CN106814745A - UAV Intelligent medicine supplies spray method and system - Google Patents
UAV Intelligent medicine supplies spray method and system Download PDFInfo
- Publication number
- CN106814745A CN106814745A CN201710172867.9A CN201710172867A CN106814745A CN 106814745 A CN106814745 A CN 106814745A CN 201710172867 A CN201710172867 A CN 201710172867A CN 106814745 A CN106814745 A CN 106814745A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- plant
- growth
- insect pest
- module
- 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.)
- Pending
Links
- 239000003814 drug Substances 0.000 title claims abstract description 47
- 239000007921 spray Substances 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 13
- 241000238631 Hexapoda Species 0.000 claims abstract description 28
- 241000607479 Yersinia pestis Species 0.000 claims abstract description 28
- 230000012010 growth Effects 0.000 claims abstract description 22
- 229940079593 drug Drugs 0.000 claims abstract description 19
- 238000012545 processing Methods 0.000 claims abstract description 13
- 230000008635 plant growth Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000001914 filtration Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000007812 deficiency Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 5
- 239000000575 pesticide Substances 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003909 pattern recognition Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Pest Control & Pesticides (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of UAV Intelligent medicine supply spray method, including the density information that the plant below unmanned plane is obtained by the three-dimensional laser processing module that unmanned plane is carried；The Computer Vision module carried by unmanned plane obtains growth and the insect pest situation of the plant below unmanned plane；First factor alpha is determined by the density information of the plant, 0≤α≤1 determines the second factor beta, 0≤β≤1 by the growth and insect pest situation of the plant；The herbal sprinkling system sprinkling medication amount of unmanned plane is determined by the first factor alpha and the second factor beta.The spray method avoids dispenser deficiency or the Overdosing problems that unmanned plane herbal sprinkling can only spray and cause with remote control personnel experience or in fixed drug amount mode, is more beneficial for plant growth.
Description
Technical field
The present invention relates to a kind of unmanned plane herbal sprinkling method, particularly a kind of UAV Intelligent medicine supply spray method
And system, belong to pattern-recognition and field of intelligent control technology.
Background technology
With computer technology and information gathering and the development for the treatment of technology, self-propelled automatic steering control of farm mechanism, machine
Vision is paid attention to agricultural robot research, is ground as the new and high technology such as application Based Intelligent Control in talents for agri-mechanization is explored
The important directions studied carefully.Pesticide spraying machine people can effectively reduce peasant's amount of labour, will necessarily be reduced to agriculture after large-scale promotion
The quantity required of industry working population.But the pesticide spraying machine people's intelligence degree for being used at present is relatively low, to reducing the amount of labour
It is limited with the effect for reducing agricultural working population.
The content of the invention
For above-mentioned prior art defect, task of the invention is to provide a kind of UAV Intelligent medicine supply sprinkling side
Method, solution unmanned plane carries out quantitative problem during herbal sprinkling, improves intelligent level.Another task of the invention is to carry
Sprinkling system is supplied for a kind of UAV Intelligent medicine.
Technical scheme is as follows：A kind of UAV Intelligent medicine supplies spray method, including is carried by unmanned plane
Three-dimensional laser processing module obtain unmanned plane below plant density information；The Computer Vision mould carried by unmanned plane
Block obtains growth and the insect pest situation of the plant below unmanned plane；First factor alpha, 0≤α are determined by the density information of the plant
≤ 1, the second factor beta, 0≤β≤1 are determined by the growth and insect pest situation of the plant；The herbal sprinkling system sprinkling of unmanned plane
Medication amount is determined by the first factor alpha and the second factor beta.
Further, unmanned plane herbal sprinkling system sprinkling medication amount by the first factor alpha and the second factor beta determine be by
Formula V=α V1+βV2It is determined that, wherein V1Medication amount, V are sprayed during for plant density highest2It is that plant growth and insect pest situation are worst
When spray medication amount, V is the herbal sprinkling system sprinkling medication amount of unmanned plane.
Further, the three-dimensional laser processing module obtains the density information of the plant below unmanned plane, including step：
Scanning obtains the scene cloud data below unmanned plane, according to height measuring and calculating ground data where unmanned plane, by ground data from
Removed in scene cloud data；Scene cloud data to removing ground data carries out gaussian filtering；According to scene cloud data
Imaging region earthward project, the point cloud quantity in imaging region unit area is the density information of plant.
