gradually, blower fan load increases, and causes fan efficiency to reduce.
The patent No. is 201210545207.8 disclose a kind of air inlet auto-control formula target spraying machine, automatically the size of air-assisted type spraying machine air inlet can be adjusted according to the operating speed of the top fruit sprayer size detected and tractor, change the size of air-assisted sprayer intake, thus adjust the size of air quantity.The method is positioned at the flapper of air inlet by driving stepper motor one piece, realizes the control of air port size, reaches the control object of import air quantity.But the method is when air-admitting surface diminishes, blower fan load increases, and air output reduces on the contrary, causes fan efficiency to reduce.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art, the present invention devises a kind of based on plant morphological characteristics self adaptation spraying volume adjusting apparatus and method, employing high accuracy, the wide high-rate laser sensor reaching 270 ° of scanning angle scan sprayer both sides plant target, plant three-dimensional information is obtained in conjunction with velocity sensor, Automatic adjusument the five fingers shower nozzle air output is carried out according to each the five fingers shower nozzle corresponding region target signature, reduce and branches and leaves sparse plant target droplet is drifted about, increase the adhesive rate of the plant target internal droplet that is thick with leaves, improve spraying availability.
The technical scheme of device of the present invention is:
A kind of based on plant morphological characteristics self adaptation spraying volume adjusting apparatus, comprise spraying air quantity adjustment member group, air quantity regulation unit; Described spraying air quantity adjustment member group comprises blower fan, main air duct flexible pipe, manifold hose, mozzle, the five fingers shower nozzle, the air nozzle that PTO drives; The blower fan that described PTO drives is connected with the inlet port of two main air duct flexible pipes, the described main air duct flexible pipe being positioned at sprayer both sides is connected with each the five fingers shower nozzle respectively, and main air duct flexible pipe is provided with water conservancy diversion branch road on the connecting line of each the five fingers shower nozzle, water conservancy diversion props up route mozzle and the magnetic valve on it is formed, and the output of described mozzle is all connected to manifold hose; Described manifold hose is also connected with air nozzle; Described air quantity regulation unit comprises touch-screen, laser sensor, velocity sensor, ARM Cortex controller, built-in PC/104 calculator; Described built-in PC/104 calculator is connected with touch-screen, laser sensor, velocity sensor, ARM Cortex controller respectively, described ARM Cortex controller connected electromagnetic valve driver module, described solenoid valve driving module connected electromagnetic valve, for controlling the air quantity of the five fingers shower nozzle; Described touch-screen is man machine operation interface, for optimum configurations, state display, instruction input; Described laser sensor, for scanning both sides plant target, sends embedded computer to by high speed interface; Described velocity sensor is used for Real-time Obtaining spray velocity; Described built-in PC/104 calculator is by reading the scan-data of laser sensor, in conjunction with the real time speed information of velocity sensor passback, obtain plant target three-dimensional feature, region segmentation is carried out again according to the locus of the five fingers shower nozzle, calculate the plant target area feature that each the five fingers shower nozzle is corresponding respectively, form corresponding Boiler pressure control instruction.
Further, described mozzle is arranged on and becomes 30 ° of angles with the five fingers shower nozzle horizontal direction, from described main air duct flexible pipe 30cm apart from the five fingers shower nozzle air inlet 15cm place.
Further, described radar speed sensor is positioned at bottom sprayer and becomes 35 ° of angles with level ground, and the vertical height on distance ground is 66cm.
Further, described magnetic valve adopts pulsewidth modulation, exports in order to independent each the five fingers shower nozzle air force that controls.
Further, described built-in PC/104 calculator connects ARM Cortex controller by CAN.
The technical scheme of method of the present invention is:
A kind of based on plant morphological characteristics self adaptation spraying air quantity control method, comprise step:
Step 1, the relevant parameter of setting touch-screen spraying, and provide and start instruction of spraying;
Step 2, in the process of moving, first laser sensor scans the plant target of the left and right sides to sprayer, and reads plant scan-data by built-in PC/104 calculator by high speed interface, simultaneously reading speed sensor real time speed information;
Step 3, by built-in PC/104 calculator according to plant scan-data and real time speed information, calculate and obtain plant target three-dimensional feature, region segmentation is carried out again according to the locus of the five fingers shower nozzle, calculate the plant target area feature that each the five fingers shower nozzle is corresponding respectively, form corresponding Boiler pressure control instruction;
Step 4, calculates according to real-time speed the time that the five fingers shower nozzle arrives target area; After postponing, ARM Cortex controller is sent to by CAN, PWM control technology is adopted to control the dutycycle of the solenoid-driven on each mozzle respectively by ARM Cortex controller again, realize regulating the air quantity of each the five fingers shower nozzle, air quantity when making corresponding the five fingers shower nozzle reach target location calculates after obtaining data before exporting and being just in time laser sensor and obtains discharge quantity of fan, realizes the object of each the five fingers shower nozzle based on plant morphological characteristics Automatic adjusument air quantity.
