CN106681400A - Quantity-varying spraying system applicable to unmanned aerial vehicle - Google Patents
Quantity-varying spraying system applicable to unmanned aerial vehicle Download PDFInfo
- Publication number
- CN106681400A CN106681400A CN201610973668.3A CN201610973668A CN106681400A CN 106681400 A CN106681400 A CN 106681400A CN 201610973668 A CN201610973668 A CN 201610973668A CN 106681400 A CN106681400 A CN 106681400A
- Authority
- CN
- China
- Prior art keywords
- medicine
- chest
- spraying
- unmanned plane
- shower nozzle
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
Abstract
The present invention discloses a quantity-varying spraying system applicable to an unmanned aerial vehicle. The quantity-varying spraying system comprises a spraying execution device and a control system; the spraying execution device includes a pesticide box body, flow rate sensors, pesticide liquid pumps, a nozzle concentration controller and nozzles; the pesticide box body comprises a plurality of independent grid pesticide boxes; the lower part of each grid pesticide box is connected with the flow rate sensor, the pesticide liquid pump and the nozzle concentration controller sequentially through a pesticide liquid pipeline; each pipeline is connected in series with a one-way valve and a one-way valve control switch; the control system comprises a ground surface remote control device arranged on the ground and an on-board control device arranged on the unmanned aerial vehicle; and the on-board control device comprises a wireless transmission module, a storage module and a power module. A quantity-varying spraying in the quantity-varying spraying system can realize quantity-varying spraying in advance when working under a condition that the flow rate of the nozzles is constant. The quantity-varying spraying system has the advantages of accurate spraying range accurate and good spraying effect.
Description
Technical field
The present invention relates to unmanned plane plant protection equipment research field, and in particular to a kind of variable suitable for unmanned plane sprays and is
System.
Background technology
At present China is that in the world the total amount of application highest of chemical fertilizer, pesticide is national, accounts for the 30% of world's aggregate consumption, with
This simultaneously, because chemical fertilizer, pesticide are increasingly severe excessively using the widespread pollution from the overuse of fertilizers and pesticides in rural area problem brought, the resource that caused by it, environment,
Ecological the problems such as, projects, and to agricultural sustainable development adverse effect is caused.In order to improve this problem from root, the world is each
State has extensively common recognition to the development potentiality and application prospect of low amounts, efficient and accuracy pesticide applying technology, and numerous and confused research and development are based on machine
Vision, variable spray that (variable sprays the concrete condition referred to according to Crops Pests Control of Diseases Insects And Weeds Pests of Crops in each zonule in farmland, to aggrieved
Region uniformly sprays exactly desired amount of pesticide) etc. technology precision agriculture unmanned plane pesticide application technology with equipment.
At present unmanned plane variable sprayer apparatus are mostly to realize the on-off control to valve or based on to spray with the signal of telecommunication
Apply the speed governing of system hydraulic pump or to the closed loop control of servo-valve to realize based on the variable rate spray of pressure, that is, keep spray
The concentration of dispenser liquid is constant, by change spray the flow of medicinal liquid to change medicinal liquid in effective ingredient amount, this method is in work
Have the following disadvantages in work：
1st, the change for spraying flow in process is that realizing, and the nebulizer of nozzle is at certain by the change of spouting pressure
Have optimal atomizing effect under one specific pressure, thus the change of spouting pressure that nebulizer can be caused to be in is optimal
Working condition, causes atomizing effect to be deteriorated, and then affects the practical effect of pesticide.
2nd, the change of flow is sprayed, the sphere of action that can cause the medicinal liquid for spraying out changes, this is easy for causing
There is drain spray or resprays in some crops region so that medicinal liquid skewness, affects pesticide supplying effect.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of variable suitable for unmanned plane sprays and is
System, the variable sprayer apparatus in the variable spraying system operationally can realize variable on the premise of the flow of shower nozzle is constant
Spray, and with accurate, the good advantage of spraying effect that sprays scope.
Further object is that providing a kind of using the above-mentioned variable spraying system realization suitable for unmanned plane
Unmanned plane variable spraying method.