Further, the Computer Vision module obtains growth and the insect pest situation of the plant below unmanned plane, bag
Include step：The plant life for shooting and obtaining the color histogram of the plant color image below unmanned plane and prestore is calculated respectively
The color histogram of standard picture long, is determined using the similitude between two histograms of Bhattacharyya distance metrics
The growth of plant and insect pest situation.
A kind of UAV Intelligent medicine supplies sprinkling system, including unmanned plane body and is arranged at the unmanned plane body
Unmanned aerial vehicle (UAV) control module, GPS navigation module, herbal sprinkling control module, three-dimensional laser processing module, Computer Vision mould
Block, communication module, the unmanned aerial vehicle (UAV) control module control the flight attitude of unmanned plane, and the GPS navigation module determines unmanned plane
Positional information；The three-dimensional laser processing module obtains the density information of the plant below unmanned plane, and feeds back drug spray
Spill control module；The Computer Vision module obtains growth and the insect pest situation of the plant below unmanned plane, and feeds back to
Herbal sprinkling control module；Growth and insect pest shape of the herbal sprinkling control module according to the density information and plant of plant
Condition, controls the sprinkling medication amount of sprinkler head, the medicine surplus entrained by monitoring unmanned plane to determine the departure times on reverse of unmanned plane；
The communication module believes the medicine surplus entrained by the flight attitude of unmanned plane, positional information, unmanned plane, the density of plant
The growth of breath and plant and insect pest condition feedback give ground monitoring station.
Present invention advantage compared with prior art is：The present invention obtains plant density using 3 D laser scanning plant
Information and obtain plant picture using Computer Vision module and judge growth and insect pest situation to determine to spray medication amount, keep away
Dispenser that unmanned plane herbal sprinkling can only spray and cause with remote control personnel experience or in fixed drug amount mode is exempted from not
Foot or Overdosing problems, are more beneficial for plant growth.
Brief description of the drawings
Fig. 1 is that UAV Intelligent medicine supplies sprinkling system structural representation.
Specific embodiment
With reference to embodiment, the invention will be further described, but not as a limitation of the invention.
Incorporated by reference to shown in Fig. 1, UAV Intelligent medicine supply sprinkling system, including unmanned plane body and it is arranged at unmanned plane
The unmanned aerial vehicle (UAV) control module 1 of body, GPS navigation module 2, herbal sprinkling control module 3, three-dimensional laser processing module 4, video figure
As processing module 5, communication module 6.
Unmanned aerial vehicle (UAV) control module 1 controls the flight attitude of unmanned plane, and GPS navigation module 2 determines the positional information of unmanned plane；
Three-dimensional laser processing module 4 obtains the density information of the plant below unmanned plane, and feeds back to herbal sprinkling control module 3；Depending on
Frequency image processing module 5 obtains growth and the insect pest situation of the plant below unmanned plane, and feeds back to herbal sprinkling control module
3；Growth and insect pest situation of the herbal sprinkling control module 3 according to the density information and plant of plant, control the spray of sprinkler head
Medication amount is spilt, the medicine surplus entrained by monitoring unmanned plane determines the departure times on reverse of unmanned plane；Communication module 6 is by unmanned plane
Flight attitude, positional information, the medicine surplus entrained by unmanned plane, the density information of unmanned plane underneath vegetation and plant
Growth and insect pest condition feedback give ground monitoring station.
Unmanned plane pattern of making a return voyage is divided into manual decision's pattern and automatic mode；Manual decision's pattern is the behaviour at ground monitoring station
Make the flight attitude of the unmanned plane that personnel can feed back according to communication module 6, positional information, the medicine surplus entrained by unmanned plane
The departure times on reverse of manual decision's unmanned plane；Automatic mode is flight attitude of the unmanned aerial vehicle (UAV) control module 1 according to unmanned plane, unmanned plane
Positional information and unmanned plane entrained by medicine surplus automatic decision unmanned plane departure times on reverse；Its is excellent for manual decision's pattern
First level is higher than automatic mode.
