CN106892109A - A kind of flight mowing method and device - Google Patents
A kind of flight mowing method and device Download PDFInfo
- Publication number
- CN106892109A CN106892109A CN201510966527.4A CN201510966527A CN106892109A CN 106892109 A CN106892109 A CN 106892109A CN 201510966527 A CN201510966527 A CN 201510966527A CN 106892109 A CN106892109 A CN 106892109A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- veneer clipper
- mowing
- flight
- clipper
- 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
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C19/00—Aircraft control not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
- B64C29/02—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft having its flight directional axis vertical when grounded
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
The invention discloses a kind of flight mowing method and device.Methods described includes step：Obtain the position that veneer clipper is arranged on unmanned plane；The diverse location of the unmanned plane is arranged on according to the veneer clipper, controlling the unmanned plane to perform corresponding offline mode carries out flight mowing, realizes and is mowed using unmanned plane during flying, mowing efficiency is improved, while alleviating the labour intensity of user.
Description
Technical field
The present embodiments relate to field of livestock production, more particularly to a kind of flight mowing method and device.
Background technology
At present, unmanned plane has been widely used in social life, for the fields such as logistics, mapping provide just
Profit.However, in field of livestock production, the timeliness of requirement of especially mowing is strong, causes labour intensity big
Etc. factor, puzzlement is caused to user, mowed using unmanned plane during flying, introducing mechanization turns into raising mowing matter
The requisite measure of amount and efficiency.
The content of the invention
In consideration of it, be necessary to provide a kind of flight mowing method and device, to realize entering using unmanned plane during flying
Row is mowed, and mitigates the labour intensity of user.
In a first aspect, the invention provides a kind of flight mowing method, methods described includes step：
Obtain the position that veneer clipper is arranged on unmanned plane；
The diverse location of the unmanned plane is arranged on according to the veneer clipper, controls the unmanned plane to perform corresponding
Offline mode carry out flight mowing.
With reference in a first aspect, in its first implementation, the veneer clipper is arranged on the unmanned plane
Position, including：
The veneer clipper is arranged on the fuselage of the unmanned plane；Or,
The veneer clipper is arranged under the fuselage of the unmanned plane；Or,
The veneer clipper is arranged on the wing of the unmanned plane.
With reference to first aspect and its above-mentioned implementation, in second implementation of first aspect, in institute
When stating veneer clipper on the fuselage of the unmanned plane, control the unmanned plane during flying to region of mowing, hold
The offline mode of row inverted flight, being placed in the veneer clipper carries out flight mowing below the unmanned plane.
With reference to first aspect and its above-mentioned implementation, in the third implementation of first aspect, in institute
When stating veneer clipper under the fuselage of the unmanned plane, the veneer clipper is placed in the lower section of the unmanned plane,
The unmanned plane during flying to region of mowing is controlled, performing flat winged offline mode carries out flight mowing.
With reference to first aspect and its above-mentioned implementation, in the 4th kind of implementation of first aspect, in institute
When stating veneer clipper on the wing of the unmanned plane, on the veneer clipper and the wing of the unmanned plane
Propeller shares rotating shaft, and the veneer clipper is located at the top of the propeller, and the veneer clipper diameter
More than the diameter of the propeller, the unmanned plane during flying to region of mowing is controlled, perform the winged flight mould in side
Formula carries out flight mowing.
Second aspect, the invention provides a kind of flight mowing-apparatus, described device include veneer clipper and nobody
Machine, the veneer clipper is arranged on the unmanned plane, and the unmanned plane includes：
Acquisition module, for obtaining position of the veneer clipper on the unmanned plane；
Control module, the diverse location for being arranged on the unmanned plane according to the veneer clipper, control is described
Unmanned plane performs corresponding offline mode and carries out flight mowing.
With reference to second aspect, in the first implementation of second aspect, the veneer clipper is arranged on described
Position on unmanned plane includes：
The veneer clipper is arranged on the fuselage of the unmanned plane；Or,
The veneer clipper is arranged under the fuselage of the unmanned plane；Or,
The veneer clipper is arranged on the wing of the unmanned plane.
With reference to second aspect, in second implementation of second aspect, institute is arranged in the veneer clipper
State when on the fuselage of unmanned plane, the control module includes：First control module, for control it is described nobody
Machine flies to mowing region, performs the offline mode of inverted flight, the veneer clipper is placed under the unmanned plane
Fang Jinhang flights are mowed.
With reference to second aspect, in the third implementation of second aspect, institute is arranged in the veneer clipper
State when under the fuselage of unmanned plane, the veneer clipper is placed in the lower section of the unmanned plane, the control module includes：
Second control module, for controlling the unmanned plane during flying to region of mowing, performs flat winged offline mode and enters
Row flight is mowed.