The present invention solves the technical scheme of above-mentioned technical problem：
A kind of variable spraying system suitable for unmanned plane, including spraying performs device and control system；
The injection performs device includes medicine-chest casing, flow transducer, spray pump, shower nozzle consistency controller and spray
Head, wherein, the medicine-chest casing includes multiple independent lattice medicine-chests, and each lattice medicine-chest lower section is connected successively by liquor piping
Connect the flow transducer, spray pump and shower nozzle consistency controller；The shower nozzle consistency controller includes M*N bar pipelines, the N
For the quantity of lattice medicine-chest, the M is the quantity of shower nozzle, and the liquor piping being connected with each lattice medicine-chest is in shower nozzle concentration
It is divided into M bars pipeline in controller to be connected with M shower nozzle respectively, check valve and check valve controlling switch is serially connected with every pipeline；
The control system includes the ground remote controller for setting on the ground and the machine upper controller being located on unmanned plane,
The machine upper controller includes wireless transport module, memory module, control module and power module, wherein, the control mould
Block point is connected with the flow transducer, spray pump and check valve controlling switch, and the ground remote controller is used for machine
Control device carries out remotely control, and the wireless transport module is used to carry out radio communication, the storage with ground remote controller
Module is used for data storage, and the power module is used for as each electricity consumption module for power supply on machine upper controller.
The operation principle of above-mentioned variable spraying system is：Before the work of plant protection unmanned plane, using unmanned plane collection field of taking photo by plane
Between image information, while obtain the location information in field by Airborne GPS alignment system, then using computer to the field that collects
Between image information processed, analyze different plot crops by pest and disease damage situation, and then variable is produced according to analysis result
Prescription map is sprayed, prescription map is sprayed further according to variable and is cooked up the flight path that unmanned plane variable is sprayed, finally spray variable
In the memorizer that prescription map is transferred to the data compilation of flight path into instruction code storehouse, instruction is waited to be sent and performed.
In performs device is sprayed, prescription map is sprayed according to the variable of planning, it is determined that to obtain needed for preferable spraying effect
Each lattice medicine-chest farm-chemical concentration blending and configure pesticide, in each lattice medicine-chest store variable concentrations pesticide.Plant protection nobody
When machine is started working, ground remote controller instructs flight path and variable sprays instruction and is sent to unmanned plane execution, nobody
Machine is carried out spraying operation by specified flight path flight, and shower nozzle consistency controller is respectively sprayed by predetermined planning control in operation process
Head sprays prescribed concentration pesticide, implements fixed point Variable Composition variable rate spray, and pinpointing the detailed process of Variable Composition variable rate spray is：Variable
Spray instruction to be sent to wireless transport module by ground remote controller and receive and store in memory module, and held by control module
OK；The amount of the pesticide active ingredient that each shower nozzle is sprayed on certain job position has sprayed prescription map in advance really according to variable
It is fixed, thus guarantee to spray flow it is constant on the premise of, the concentration of the pesticide that shower nozzle sprays can also be counted in the job position
Calculate and determine, allocate by realization of goal scene of the concentration, specifically calculate the pesticide that needs to adopt which lattice medicine-chest with
And the amount of each lattice medicine-chest, the medicinal liquid for selecting specific lattice medicine-chest is opened by controlling check valve controlling switch, by right
The flow-control of spray pump, it is ensured that the medicinal liquid flow of each pipeline, and real-time medicinal liquid flow is monitored by flow controller, realize
Closed loop control, finally realizes each shower nozzle with the pesticide of constant flow ejection certain concentration, realizes that variable precision is sprayed.
One preferred version of the present invention, wherein, each single lattice medicine-chest upper surface is provided with feeding opening, on feeding opening
Medicine chest cover is provided with, passage is provided with medicine chest cover, in order to dosing and ventilation；Bottom is provided with medicine outlet and impurity guiding gutter, institute
State medicine outlet and impurity guiding gutter and be located at each lattice medicine-chest least significant end, in order to medicinal liquid fully spray and impurity discharge.
The present invention a preferred version, wherein, the plurality of lattice medicine-chest along linear array together, as such, it is possible to
Mitigate the vibration of medicinal liquid surge, mitigate unmanned plane and rock, increase flight stability and improve operation quality.