Unmanned plane spray modes are also classified into manual decision's pattern and automatic mode；Manual decision's pattern is ground monitoring station
The growth of the density information and plant of the unmanned plane underneath vegetation that operating personnel can feed back according to communication module and insect pest situation
Manual decision's herbal sprinkling amount；Automatic mode is growth of the unmanned plane according to the density information and plant of unmanned plane underneath vegetation
Made decisions on one's own herbal sprinkling amount with insect pest situation.Same its priority of manual decision's pattern is higher than automatic mode.
It is such to carry out unmanned plane herbal sprinkling method in automatic mode：Herbal sprinkling quantity delivered is true as follows
It is fixed：V=α V1+βV2, wherein, wherein V1Medication amount, V are sprayed during for plant density highest2It is that plant growth and insect pest situation are worst
When spray medication amount, V is the herbal sprinkling system sprinkling medication amount of unmanned plane.V1、V2Experience according to operating personnel is learnt from else's experience and is tested
Value；First factor alpha is according to the determination of the density information of plant, 0≤α≤1, growth and insect pest situation of second factor beta according to plant
It is determined that, 0≤β≤1.
The density information of plant is determined by following steps：1st, swept using three laser of three-dimensional laser processing module 4
Retouch, obtain the scene cloud data below unmanned plane；2nd, according to height measuring and calculating ground data where unmanned plane, by ground data from
Removed in scene cloud data, it is to avoid the density information of the fruit tree below influence unmanned plane, reduce amount of calculation；3rd, to removal ground
The scene cloud data of data carries out gaussian filtering, and that reduces that the image error of systematic error and three-dimensional laser itself causes makes an uproar
Sound；4th, the imaging region according to scene cloud data is earthward projected, and the point cloud quantity in imaging region unit area is plant
The density information ρ of thing.
Corresponding relation between density information and α：
Growth and the insect pest situation of plant are determined by step once：1st, using the CCD phases of Computer Vision module 5
Plant color image below machine remote sensing unmanned plane；2nd, the color histogram of the plant color image below unmanned plane is calculated respectively
With the color histogram of the standard picture of the plant growth for prestoring；3rd, two are measured directly apart from d using Bhattacharyya
Similitude between square figure determines growth and the insect pest situation of plant.
Corresponding relation of the Pasteur between d and β：
β=1-d.
Claims (5)
1. a kind of UAV Intelligent medicine supplies spray method, it is characterised in that：Including the three-dimensional laser carried by unmanned plane
Reason module obtains the density information of the plant below unmanned plane；The Computer Vision module carried by unmanned plane obtains unmanned plane
The growth of the plant of lower section and insect pest situation；First factor alpha, 0≤α≤1, by the plant are determined by the density information of the plant
The growth of thing and insect pest situation determine the second factor beta, 0≤β≤1；The herbal sprinkling system of unmanned plane sprays medication amount by first
Factor alpha and the second factor beta determine.
2. UAV Intelligent medicine according to claim 1 supplies spray method, it is characterised in that the medicine spray of unmanned plane
Spill system sprinkling medication amount determines it is by formula V=α V by the first factor alpha and the second factor beta1+βV2It is determined that, wherein V1It is plant
Medication amount, V are sprayed during density highest2Medication amount is sprayed during for plant growth and worst insect pest situation, V sprays for the medicine of unmanned plane
Spill system sprinkling medication amount.
3. UAV Intelligent medicine according to claim 1 supplies spray method, it is characterised in that at the three-dimensional laser
Reason module obtains the density information of the plant below unmanned plane, including step：Scanning obtains the scene point cloud number below unmanned plane
According to height measuring and calculating ground data, ground data is removed from scene cloud data according to where unmanned plane；To removal ground number
According to scene cloud data carry out gaussian filtering；Imaging region according to scene cloud data is earthward projected, imaging region list
Point cloud quantity in plane product is the density information of plant.
4. UAV Intelligent medicine according to claim 1 supplies spray method, it is characterised in that at the video image
Reason module obtains growth and the insect pest situation of the plant below unmanned plane, including step：Calculate to shoot respectively and obtain under unmanned plane
The color histogram of the standard picture of the color histogram of the plant color image of side and the plant growth for prestoring, uses
Similitude between two histograms of Bhattacharyya distance metrics determines growth and the insect pest situation of plant.