The invention has the beneficial effects as follows: the device of the present invention's design can, according to the air output of the corresponding the five fingers shower nozzle of the plant morphological characteristics Automatic adjusument of each the five fingers shower nozzle corresponding region, affect less on blower fan air output and intake; Each the five fingers shower nozzle air quantity regulates independent, is independent of each other in adjustment process; Adopt PWM to drive magnetic valve to realize air quantity to regulate, have fast response time, structure simple, realize comparatively being easy to feature; Air quantity after shunting is pooled to the top of laser sensor, can be used for clean laser sensor, prevents dust to be attached to laser sensor surface.This invents for different each the five fingers shower nozzle air quantity of the branches and leaves density area adjustment adaptive change of a plant, branches and leaves sparse region decreases droplet drift, the region that is thick with leaves increases the penetrability of droplet, add the adhesive rate of the inner droplet of plant, improve droplet availability, reduce environmental pollution, there is good practical value.Meanwhile, the branches and leaves density information obtained thus can be used for the variable rate spray of each nozzle, realizes, based on plant morphological characteristics individual nozzle variable rate spray, will greatly saving Pesticide use amount.
Accompanying drawing explanation
Fig. 1 is based on plant morphological characteristics self adaptation spraying volume adjusting apparatus structural representation;
Fig. 2 is the intelligent variable sprayer schematic diagram based on plant morphological characteristics self adaptation spraying volume adjusting apparatus;
Fig. 3 is based on plant morphological characteristics self adaptation spraying volume adjusting apparatus control principle drawing.
In figure, 1 blower fan driven for PTO, 2 is main air duct flexible pipe, 3 is the five fingers shower nozzle, and 4 is the magnetic valve controlling air quantity, and 5 is manifold hose, 6 is air nozzle, and 7 is laser sensor, and 8 is mozzle, 9 is touch-screen, and 10 is wire and cable connector, and 11 is pressure sensor, 12 is the magnetic valve of Control Nozzle flow, and 13 is velocity sensor, and 14 is sprayer flow sensor, 15 is ARM Cortex controller, and 16 is built-in PC/104 calculator.
Embodiment
Further illustrate flesh and blood of the present invention below in conjunction with accompanying drawing and example, but content of the present invention is not limited to this.
As shown in Figure 1, the present invention is a kind of based on plant morphological characteristics self adaptation spraying volume adjusting apparatus, mainly comprise the five fingers shower nozzle 3 of the sprayer left and right sides, the blower fan 1 that PTO drives, connect the main air duct flexible pipe 2 of the five fingers shower nozzle 3 and fan outlet, for controlling the magnetic valve 4 of the five fingers shower nozzle air quantity on mozzle 8, the mozzle 8 of connected electromagnetic valve discharge quantity of fan, connect the air nozzle 6 of left and right sides manifold hose, be installed on the laser sensor 7 of sprayer front end, be installed on the touch-screen 9 in driver's cabin, be installed on the radar speed sensor 13 bottom sprayer, for the ARM Cortex controller 15 that air quantity and variable rate spray control, connect touch-screen, laser sensor, built-in PC/104 calculator 16 of velocity sensor and ARM Cortex controller.
Described mozzle 8 is arranged on distance the five fingers shower nozzle air inlet 15cm place and becomes 30 ° of angles with the five fingers shower nozzle 3 horizontal direction, with main air duct flexible pipe 2 apart from being 30cm.The five fingers shower nozzle 3 air inlet duct relatively independent, when magnetic valve 4 carries out air quantity regulation output, decreases impact each other.
Described laser sensor 7 is positioned at sprayer front end, adopts horizontal installation form, utilizes its scanning angle of 270 ° can scan left and right sides plant simultaneously.