One preferred version of the present invention, wherein, the spray pump is unmanned plane dedicated diaphragm pump, by receiving control mould
Changing fluid flow, control accuracy is high, effect is good for the control signal of block.
A kind of unmanned plane variable spraying method realized using the above-mentioned variable spraying system suitable for unmanned plane, including with
Lower step：
A, dispenser plot is treated using remote sensing unmanned plane carry out remote sensing information collection, needed for obtaining target is accurately sprayed
Information；
B, target plot prescription map is done, it is determined that to obtain each lattice medicine-chest farm-chemical concentration blending needed for preferable spraying effect
And configure pesticide；
C, planning unmanned plane precisely spray flight path and flight path each point position shower nozzle concentration change combination along the line is sprayed
Mode；
D, UAV system medicine take off, and fly according to programme path；
E, shower nozzle consistency controller spray prescribed concentration pesticide by each shower nozzle of predetermined planning control, implement fixed point Variable Composition and become
Amount spraying, flow transducer real time record simultaneously feeds back each lattice medicine-chest medicinal liquid and sprays situation；
F, the end of job is sprayed, unmanned plane makes a return voyage.
The present invention has compared with prior art following beneficial effect：
1st, actual demand that can be according to crop to liquor strength carries out Variable Composition variable and sprays, and specific aim is higher, effect
More directly, agricultural aviation dispenser is highlighted significantly to meet an urgent need accurate significant advantage, the characteristics of meet precision agriculture, reaches saving agriculture
The purpose of medicine and environmental protection.
2nd, each shower nozzle can both spray the medicinal liquid of same concentration, it is also possible to which the medicinal liquid for spraying variable concentrations is mixed in the air
Medicine, makes pesticide more uniform in superficial deposit concentration, effectively increases pesticide utilization rate.
3rd, medicine-chest casing of the present invention is changed into several lattice medicine-chests equipped with variable concentrations medicinal liquid from an overall medicine-chest, can be with
Mitigate the vibration of medicinal liquid surge, mitigate unmanned plane and rock, increase flight stability and improve operation quality.
4th, variable is carried out by the way of Variable Composition to spray, is always maintained at can sprinkler pressure, flow constant, it is to avoid
The change of jet fluid path and atomization mechanism, has been effectively ensured atomizing effect.
5th, medicine-chest simple structure of the present invention, low cost, profile can according to the body type of different unmanned planes is wide design variation,
It is applicable to most of plant protection unmanned planes and carries out accurate variable to spray operation.
6th, because the flow of each shower nozzle keeps constant, make to spray scope determination, therefore plant protection unmanned plane is sprayed in return
During the border that can clearly spray, be not in drain spray and phenomenon of respraying, make spray regime more accurate.
Description of the drawings
Fig. 1 be a kind of variable spraying system suitable for unmanned plane of the present invention a specific embodiment spray and hold
The three-dimensional structure diagram that luggage is put.
Fig. 2 is a kind of structured flowchart of variable spraying system suitable for unmanned plane of the present invention.
Fig. 3 is the structural representation of the shower nozzle consistency controller sprayed in performs device shown in Fig. 1.
Fig. 4 is that the structural diagrams for spraying the medicine-chest in performs device shown in Fig. 1 are intended to.
Fig. 5 is the structural representation for spraying the spray pump in performs device shown in Fig. 1.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited
In this.
Referring to Fig. 1-Fig. 5, the variable spraying system suitable for unmanned plane of the present invention includes spraying performs device 4 and control
System 5.
The injection performs device 4 includes medicine-chest casing 1, flow transducer 32, spray pump 31, shower nozzle consistency controller 33
And shower nozzle 21, wherein, the medicine-chest casing 1 includes multiple independent lattice medicine-chests, and each lattice medicine-chest lower section passes through medicinal liquid
Pipeline 2 is sequentially connected the flow transducer 32, spray pump 31 and shower nozzle consistency controller 33；The shower nozzle consistency controller 33
Including M*N bar pipelines, the N is the quantity of lattice medicine-chest, and the M is the quantity of shower nozzle 21, is connected with each lattice medicine-chest
The liquor piping 2 is divided into M bars pipeline in shower nozzle consistency controller 33 and is connected with M shower nozzle 21 respectively, goes here and there on every pipeline
It is connected to check valve 331 and check valve controlling switch 332.