With reference to second aspect, in the 4th kind of implementation of second aspect, institute is arranged in the veneer clipper
State when on the wing of unmanned plane, the veneer clipper shares rotating shaft with the propeller on the wing of the unmanned plane,
The veneer clipper is located at the top of the propeller, and the veneer clipper with diameter greater than the propeller
Diameter, the control module includes：3rd control module, for controlling the unmanned plane during flying to the area that mows
Domain, performing the winged offline mode in side carries out flight mowing.
A kind of flight mowing method and device provided in an embodiment of the present invention, by obtaining veneer clipper installed in nothing
Position on man-machine, according to the veneer clipper be arranged on the unmanned plane diverse location, control it is described nobody
Machine performs corresponding offline mode and carries out flight mowing, realizes and is mowed using unmanned plane during flying so that
Not needing user can just mow, so as to reduce labour intensity.
Brief description of the drawings
Fig. 1 is a kind of flow chart of one embodiment of flight mowing method of the invention；
Fig. 2 is a kind of structural representation of one embodiment of flight mowing-apparatus of the invention.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this
The described specific embodiment in place is used only for explaining related invention, rather than the restriction to the invention.In addition also
It should be noted that for the ease of description, be illustrate only in accompanying drawing to about the related part of invention.
It should be noted that in the case where not conflicting, the embodiment in the present invention and the feature in embodiment
Can be mutually combined.Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to be better understood from the technical scheme in the embodiment of the present invention, UAS is explained below, institute
The system of stating includes：Control terminal, unmanned plane, wherein, control terminal can control taking off and navigating for unmanned plane
Setting of parameter etc., unmanned plane can independently fly after control terminal sets navigational parameter from control terminal side
Row is to treating the mowing band of position.
Wherein, before unmanned plane takes off, control terminal will send navigational parameter, the navigation ginseng to unmanned plane
Number includes：Air objective ground, flight path and height that operating personnel are set etc., such as：Unmanned plane is set
Flying height to avoid the barriers such as skyscraper, and avoids crowd in the range of 100 meters to 200 meters,
The flight path of unmanned plane could be arranged to the overhead such as farmland, make unmanned plane main winged in more spacious overhead
OK, the unmanned plane is according to the flight path and altitude for setting to air objective ground, the air objective
Ground is usually the meadow for needing cleaning, that is, treats the mowing band of position.
It should be noted that technical scheme mainly describes to be arranged on unmanned plane according to veneer clipper
Diverse location, controlling the unmanned plane to perform corresponding offline mode carries out the technical scheme of flight mowing, and
Control terminal is not improved to the technology of control and the navigation of unmanned plane, therefore, retouched in following examples
The terminal stated each means the control terminal of control unmanned plane during flying, will no longer be carried out in the embodiment below
Specified otherwise.
In the embodiment of the present invention, described terminal can be smart mobile phone, panel computer, or solely
The vertical device to control unmanned plane, and the terminal can be mobile, it is also possible to it is integrally fixed at a certain position
On, it will be appreciated by those skilled in the art that the embodiment of the present invention is to the specific manifestation form of the terminal and puts
Seated position is not especially limited, as long as thought of the present invention can be realized.
Embodiment one：
What Fig. 1 showed a kind of one embodiment of flight mowing method of the invention realizes flow, and details are as follows：
Step S101, acquisition veneer clipper are arranged on the position on unmanned plane.
Step S102, according to the veneer clipper be arranged on the unmanned plane diverse location, control it is described nobody
Machine performs corresponding offline mode and carries out flight mowing.
In embodiments of the present invention, the position that the veneer clipper is arranged on the unmanned plane is obtained, according to institute
State position of the veneer clipper on the unmanned plane different, control the unmanned plane to perform corresponding offline mode
Mowed.
Wherein, the position that the veneer clipper is arranged on the unmanned plane can be arranged on the veneer clipper
It is arranged under the fuselage of the unmanned plane on the fuselage of the unmanned plane, or by the veneer clipper, also
Can be that the veneer clipper is arranged on the wing of the unmanned plane.
In embodiments of the present invention, when the veneer clipper is arranged on the fuselage of the unmanned plane, institute is controlled
State unmanned plane during flying to region of mowing, perform the offline mode of inverted flight, make the veneer clipper be placed in it is described nobody
Flight mowing is carried out below machine.