Described velocity sensor 13 adopts the vehicle-mounted radar speed sensor of high accuracy, is positioned at bottom sprayer and forms 35 ° of angles with level ground, and distance ground vertical height is 66cm.Sensor has carried out place calibration after mounting and has demarcated, and can reach higher service precision, ensure obtain accuracy and the reliability of spray velocity.
Described PC/104 calculator 16 reads the scan-data information of laser sensor 7 and the velocity information of radar speed sensor 13 by high-speed communication means, calculate and obtain plant target three-dimensional information, region segmentation is carried out again according to the locus of the five fingers shower nozzle, obtain the plant target area feature that each the five fingers shower nozzle is corresponding, form corresponding Boiler pressure control instruction, ARM Cortex controller 15 is sent to by CAN, then by ARM Cortex controller 15 Controlling solenoid valve 4.
Described magnetic valve 4 adopts the independent size controlling each the five fingers shower nozzle 3 discharge quantity of fan of pulse modulation technology (PWM).
The distribution characteristics that spray interval interior plant target of described magnetic valve 4 corresponding to each the five fingers shower nozzle 3, the independent discharge quantity of fan controlling corresponding the five fingers shower nozzle 3.
Each magnetic valve 4 described controls the discharge quantity of fan of mozzle 8 and is connected to the air nozzle 6 above laser sensor 7 by flexible pipe 5, forms air-flow air curtain, prevents dust from affecting laser sensor 7 performance.
As shown in Figure 2, this volume adjusting apparatus is positioned on rear side of sprayer.Touch-screen 9, built-in PC/104 calculator 16 are installed in driver's cabin, are connected with ARM Cortex controller 15 by wire and cable connector 10; Laser sensor 7 level is arranged on one block of vertical aluminium sheet, is positioned at the front of sprayer; The air quantity controlling to export is pooled to air nozzle 6 by flexible pipe, forms air-flow air curtain, stops contamination by dust laser sensor, also can blow away the dust on laser sensor simultaneously.40 way solenoid valve groups 12, for controlling the flow of each nozzle in the five fingers shower nozzle respectively, realize nozzle variable-flow and independently control; Pressure sensor 11 and flow sensor 14 are for flow-control in spray process and monitoring.
As shown in Figure 3, be volume adjusting apparatus control principle drawing of the present invention.Touch-screen 9 is man machine operation interface, for optimum configurations, state display, instruction input etc.; Laser sensor 7, for scanning both sides plant target, sends embedded computer to by high speed interface; Velocity sensor 13 is for Real-time Obtaining spray velocity, and synchronized update is to embedded computer; Built-in PC/104 calculator 16 is major control cores of sprayer system, for Operational Data Analysis, feature extraction and control algolithm; The control algolithm calculated sends to ARM Cortex controller 15 by CAN, and ARM controller resolves the PWM drive singal that control instruction forms each Boiler pressure control magnetic valve, realizes the Boiler pressure control to magnetic valve 4 through solenoid valve driving module.
The present invention is spraying in process, is first set the relevant parameter of spraying by the touch-screen in driver's cabin, and provides and start instruction of spraying.Sprayer in the process of moving, first laser sensor scans the plant target of the left and right sides, and read plant scan-data by built-in PC/104 calculator by high speed interface, reading speed sensor 13 real time speed information simultaneously, by algorithm routine a little information calculating acquisition plant target three-dimensional feature accordingly, carry out region segmentation according to the locus of the five fingers shower nozzle again, calculate the plant target area feature that each the five fingers shower nozzle is corresponding respectively, form corresponding Boiler pressure control instruction; According to real-time speed, calculate the time that shower nozzle arrives target area; After postponing, ARMCortex controller is sent to by CAN, PWM control technology is adopted to control the dutycycle of the solenoid-driven on each mozzle respectively by ARM Cortex controller again, realize each the five fingers shower nozzle air quantity to regulate, air quantity when making corresponding the five fingers shower nozzle reach target location calculates after obtaining data before exporting and being just in time scanning laser sensor and obtains discharge quantity of fan, realizes the object of each the five fingers shower nozzle based on plant morphological characteristics Automatic adjusument air quantity.