5. a kind of UAV Intelligent medicine supplies sprinkling system, it is characterised in that：Including unmanned plane body and being arranged at the nothing
The unmanned aerial vehicle (UAV) control module of man-machine body, GPS navigation module, herbal sprinkling control module, three-dimensional laser processing module, video figure
As processing module, communication module, the unmanned aerial vehicle (UAV) control module control the flight attitude of unmanned plane, the GPS navigation module is true
Determine the positional information of unmanned plane；The three-dimensional laser processing module obtains the density information of the plant below unmanned plane, and feeds back
Drug sprays control module；The Computer Vision module obtains growth and the insect pest situation of the plant below unmanned plane,
And feed back to herbal sprinkling control module；Growth of the herbal sprinkling control module according to the density information and plant of plant
With insect pest situation, the sprinkling medication amount of sprinkler head, the medicine surplus entrained by monitoring unmanned plane is controlled to determine returning for unmanned plane
ETS estimated time of sailing；The communication module is by medicine surplus, the plant entrained by the flight attitude of unmanned plane, positional information, unmanned plane
Density information and plant growth and insect pest condition feedback give ground monitoring station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710172867.9A CN106814745A (en) | 2017-03-22 | 2017-03-22 | UAV Intelligent medicine supplies spray method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710172867.9A CN106814745A (en) | 2017-03-22 | 2017-03-22 | UAV Intelligent medicine supplies spray method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106814745A true CN106814745A (en) | 2017-06-09 |
Family
ID=59116058
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710172867.9A Pending CN106814745A (en) | 2017-03-22 | 2017-03-22 | UAV Intelligent medicine supplies spray method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106814745A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108990944A (en) * | 2018-06-27 | 2018-12-14 | 浙江大学 | Unmanned aerial vehicle remote sensing spray integral method and device based on the fusion of visible light thermal infrared images |
| CN109059869A (en) * | 2018-07-27 | 2018-12-21 | 仲恺农业工程学院 | Method for detecting spraying effect of plant protection unmanned aerial vehicle on fruit trees |
| CN109358643A (en) * | 2018-10-31 | 2019-02-19 | 阮镇荣 | A kind of multi-mode unmanned plane pesticide spraying system and method based on image procossing |
| WO2019081375A1 (en) * | 2017-10-27 | 2019-05-02 | Basf Se | Apparatus for plant management |
| CN110162087A (en) * | 2019-05-17 | 2019-08-23 | 安徽舒州农业科技有限责任公司 | A kind of method and device of plant protection drone automatic identification corps diseases |
| CN110162099A (en) * | 2019-07-18 | 2019-08-23 | 南京嘉谷初成通信科技有限公司 | A kind of plant protection spray method, unmanned plane and the storage medium of unmanned plane |
| CN110718137A (en) * | 2018-07-13 | 2020-01-21 | 广州极飞科技有限公司 | Method and device for constructing density distribution map of target object, terminal and mobile device |
| CN111582055A (en) * | 2020-04-17 | 2020-08-25 | 清远市智慧农业研究院 | Aerial pesticide application route generation method and system for unmanned aerial vehicle |
| CN111754186A (en) * | 2019-12-30 | 2020-10-09 | 广州极飞科技有限公司 | Spraying control method and device and electronic equipment |
| CN112859920A (en) * | 2021-01-19 | 2021-05-28 | 成都智慧赋能科技有限公司 | Smart city management method based on big data |
| CN113544116A (en) * | 2019-02-19 | 2021-10-22 | 韩明洙 | Water-soluble naphthoquinone derivative composition and method for producing same, water-soluble composition for controlling harmful algae, large-scale harmful algae control method, and large-scale harmful algae artificial intelligence monitoring, removing, and preventing automated system |