Referring to Fig. 2, the control system 5 includes the ground remote controller 7 for setting on the ground and the machine being located on unmanned plane
Upper controller, the machine upper controller 6 includes wireless transport module, memory module, control module 3 and power module, its
In, 3 points of the control module is connected with the flow transducer 32, spray pump 31 and check valve controlling switch 332, describedly
Face remote control unit 7 is used to carry out machine upper controller 6 remotely control, and the wireless transport module is used for and ground remote controller
7 carry out radio communication, and the memory module is used for data storage, and the power module is used to be each on machine upper controller 6
Individual electricity consumption module for power supply.
Referring to Fig. 4, each single lattice medicine-chest upper surface is provided with feeding opening 11, and feeding opening 11 is provided with medicine chest cover, medicine
Passage is provided with case lid, in order to dosing and ventilation；Bottom is provided with medicine outlet 13 and impurity guiding gutter 12, the medicine outlet 13
With impurity guiding gutter 12 be located at each lattice medicine-chest least significant end, in order to medicinal liquid fully spray and impurity discharge.
Referring to Fig. 1 and Fig. 4, the plurality of lattice medicine-chest along linear array together, as such, it is possible to mitigate medicinal liquid surge shake
Swing, mitigate unmanned plane and rock, increase flight stability and improve operation quality.
Referring to Fig. 1 Fig. 5, the spray pump 31 is unmanned plane dedicated diaphragm pump, by the control signal for receiving control module 3
To change fluid flow, control accuracy is high, effect is good.
The operation principle of the above-mentioned variable spraying system suitable for unmanned plane is further described below in conjunction with the accompanying drawings：
Referring to Fig. 1-Fig. 5, before the work of plant protection unmanned plane, using unmanned plane collection field image information of taking photo by plane, while by
Airborne GPS alignment system obtains the location information in field, then using computer at the field image information that collects
Reason, analyzes different plot crops by pest and disease damage situation, and then produces variable according to analysis result and spray prescription map, further according to
Variable sprays prescription map and cooks up the flight path that unmanned plane variable is sprayed, and finally variable is sprayed into prescription map and flight path
Data compilation is transferred in the memorizer of ground remote controller 7 into instruction code storehouse, waits instruction to be sent and performed.
In performs device 4 is sprayed, prescription map is sprayed according to the variable of planning, it is determined that to obtain needed for preferable spraying effect
Each lattice medicine-chest farm-chemical concentration blending and configure pesticide, in each lattice medicine-chest store variable concentrations pesticide.Plant protection nobody
When machine is started working, ground remote controller 7 instructs flight path and variable sprays instruction and is sent to unmanned plane execution, nobody
Machine is carried out spraying operation by specified flight path flight, and shower nozzle consistency controller 33 is each by predetermined planning control in operation process
Shower nozzle 21 sprays prescribed concentration pesticide, implements fixed point Variable Composition variable rate spray, and pinpointing the detailed process of Variable Composition variable rate spray is：
Variable sprays instruction and is sent to wireless transport module by ground remote controller 7 and receives and store in memory module, and by controlling
Module 3 is performed；The amount of the pesticide active ingredient that each shower nozzle 21 is sprayed on certain job position sprays prescription according to variable
Figure is predefined, thus guarantee to spray flow it is constant on the premise of, the pesticide that shower nozzle 21 sprays in the job position
Concentration can also calculate determination, allocate by realization of goal scene of the concentration, and which lattice is specifically calculated needs using
The amount of the pesticide of medicine-chest and each lattice medicine-chest, by controlling check valve controlling switch 332 the specific lattice medicine of selection is opened
The medicinal liquid of case, by the flow-control to spray pump 31, it is ensured that the medicinal liquid flow of each pipeline, and it is real by flow controller monitoring
When medicinal liquid flow, realize closed loop control, the pesticide finally realized each shower nozzle 21 and spray certain concentration with constant flow is real
Existing variable precision is sprayed.