Specifically, when the veneer clipper is arranged on the fuselage of unmanned plane, the unmanned plane performs flying for inverted flight
Row mode, height to be mowed is pulled low to by the veneer clipper on the fuselage of the unmanned plane, so as to be arranged on institute
The veneer clipper stated on the fuselage of unmanned plane rotates mowing with the inverted flight flight of unmanned plane and steering operation.
Further, when the veneer clipper is arranged under the fuselage of the unmanned plane, the veneer clipper is placed in
The lower section of the unmanned plane, controls the unmanned plane during flying to region of mowing, and performs flat winged offline mode and enters
Row flight is mowed.
It should be noted that when the veneer clipper is arranged under the fuselage of unmanned plane, controlling unmanned plane during flying
To mowing region, now positioned at the lower section of unmanned plane, the unmanned plane is performed puts down winged flight mould to the veneer clipper
Formula, makes unmanned plane during flying be raised up to height to be mowed so that under the unmanned aerial vehicle body install veneer clipper with
Treat that mowing is in contact, row flight is flown into as unmanned plane is flat and is mowed.
Further, when the veneer clipper is arranged on the wing of the unmanned plane, the veneer clipper and institute
State the propeller on the wing of unmanned plane and share rotating shaft, the veneer clipper is located at the top of the propeller, and
And the diameter with diameter greater than the propeller of the veneer clipper, the unmanned plane during flying is controlled to region of mowing,
Performing the winged offline mode in side carries out flight mowing.
Specifically, when the veneer clipper is arranged on the wing of unmanned plane, control unmanned plane during flying to mowing
Region, the propeller of the unmanned plane wing shares a rotating shaft with the veneer clipper, and now the veneer clipper is put
In the top of propeller, the unmanned plane performs the winged offline mode in side, with the rotation of the propeller of unmanned plane
Drive the veneer clipper to rotate to mow.
It should be noted that the type of veneer clipper has various, the function selection veneer clipper according to lawn, alley
And sports turf, optimal selection hob type veneer clipper, common greenery patches and landscape lawn, cut from rotary cutter type
Straw articles etc., in the embodiment of the present invention, the veneer clipper is miniature or small-sized veneer clipper, and its weight can
Meet the load-carrying of the unmanned plane, be arranged on the fuselage of the unmanned plane or under fuselage by the veneer clipper
When, the veneer clipper includes cut portion and power section, and its power section is by the unmanned aerial vehicle (UAV) control, institute
Stating unmanned plane can control the opening and closing of the veneer clipper as needed.It is arranged on by the veneer clipper
When on the wing of the unmanned plane, the veneer clipper only includes cut portion, and not including power section, it is moved
Power source is provided by the unmanned plane, while the rotating shaft on the wing of the unmanned plane drives propeller rotational,
Also the veneer clipper can be driven to rotate.To the type and concrete form of the veneer clipper of selection, the embodiment of the present invention
It is not especially limited, as long as can coordinate with unmanned plane during flying, realization is mowed using unmanned plane during flying, is subtracted
The intensity of few user, improves mowing efficiency.
A kind of flight mowing method provided in an embodiment of the present invention, is arranged on unmanned plane by obtaining veneer clipper
Position, the diverse location of the unmanned plane is arranged on according to the veneer clipper, control the unmanned plane to perform
Corresponding offline mode carries out flight mowing, realizes and is mowed using unmanned plane during flying so that need not
User can just mow, so as to reduce labour intensity.
Embodiment two：
Fig. 2 shows a kind of structural representation of one embodiment of flight mowing-apparatus of the invention, the dress
Put including veneer clipper and unmanned plane, the veneer clipper is arranged on the unmanned plane, and the unmanned plane includes：
Acquisition module 21, for obtaining position of the veneer clipper on the unmanned plane；
Control module 22, the diverse location for being arranged on the unmanned plane according to the veneer clipper, controls institute
Stating the unmanned plane corresponding offline mode of execution carries out flight mowing.
In embodiments of the present invention, acquisition module 21 obtains position of the veneer clipper on the unmanned plane
Put, according to the veneer clipper be arranged on the unmanned plane diverse location, control module 22 control it is described nobody
Machine performs corresponding offline mode and carries out flight mowing.
Wherein, the position that the veneer clipper is arranged on the unmanned plane can be arranged on the veneer clipper
It is arranged under the fuselage of the unmanned plane on the fuselage of the unmanned plane, or by the veneer clipper, also
Can be that the veneer clipper is arranged on the wing of the unmanned plane.
In embodiments of the present invention, when the veneer clipper is arranged on the fuselage of the unmanned plane, the control
Molding block includes：First control module, for controlling the unmanned plane during flying to region of mowing, performs inverted flight
Offline mode, being placed in the veneer clipper carries out flight mowing below the unmanned plane.