| CN114467688A (en) * | 2020-10-26 | 2022-05-13 | 永嘉一本机械有限公司 | Farmland sprinkler |
| CN118468012A (en) * | 2024-07-11 | 2024-08-09 | 山东沐雨天禾智慧农业有限公司 | Crop growth analysis system based on agricultural Internet of things |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104238523A (en) * | 2014-09-20 | 2014-12-24 | 无锡北斗星通信息科技有限公司 | Pesticide spraying platform based on image acquisition |
| CN104494830A (en) * | 2014-12-12 | 2015-04-08 | 华南农业大学 | Pesticide-spraying method |
| CN204859395U (en) * | 2015-07-08 | 2015-12-09 | 常州华奥航空科技有限公司 | Agriculture operation unmanned aerial vehicle of large tracts of land |
| CN105173085A (en) * | 2015-09-18 | 2015-12-23 | 山东农业大学 | Automatic control system and method for variable pesticide spraying of unmanned aerial vehicle |
| CN106167098A (en) * | 2016-09-07 | 2016-11-30 | 南京林业大学 | A kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space |
| CN106406336A (en) * | 2016-12-14 | 2017-02-15 | 江苏蒲公英无人机有限公司 | Unmanned aerial vehicle used for fruit tree spraying |
-
2017
- 2017-03-22 CN CN201710172867.9A patent/CN106814745A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104238523A (en) * | 2014-09-20 | 2014-12-24 | 无锡北斗星通信息科技有限公司 | Pesticide spraying platform based on image acquisition |
| CN104494830A (en) * | 2014-12-12 | 2015-04-08 | 华南农业大学 | Pesticide-spraying method |
| CN204859395U (en) * | 2015-07-08 | 2015-12-09 | 常州华奥航空科技有限公司 | Agriculture operation unmanned aerial vehicle of large tracts of land |
| CN105173085A (en) * | 2015-09-18 | 2015-12-23 | 山东农业大学 | Automatic control system and method for variable pesticide spraying of unmanned aerial vehicle |
| CN106167098A (en) * | 2016-09-07 | 2016-11-30 | 南京林业大学 | A kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space |
| CN106406336A (en) * | 2016-12-14 | 2017-02-15 | 江苏蒲公英无人机有限公司 | Unmanned aerial vehicle used for fruit tree spraying |
Non-Patent Citations (1)
| Title |
|---|
| 刘峰: "基于机载LiDAR数据林木识别与重建", 《中国优秀博士学位论文全文数据库》 * |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11373288B2 (en) | 2017-10-27 | 2022-06-28 | Basf Se | Apparatus for plant management |
| CN111246735B (en) * | 2017-10-27 | 2022-11-01 | 巴斯夫欧洲公司 | Device for plant management |
| WO2019081375A1 (en) * | 2017-10-27 | 2019-05-02 | Basf Se | Apparatus for plant management |
| CN111246735A (en) * | 2017-10-27 | 2020-06-05 | 巴斯夫欧洲公司 | Device for plant management |
| CN108990944A (en) * | 2018-06-27 | 2018-12-14 | 浙江大学 | Unmanned aerial vehicle remote sensing spray integral method and device based on the fusion of visible light thermal infrared images |
| CN110718137A (en) * | 2018-07-13 | 2020-01-21 | 广州极飞科技有限公司 | Method and device for constructing density distribution map of target object, terminal and mobile device |
| CN109059869B (en) * | 2018-07-27 | 2020-07-21 | 仲恺农业工程学院 | Method for detecting spraying effect of plant protection unmanned aerial vehicle on fruit trees |
| CN109059869A (en) * | 2018-07-27 | 2018-12-21 | 仲恺农业工程学院 | Method for detecting spraying effect of plant protection unmanned aerial vehicle on fruit trees |
| CN109358643A (en) * | 2018-10-31 | 2019-02-19 | 阮镇荣 | A kind of multi-mode unmanned plane pesticide spraying system and method based on image procossing |
| CN113544116B (en) * | 2019-02-19 | 2024-08-16 | 韩明洙 | Water-soluble composition for controlling harmful algae and method for controlling harmful algae on large scale |
| CN113544116A (en) * | 2019-02-19 | 2021-10-22 | 韩明洙 | Water-soluble naphthoquinone derivative composition and method for producing same, water-soluble composition for controlling harmful algae, large-scale harmful algae control method, and large-scale harmful algae artificial intelligence monitoring, removing, and preventing automated system |
| CN110162087A (en) * | 2019-05-17 | 2019-08-23 | 安徽舒州农业科技有限责任公司 | A kind of method and device of plant protection drone automatic identification corps diseases |