Referring to Fig. 1-Fig. 5, the unmanned plane that the above-mentioned variable spraying system suitable for unmanned plane of application of the present invention is realized becomes
Amount spraying method, comprises the following steps：
A, dispenser plot is treated using remote sensing unmanned plane carry out remote sensing information collection, needed for obtaining target is accurately sprayed
Information；
B, target plot prescription map is done, it is determined that to obtain each lattice medicine-chest farm-chemical concentration blending needed for preferable spraying effect
And configure pesticide；
C, planning unmanned plane precisely spray flight path and the flight path concentration change of each point position shower nozzle 21 combination spray along the line
Apply mode；
D, UAV system medicine take off, and fly according to programme path；
E, shower nozzle consistency controller 33 spray prescribed concentration pesticide by each shower nozzle 21 of predetermined planning control, implement fixed point and thicken
Degree variable rate spray, the real time record of flow transducer 32 simultaneously feeds back each lattice medicine-chest medicinal liquid and sprays situation；
F, the end of job is sprayed, unmanned plane makes a return voyage.
It is above-mentioned not limited by the above for the present invention preferably embodiment, but embodiments of the present invention, its
He any spirit and the change, modification, replacement made under principle without departing from the present invention, combine, simplification, should be
The substitute mode of effect, is included within protection scope of the present invention.
Claims (5)
1. a kind of variable spraying system suitable for unmanned plane, including spraying performs device and control system, it is characterised in that：
The injection performs device includes medicine-chest casing, flow transducer, spray pump, shower nozzle consistency controller and shower nozzle, its
In, the medicine-chest casing includes multiple independent lattice medicine-chests, and each lattice medicine-chest lower section is sequentially connected institute by liquor piping
State flow transducer, spray pump and shower nozzle consistency controller；The shower nozzle consistency controller includes M*N bar pipelines, and the N is to divide
The quantity of lattice medicine-chest, the M is the quantity of shower nozzle, and the liquor piping being connected with each lattice medicine-chest is controlled in shower nozzle concentration
It is divided into M bars pipeline in device to be connected with M shower nozzle respectively, check valve and check valve controlling switch is serially connected with every pipeline；
The control system includes the ground remote controller for setting on the ground and the machine upper controller being located on unmanned plane, described
Machine upper controller includes wireless transport module, memory module, control module and power module, wherein, the control module point
It is connected with the flow transducer, spray pump and check valve controlling switch, the ground remote controller is used for controlling on machine
Device carries out remotely control, and the wireless transport module is used to carry out radio communication, the memory module with ground remote controller
For data storage, the power module is used for as each electricity consumption module for power supply on machine upper controller.
2. the variable spraying system suitable for unmanned plane according to claim 1, it is characterised in that each single lattice
Medicine-chest upper surface is provided with feeding opening, and feeding opening is provided with medicine chest cover, and passage is provided with medicine chest cover；Bottom is provided with medicine outlet and miscellaneous
Matter guiding gutter, the medicine outlet and impurity guiding gutter are located at each lattice medicine-chest least significant end.
3. the variable spraying system suitable for unmanned plane according to claim 1, it is characterised in that the plurality of lattice medicine
Case along linear array together.
4. the variable spraying system suitable for unmanned plane according to claim 1, it is characterised in that the spray pump is nothing
Man-machine dedicated diaphragm pump.