The magnetic valve that the present invention adopts independently controls the discharge quantity of fan device of the five fingers shower nozzle, structure is simple, control procedure fast response time, real-time are good, control is simple, can better realize carrying out independent air quantity adjustment for plant local feature, droplet drift is decreased in the sparse part of branches and leaves, the plant part that is thick with leaves strengthens the penetrability of droplet, adds the adhesive rate of the inner droplet of plant.
Finally should be noted that; above example is only for illustration of technical scheme of the present invention; but not limiting the scope of the invention; although done to explain to the present invention with reference to preferred embodiments; those of ordinary skill in the art is to be understood that; can modify to technical scheme of the present invention or equivalent replacement, and not depart from essence and the scope of technical solution of the present invention, it all should be encompassed within right of the present invention.
Claims (6)
1. based on a plant morphological characteristics self adaptation spraying volume adjusting apparatus, it is characterized in that: comprise spraying air quantity adjustment member group, air quantity regulation unit;
Described spraying air quantity adjustment member group comprises blower fan (1), main air duct flexible pipe (2), manifold hose (5), mozzle (8), the five fingers shower nozzle (3), the air nozzle (6) that PTO drives, the blower fan (1) that described PTO drives is connected with the inlet port of two main air duct flexible pipes (2), the described main air duct flexible pipe (2) being positioned at sprayer both sides is connected with each the five fingers shower nozzle (3) respectively, and the connecting line of upper each the five fingers shower nozzle (3) close of main air duct flexible pipe (2) is provided with water conservancy diversion branch road, water conservancy diversion props up route mozzle (8) and the magnetic valve on it (4) is formed, the output of described mozzle (8) is all communicated in manifold hose (5), described manifold hose (5) is also connected with air nozzle (6),
Described air quantity regulation unit comprises touch-screen (9), laser sensor (7), velocity sensor (13), ARM Cortex controller (15), built-in PC/104 calculator (16); Described built-in PC/104 calculator (16) are connected with touch-screen (9), laser sensor (7), velocity sensor (13), ARM Cortex controller (15) respectively, described ARM Cortex controller (15) connected electromagnetic valve driver module, described solenoid valve driving module connected electromagnetic valve (4), for controlling the air quantity of the five fingers shower nozzle; Described touch-screen (9) is man machine operation interface, for optimum configurations, state display, instruction input; Described laser sensor (7), for scanning both sides plant target, sends embedded computer to by high speed interface; Described velocity sensor (13) is for Real-time Obtaining spray velocity; Described built-in PC/104 calculator (16), in order to calculate plant target area feature corresponding to each the five fingers shower nozzle, form corresponding Boiler pressure control instruction.
2. one according to claim 1 is based on plant morphological characteristics self adaptation spraying volume adjusting apparatus, it is characterized in that: described mozzle (8) is arranged on distance the five fingers shower nozzle air inlet 15cm place and becomes 30 ° of angles with the five fingers shower nozzle (3) horizontal direction, from described main air duct flexible pipe (2) 30cm.
3. one according to claim 1 is based on plant morphological characteristics self adaptation spraying volume adjusting apparatus, it is characterized in that: described radar speed sensor (13) is positioned at bottom sprayer and becomes 35 ° of angles with level ground, the vertical height on distance ground is 66cm.
4. one according to claim 1 is based on plant morphological characteristics self adaptation spraying volume adjusting apparatus, it is characterized in that: described magnetic valve (4) adopts pulsewidth modulation, exports in order to independent each the five fingers shower nozzle (3) air force that controls.
5. one according to claim 1 is based on plant morphological characteristics self adaptation spraying volume adjusting apparatus, it is characterized in that: described built-in PC/104 calculator (16) connect ARM Cortex controller (15) by CAN.
6., based on a plant morphological characteristics self adaptation spraying air quantity control method, it is characterized in that, comprise step:
Step 1, setting touch-screen (9) relevant parameter of spraying, and provide and start instruction of spraying;
Step 2, sprayer in the process of moving, laser sensor (7) first scans the plant target of the left and right sides, and read plant scan-data by built-in PC/104 calculator (16) by high speed interface, reading speed sensor (13) real time speed information simultaneously;
Step 3, acquisition plant target three-dimensional feature is calculated according to plant scan-data and real time speed information by built-in PC/104 calculator (16), region segmentation is carried out again according to the locus of the five fingers shower nozzle, calculate the plant target area feature that each the five fingers shower nozzle is corresponding respectively, form corresponding Boiler pressure control instruction;
Step 4, calculates according to real-time speed the time that the five fingers shower nozzle (3) arrive target area; After postponing, ARM Cortex controller (15) is sent to by CAN, PWM control technology is adopted to control the dutycycle of the solenoid-driven on each mozzle respectively by ARM Cortex controller (15) again, realize regulating the air quantity of each the five fingers shower nozzle (3), air quantity when making corresponding the five fingers shower nozzle (3) reach target location calculates after obtaining data before exporting and being just in time laser sensor (7) and obtains discharge quantity of fan, realizes the object of each the five fingers shower nozzle (3) based on plant morphological characteristics Automatic adjusument air quantity.