It should be noted that when the veneer clipper is arranged on the fuselage of the unmanned plane, first control
Molding block control unmanned plane performs the offline mode of inverted flight, and the veneer clipper on the fuselage of the unmanned plane is dragged down
To height to be mowed, so that the veneer clipper on the fuselage of the unmanned plane is with the inverted flight of unmanned plane
Flight and steering operation and rotate mowing.
Further, when the veneer clipper is arranged under the fuselage of the unmanned plane, the veneer clipper is placed in
The lower section of the unmanned plane, the control module includes：Second control module, for controlling the unmanned plane
To mowing region, performing flat winged offline mode carries out flight mowing for flight.
It should be noted that when veneer clipper is arranged under the fuselage of unmanned plane, the second control module control
Unmanned plane during flying processed to region of mowing, the now veneer clipper is located at the lower section of unmanned plane, and the unmanned plane performs flat
Winged offline mode, makes unmanned plane during flying be raised up to height to be mowed, so as to be installed under the unmanned aerial vehicle body
Veneer clipper with treat mowing and be in contact, row flight is flown into as unmanned plane is flat and is mowed.
Further, when the veneer clipper is arranged on the wing of the unmanned plane, the veneer clipper and institute
State the propeller on the wing of unmanned plane and share rotating shaft, the veneer clipper is located at the top of the propeller, and
And the diameter with diameter greater than the propeller of the veneer clipper, the control module includes：3rd control mould
Block, for controlling the unmanned plane during flying to region of mowing, performing the winged offline mode in side carries out flight mowing.
Specifically, when the veneer clipper is arranged on the wing of unmanned plane, the 3rd control module control
Unmanned plane during flying to region of mowing, the propeller of the unmanned plane wing shares a rotating shaft with the veneer clipper,
Now the veneer clipper is placed in the top of propeller, and the unmanned plane performs the winged offline mode in side, with nobody
The rotation of the propeller of machine drives the veneer clipper to rotate and mows.
A kind of flight mowing-apparatus provided in an embodiment of the present invention, acquisition module obtains the veneer clipper and is arranged on
Position on the unmanned plane, control module is arranged on the diverse location of the unmanned plane according to the veneer clipper,
Controlling the unmanned plane to perform corresponding offline mode carries out flight mowing, and realize is carried out using unmanned plane during flying
Mow so that do not need user can just mow, so as to reduce labour intensity.
The above, specific embodiment only of the invention, but protection scope of the present invention is not limited to
This, any one skilled in the art the invention discloses technical scope in, can readily occur in
Change or replacement, should all be included within the scope of the present invention.Therefore, protection scope of the present invention should
It is defined by the scope of the claims.
Claims (10)
1. a kind of flight mowing method, it is characterised in that methods described includes step：
Obtain the position that veneer clipper is arranged on unmanned plane；
The diverse location of the unmanned plane is arranged on according to the veneer clipper, controls the unmanned plane to perform corresponding
Offline mode carry out flight mowing.
2. method according to claim 1, it is characterised in that the veneer clipper be arranged on it is described nobody
Position on machine, including：
The veneer clipper is arranged on the fuselage of the unmanned plane；Or,
The veneer clipper is arranged under the fuselage of the unmanned plane；Or,
The veneer clipper is arranged on the wing of the unmanned plane.
3. method according to claim 2, it is characterised in that be arranged on the nothing in the veneer clipper
When on man-machine fuselage, the unmanned plane during flying to region of mowing is controlled, perform the offline mode of inverted flight, made
The veneer clipper is placed in carries out flight mowing below the unmanned plane.
4. method according to claim 2, it is characterised in that be arranged on the nothing in the veneer clipper
When under man-machine fuselage, the veneer clipper is placed in the lower section of the unmanned plane, controls the unmanned plane during flying extremely
Mowing region, performing flat winged offline mode carries out flight mowing.
5. method according to claim 2, it is characterised in that be arranged on the nothing in the veneer clipper
When on man-machine wing, the veneer clipper shares rotating shaft with the propeller on the wing of the unmanned plane, described
Veneer clipper be located at the propeller top, and the veneer clipper the diameter with diameter greater than the propeller,
The unmanned plane during flying to region of mowing is controlled, performing the winged offline mode in side carries out flight mowing.
6. a kind of flight mowing-apparatus, it is characterised in that described device includes veneer clipper and unmanned plane, described
Veneer clipper is arranged on the unmanned plane, and the unmanned plane includes：
Acquisition module, for obtaining position of the veneer clipper on the unmanned plane；
Control module, the diverse location for being arranged on the unmanned plane according to the veneer clipper, control is described
Unmanned plane performs corresponding offline mode and carries out flight mowing.