5. the unmanned plane that the variable spraying system suitable for unmanned plane described in a kind of any one of application claim 1-4 is realized becomes
Amount spraying method, it is characterised in that comprise the following steps：
A, dispenser plot is treated using remote sensing unmanned plane carry out remote sensing information collection, the letter for accurately spraying target needed for obtaining
Breath；
B, target plot prescription map is done, it is determined that to obtain each lattice medicine-chest farm-chemical concentration blending needed for preferable spraying effect and match somebody with somebody
Put pesticide；
C, planning unmanned plane precisely spray flight path and flight path each point position shower nozzle concentration change combination along the line sprays mode；
D, UAV system medicine take off, and fly according to programme path；
E, shower nozzle consistency controller spray prescribed concentration pesticide by each shower nozzle of predetermined planning control, implement the variable spray of fixed point Variable Composition
Mist, flow transducer real time record simultaneously feeds back each lattice medicine-chest medicinal liquid and sprays situation；
F, the end of job is sprayed, unmanned plane makes a return voyage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610973668.3A CN106681400B (en) | 2016-10-28 | 2016-10-28 | A kind of variable spraying system suitable for unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610973668.3A CN106681400B (en) | 2016-10-28 | 2016-10-28 | A kind of variable spraying system suitable for unmanned plane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106681400A true CN106681400A (en) | 2017-05-17 |
| CN106681400B CN106681400B (en) | 2019-07-09 |
Family
ID=58839933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610973668.3A Active CN106681400B (en) | 2016-10-28 | 2016-10-28 | A kind of variable spraying system suitable for unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106681400B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108552149A (en) * | 2017-12-18 | 2018-09-21 | 华南农业大学 | A kind of unmanned plane fumicants spraying system and spraying method suitable for mountain and hill |
| CN109076761A (en) * | 2018-08-08 | 2018-12-25 | 安徽省现代农业装备产业技术研究院有限公司 | One kind being based on remote sensing images variable fertilization method |
| CN109933079A (en) * | 2019-04-16 | 2019-06-25 | 瑞安市浙工大创新创业研究院 | A kind of unmanned plane pesticide spraying flow monitoring method |
| CN110367230A (en) * | 2019-08-22 | 2019-10-25 | 山东理工大学 | A kind of variable that spraying medicine concentration independently can be changed sprays plant protection vehicle |
| CN110697047A (en) * | 2019-11-12 | 2020-01-17 | 山东理工大学 | Variable concentration control method for aerial spraying |
| CN112083749A (en) * | 2020-08-14 | 2020-12-15 | 安徽农业大学 | Unmanned aerial vehicle spraying intelligence control system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050193957A1 (en) * | 2001-12-14 | 2005-09-08 | Shigeru Oshima | Animal breeding system and utilization of the system |
| US20080203178A1 (en) * | 2004-03-01 | 2008-08-28 | Neil John Barrett | Method and Apparatus for Environmental Control |
| CN101716567A (en) * | 2009-11-05 | 2010-06-02 | 吉林大学 | Intelligent variable medicine spraying machine based on prescription chart control |
| CN204017779U (en) * | 2014-06-17 | 2014-12-17 | 北京农业信息技术研究中心 | A kind of farmland Portable unmanned machine agricultural chemicals dispensation apparatus |
| CN105667799A (en) * | 2016-03-16 | 2016-06-15 | 山东果壳信息科技有限公司 | Pesticide spraying system for agricultural unmanned aerial vehicle |
-
2016
- 2016-10-28 CN CN201610973668.3A patent/CN106681400B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050193957A1 (en) * | 2001-12-14 | 2005-09-08 | Shigeru Oshima | Animal breeding system and utilization of the system |
| US20080203178A1 (en) * | 2004-03-01 | 2008-08-28 | Neil John Barrett | Method and Apparatus for Environmental Control |
| CN101716567A (en) * | 2009-11-05 | 2010-06-02 | 吉林大学 | Intelligent variable medicine spraying machine based on prescription chart control |
| CN204017779U (en) * | 2014-06-17 | 2014-12-17 | 北京农业信息技术研究中心 | A kind of farmland Portable unmanned machine agricultural chemicals dispensation apparatus |
| CN105667799A (en) * | 2016-03-16 | 2016-06-15 | 山东果壳信息科技有限公司 | Pesticide spraying system for agricultural unmanned aerial vehicle |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108552149A (en) * | 2017-12-18 | 2018-09-21 | 华南农业大学 | A kind of unmanned plane fumicants spraying system and spraying method suitable for mountain and hill |