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| RU174409U1 (en) * | 2016-11-25 | 2017-10-12 | Федеральное государственное бюджетное научное учреждение "Федеральный научный агроинженерный центр ВИМ" (ФГБНУ ФНАЦ ВИМ) | Universal sprayer for fruit nurseries and berry shrubs |
| CN108377900A (en) * | 2018-03-20 | 2018-08-10 | 农业部南京农业机械化研究所 | A kind of adaptive uniform pollinating device |
| CN110301419A (en) * | 2019-06-26 | 2019-10-08 | 中国农业大学 | The one bilateral stirring-blade type chemical spraying device of elite stand orchard variable |
| CN111066765A (en) * | 2020-01-09 | 2020-04-28 | 中国农业大学 | Orchard automatic variable spraying machine based on laser scanning technology |
| CN111084171A (en) * | 2020-01-09 | 2020-05-01 | 中国农业大学 | Air-assisted atomizing system for adjusting rotating speed of fan by adopting pulse width modulation |
| CN111493044A (en) * | 2019-03-08 | 2020-08-07 | 重庆西玛福科技有限公司 | Swing pesticide spraying device and equipment |
| CN111838113A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Targeting spraying machine and method for jointly adjusting fan rotating speed and air outlet area |
| CN114229005A (en) * | 2021-12-20 | 2022-03-25 | 华南农业大学 | Airborne spraying wind shielding downward moving device and flight target following operation method |
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| CN105532623B (en) * | 2016-02-18 | 2019-06-28 | 江苏大学 | A kind of electrostatic target spraying machine of intelligence self-propelled air-feeding |
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| CN106259264A (en) * | 2016-08-15 | 2017-01-04 | 南京农业大学 | Multi-arm type orchard wind send variable farm chemical applying device |
| RU174409U1 (en) * | 2016-11-25 | 2017-10-12 | Федеральное государственное бюджетное научное учреждение "Федеральный научный агроинженерный центр ВИМ" (ФГБНУ ФНАЦ ВИМ) | Universal sprayer for fruit nurseries and berry shrubs |
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| CN108377900B (en) * | 2018-03-20 | 2023-02-03 | 农业部南京农业机械化研究所 | Self-adaptive uniform pollination device |
| CN111493044A (en) * | 2019-03-08 | 2020-08-07 | 重庆西玛福科技有限公司 | Swing pesticide spraying device and equipment |
| CN110301419A (en) * | 2019-06-26 | 2019-10-08 | 中国农业大学 | The one bilateral stirring-blade type chemical spraying device of elite stand orchard variable |
| CN111066765A (en) * | 2020-01-09 | 2020-04-28 | 中国农业大学 | Orchard automatic variable spraying machine based on laser scanning technology |
| CN111084171A (en) * | 2020-01-09 | 2020-05-01 | 中国农业大学 | Air-assisted atomizing system for adjusting rotating speed of fan by adopting pulse width modulation |
| CN111838113A (en) * | 2020-07-10 | 2020-10-30 | 北京农业智能装备技术研究中心 | Targeting spraying machine and method for jointly adjusting fan rotating speed and air outlet area |
| CN111838113B (en) * | 2020-07-10 | 2023-06-27 | 北京农业智能装备技术研究中心 | Target-alignment sprayer and method for jointly adjusting rotating speed and air outlet area of fan |
| CN114229005A (en) * | 2021-12-20 | 2022-03-25 | 华南农业大学 | Airborne spraying wind shielding downward moving device and flight target following operation method |
| CN114229005B (en) * | 2021-12-20 | 2023-08-29 | 华南农业大学 | Airborne spraying wind shield downshifting device and flight target following operation method |
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