7. device according to claim 6, it is characterised in that the veneer clipper be arranged on it is described nobody
Position on machine includes：
The veneer clipper is arranged on the fuselage of the unmanned plane；Or,
The veneer clipper is arranged under the fuselage of the unmanned plane；Or,
The veneer clipper is arranged on the wing of the unmanned plane.
8. device according to claim 7, it is characterised in that be arranged on the nothing in the veneer clipper
When on man-machine fuselage, the control module includes：First control module, for controlling the unmanned plane to fly
Row performs the offline mode of inverted flight to mowing region, the veneer clipper is placed in below the unmanned plane and enters
Row flight is mowed.
9. device according to claim 7, it is characterised in that be arranged on the nothing in the veneer clipper
When under man-machine fuselage, the veneer clipper is placed in the lower section of the unmanned plane, and the control module includes：The
Two control modules, for controlling the unmanned plane during flying to region of mowing, performing flat winged offline mode is carried out
Flight is mowed.
10. device according to claim 7, it is characterised in that be arranged on described in the veneer clipper
When on the wing of unmanned plane, the veneer clipper shares rotating shaft, institute with the propeller on the wing of the unmanned plane
Veneer clipper is stated positioned at the top of the propeller, and the veneer clipper is straight with diameter greater than the propeller
Footpath, the control module includes：3rd control module, for controlling the unmanned plane during flying to region of mowing,
Performing the winged offline mode in side carries out flight mowing.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510966527.4A CN106892109A (en) | 2015-12-21 | 2015-12-21 | A kind of flight mowing method and device |
| PCT/CN2016/103749 WO2017107661A1 (en) | 2015-12-21 | 2016-10-28 | Flying mowing method and apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510966527.4A CN106892109A (en) | 2015-12-21 | 2015-12-21 | A kind of flight mowing method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106892109A true CN106892109A (en) | 2017-06-27 |
Family
ID=59088966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510966527.4A Pending CN106892109A (en) | 2015-12-21 | 2015-12-21 | A kind of flight mowing method and device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106892109A (en) |
| WO (1) | WO2017107661A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20190041860A1 (en) * | 2017-08-03 | 2019-02-07 | Walmart Apollo, Llc | Modular robotic rover |
| CN112544205A (en) * | 2020-12-03 | 2021-03-26 | 桂林航天工业学院 | Unmanned aerial vehicle mows and intelligent system of mowing thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1678234A1 (en) * | 1989-12-04 | 1991-09-23 | Красноярский сельскохозяйственный институт | Reaper |
| CN204515530U (en) * | 2014-12-30 | 2015-07-29 | 苏州宝时得电动工具有限公司 | Automatic running gear |
| CN104798528A (en) * | 2015-05-08 | 2015-07-29 | 苏州大学 | Flight type automatic grass cutting machine and grass cutting group |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8352097B2 (en) * | 2009-09-23 | 2013-01-08 | Adaptive Materials, Inc. | Method for managing power boost in a fuel cell powered aerial vehicle |
| KR20130005501A (en) * | 2011-07-06 | 2013-01-16 | 부산대학교 산학협력단 | Unmanned air vehicle |
| SG188691A1 (en) * | 2011-09-27 | 2013-04-30 | Singapore Tech Aerospace Ltd | An unmanned aerial vehicle |
| US20140316614A1 (en) * | 2012-12-17 | 2014-10-23 | David L. Newman | Drone for collecting images and system for categorizing image data |
| CN204085945U (en) * | 2014-08-06 | 2015-01-07 | 青岛理工大学 | A kind of rivers and lakes water sample automatic control and collection system based on many rotor wing unmanned aerial vehicles |
| CN104932525B (en) * | 2015-05-28 | 2019-03-01 | 深圳一电航空技术有限公司 | Control method, device, ground control system and the unmanned plane of unmanned plane |
-
2015
- 2015-12-21 CN CN201510966527.4A patent/CN106892109A/en active Pending
-
2016
- 2016-10-28 WO PCT/CN2016/103749 patent/WO2017107661A1/en active Application Filing
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1678234A1 (en) * | 1989-12-04 | 1991-09-23 | Красноярский сельскохозяйственный институт | Reaper |
| CN204515530U (en) * | 2014-12-30 | 2015-07-29 | 苏州宝时得电动工具有限公司 | Automatic running gear |
| CN104798528A (en) * | 2015-05-08 | 2015-07-29 | 苏州大学 | Flight type automatic grass cutting machine and grass cutting group |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017107661A1 (en) | 2017-06-29 |
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Application publication date: 20170627 |