| CN110162099A (en) * | 2019-07-18 | 2019-08-23 | 南京嘉谷初成通信科技有限公司 | A kind of plant protection spray method, unmanned plane and the storage medium of unmanned plane |
| WO2021008264A1 (en) * | 2019-07-18 | 2021-01-21 | 南京嘉谷初成通信科技有限公司 | Plant protection spraying method for unmanned aerial vehicle, unmanned aerial vehicle, and storage medium |
| CN111754186A (en) * | 2019-12-30 | 2020-10-09 | 广州极飞科技有限公司 | Spraying control method and device and electronic equipment |
| CN111582055A (en) * | 2020-04-17 | 2020-08-25 | 清远市智慧农业研究院 | Aerial pesticide application route generation method and system for unmanned aerial vehicle |
| CN114467688A (en) * | 2020-10-26 | 2022-05-13 | 永嘉一本机械有限公司 | Farmland sprinkler |
| CN112859920B (en) * | 2021-01-19 | 2022-04-15 | 济南市政公用资产管理运营有限公司 | Smart city management method based on big data |
| CN112859920A (en) * | 2021-01-19 | 2021-05-28 | 成都智慧赋能科技有限公司 | Smart city management method based on big data |
| CN118468012A (en) * | 2024-07-11 | 2024-08-09 | 山东沐雨天禾智慧农业有限公司 | Crop growth analysis system based on agricultural Internet of things |
| CN118468012B (en) * | 2024-07-11 | 2024-09-06 | 山东沐雨天禾智慧农业有限公司 | Crop growth analysis system based on agricultural Internet of things |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106814745A (en) | UAV Intelligent medicine supplies spray method and system | |
| US11951570B2 (en) | Treating a target via a modular precision delivery system | |
| US20240251694A1 (en) | Detecting and tracking features of plants for treatment in an agricultural environment | |
| CN109631903A (en) | Cereal handles automated driving system and its automatic Pilot method and paths planning method | |
| US20230404056A1 (en) | Multiaction treatment of plants in an agricultural environment | |
| CN109122633A (en) | The accurate variable-rate spraying device of the plant protection drone of Decision of Neural Network and control method | |
| CN106406336A (en) | Unmanned aerial vehicle used for fruit tree spraying | |
| CN106598090A (en) | Unmanned aerial vehicle control system for spraying fruit trees | |
| CN106774465A (en) | A kind of unmanned aerial vehicle (UAV) control method for fruit tree spray | |
| CN115768689A (en) | Remote control aircraft suitable for aerial survey and spraying activity and aerial survey and spraying system | |
| EP3042253A1 (en) | Sprinkler control system | |
| CN109601517A (en) | A kind of device and method of the pesticide spraying for multiclass weeds | |
| CN109122634A (en) | A kind of unmanned plane region based on machine vision is to target variable farm chemical applying control device and method | |
| US20240324579A1 (en) | Agricultural sprayer with real-time on-machine target sensor and confidence level generator | |
| CN209396051U (en) | A kind of unmanned plane variable is accurately administered system | |
| US11832609B2 (en) | Agricultural sprayer with real-time, on-machine target sensor | |
| CN109814551A (en) | Cereal handles automated driving system, automatic Pilot method and automatic identifying method | |
| CN111984026A (en) | Control method and device of unmanned aerial vehicle | |
| CN110825100A (en) | Plant protection fixed wing unmanned aerial vehicle autonomous take-off and landing control method | |
| CN114954948A (en) | Intelligent pesticide applying system for plant protection unmanned aerial vehicle and control method | |
| CN204688420U (en) | A kind of unmanned plane of automatic spraying liquid | |
| US20230126714A1 (en) | Method of spraying small objects | |
| Berenstein | The use of agricultural robots in crop spraying/fertilizer applications | |
| CN110402788A (en) | A kind of accurate watering, fertilizing of unmanned plane forest spills medicine device and technology | |
| CN113934232A (en) | Virtual image control-based plant protection unmanned aerial vehicle air route planning system and method |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170609 |
|
| RJ01 | Rejection of invention patent application after publication |