| CN108552149B (en) * | 2017-12-18 | 2020-07-31 | 华南农业大学 | Unmanned aerial vehicle smoke agent spraying system and method suitable for mountainous and hilly areas |
| CN109076761A (en) * | 2018-08-08 | 2018-12-25 | 安徽省现代农业装备产业技术研究院有限公司 | One kind being based on remote sensing images variable fertilization method |
| CN109076761B (en) * | 2018-08-08 | 2021-01-08 | 安徽省现代农业装备产业技术研究院有限公司 | Variable fertilization method based on remote sensing image |
| CN109933079A (en) * | 2019-04-16 | 2019-06-25 | 瑞安市浙工大创新创业研究院 | A kind of unmanned plane pesticide spraying flow monitoring method |
| CN110367230A (en) * | 2019-08-22 | 2019-10-25 | 山东理工大学 | A kind of variable that spraying medicine concentration independently can be changed sprays plant protection vehicle |
| CN110697047A (en) * | 2019-11-12 | 2020-01-17 | 山东理工大学 | Variable concentration control method for aerial spraying |
| CN112083749A (en) * | 2020-08-14 | 2020-12-15 | 安徽农业大学 | Unmanned aerial vehicle spraying intelligence control system |
| CN112083749B (en) * | 2020-08-14 | 2022-08-02 | 安徽农业大学 | Unmanned aerial vehicle spraying intelligence control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106681400B (en) | 2019-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106681400A (en) | Quantity-varying spraying system applicable to unmanned aerial vehicle | |
| CN105539851B (en) | Unmanned plane agricultural chemicals based on wireless sense network precisely sprays operating system and method | |
| CN105905302A (en) | Intelligent pesticide applying system and control method of plant protection unmanned aerial vehicle | |
| CN205661666U (en) | Plant protection unmanned aerial vehicle intelligence system of giving medicine to poor free of charge | |
| CN105667799B (en) | A kind of agricultural unmanned plane pesticide spraying system | |
| CN108605923A (en) | Pesticide dispenser monitors and accurate volume control device and method | |
| CN105197243A (en) | Airborne variable pesticide application system and method for agricultural unmanned aerial vehicle | |
| CN107711798B (en) | Unmanned aerial vehicle plant protection intelligent vector spraying system and method | |
| US20220151216A1 (en) | Agricultural spraying system | |
| CN105165786B (en) | Variable medicine spraying machine based on IMAQ | |
| CN105843236A (en) | Plant protection unmanned plane spraying control system and spraying control method thereof | |
| CN205345343U (en) | Plant protection unmanned aerial vehicle of liquid medicine is sprayed to high efficiency | |
| CN110178518B (en) | Liquid manure irrigation system | |
| WO2005123503A1 (en) | Injection variable rate chemical distribution | |
| CN106614481A (en) | Drone-based controllable pesticide spraying system | |
| CN110356557A (en) | It carries variable concentrations and makes up a prescription and be administered the variable of module and spray plant protection drone | |
| CN109090086A (en) | A kind of plant protection drone spray control system and its sprinkling control method | |
| CN202566080U (en) | Targeting variable spray experiment machine | |
| CN205284756U (en) | Crops atomizer based on intelligence image processing | |
| CN207476760U (en) | Unmanned plane plant protection intelligence vector sprinkling system | |
| CN204576324U (en) | A kind of warmhouse booth herbal sprinkling management system of novel radio terminal control | |
| CN207978783U (en) | A kind of device of irrigating the fields of intelligence Tree Precise Fertilization dispenser disk type | |
| CN218920988U (en) | Intelligent irrigation system for ecological biological comprehensive control of pesticide fertilizer | |
| CN206365395U (en) | A kind of unmanned aerial vehicle (UAV) control structure suitable for various crop | |
| CN110402788A (en) | A kind of accurate watering, fertilizing of unmanned plane forest spills medicine device and technology |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lan Yubin Inventor after: Yao Weixiang Inventor after: Wang Linlin Inventor after: Li Jiyu Inventor after: Xing Hang Inventor after: Wang Guobin Inventor after: Huang Xiaoyu Inventor before: Lan Yubin Inventor before: Yao Weixiang Inventor before: Wang Linlin Inventor before: Li Jiyu Inventor before: Xing Hang Inventor before: Wang Guobin Inventor before: Huang Xiaoyu |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |