CN107526367A - A kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology - Google Patents
A kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology Download PDFInfo
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- CN107526367A CN107526367A CN201710788224.7A CN201710788224A CN107526367A CN 107526367 A CN107526367 A CN 107526367A CN 201710788224 A CN201710788224 A CN 201710788224A CN 107526367 A CN107526367 A CN 107526367A
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- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 92
- 238000005516 engineering process Methods 0.000 title claims abstract description 21
- 230000010354 integration Effects 0.000 title claims abstract description 15
- 230000000877 morphologic effect Effects 0.000 claims abstract description 19
- 230000004888 barrier function Effects 0.000 claims abstract description 15
- 238000013507 mapping Methods 0.000 claims abstract description 15
- 239000000575 pesticide Substances 0.000 claims abstract description 10
- 239000007921 spray Substances 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 10
- 238000005507 spraying Methods 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 238000005070 sampling Methods 0.000 claims description 5
- 238000002485 combustion reaction Methods 0.000 claims description 4
- 239000002917 insecticide Substances 0.000 claims description 4
- 238000012876 topography Methods 0.000 claims description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 7
- 241000196324 Embryophyta Species 0.000 description 50
- 230000008901 benefit Effects 0.000 description 3
- 239000003814 drug Substances 0.000 description 3
- 241000894007 species Species 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000003651 drinking water Substances 0.000 description 2
- 235000020188 drinking water Nutrition 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 240000008042 Zea mays Species 0.000 description 1
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 description 1
- 235000002017 Zea mays subsp mays Nutrition 0.000 description 1
- 239000000443 aerosol Substances 0.000 description 1
- 239000003905 agrochemical Substances 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 235000005822 corn Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 244000037666 field crops Species 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B3/00—Measuring instruments characterised by the use of mechanical techniques
- G01B3/02—Rulers with scales or marks for direct reading
-
- 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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- 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
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Cultivation Of Plants (AREA)
Abstract
The present invention relates to a kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology, belong to plant protection unmanned plane operating system field.It mainly includes mapping equipment, and the mapping equipment includes RTK plotting boards and graduated scale, and the RTK plotting boards can be surveyed and drawn to the geographical position of fruit tree and barrier fixed for a long time, and the graduated scale can be surveyed and drawn to fruit tree morphological parameters；Plant protection database, the fruit tree and geographical location information, fruit tree morphological parameters and the fruit tree plant protection operation information of barrier fixed for a long time that the plant protection database gathers to mapping equipment carry out building storehouse arrangement；Atomizing unmanned plane, the atomizing unmanned plane forms the exclusive operation course line in each plot according to the information of plant protection database, and carries out plant protection operation according to operation course line.The beneficial effects of the invention are as follows：Accurate operation is realized, reduction is resprayed, drain spray, reduces Pesticide use amount, safe and environment-friendly, operating efficiency is improved.
Description
Technical field
The present invention relates to a kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology, belong to plant protection without
Man-machine operation's system regions.
Background technology
Emerging means of the unmanned plane as modern agriculture plant protection technology, more traditional artificial sprinkling medicine plant protection measure have
Operating efficiency is high, spray effect is good, operational security is strong, can substantially reduce the advantages that Pesticide use amount, at home and abroad obtains
Extensive use.
Existing plant protection unmanned plane is primarily adapted for use in the field crops such as rice based on plains region, wheat, corn, this
A little crops have the characteristics that growth is uniform, are highly more or less the same, and unmanned plane can be according to pre-designed course line, in same height
Degree realizes autonomous flight operation.But be grown in the fruit tree of mountain and hill complex landform, have tree crown is big, canopy is thick, height not
First, the features such as density differs, to the unmanned machine operation of fruit tree plant protection with this feature, unmanned plane driver can only be according to visual
In the range of fruit tree shape, fruit tree height carry out remote controller so as to control the flight attitude of aircraft, unmanned plane driver is anti-
Multiple regular remote controller, has that control is inaccurate, operating error is big, to it is driver requested high the problems such as, intelligent automation
It is horizontal low.
The content of the invention
The present invention is for deficiency present in above-mentioned technology, there is provided a kind of fruit tree plant protection based on geography information integration technology
Unmanned plane operating system.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：
A kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology, including：
Mapping equipment, the mapping equipment include RTK plotting boards and graduated scale, and the RTK plotting boards can be to fruit tree
And the geographical position of barrier fixed for a long time is surveyed and drawn, the graduated scale can be surveyed and drawn to fruit tree morphological parameters；
Plant protection database, the fruit tree and the ground of barrier fixed for a long time that the plant protection database gathers to mapping equipment
Reason positional information, fruit tree morphological parameters and fruit tree plant protection operation information carry out building storehouse arrangement；
Atomizing unmanned plane, the atomizing unmanned plane form the exclusive work in each plot according to the information of plant protection database
Industry course line, and plant protection operation is carried out according to operation course line.
Compared with prior art, the beneficial effects of the invention are as follows：RTK plotting boards are can to obtain in real time in the wild centimetre
The measuring apparatus of level positioning precision, operation is not limited by sighting condition, and without controlling, base station is set, and a little check
Afterwards, you can measurement, precision is high, operation is convenient, and in engineering setting out, topographic mapping, various control measurements etc., which have, extensively should
With drastically increasing field work efficiency, pass through：RTK plotting boards obtain the geographical coordinate of fruit tree and barrier, realization pair
Accurately get ready fruit tree position；The flying height of atomizing unmanned plane is determined according to the height of fruit tree, according to top fruit sprayer size and
Canopy thickness, control herbal sprinkling flow and flying speed, realize accurate operation, so as to reduce respray, drain spray, reducing agricultural chemicals makes
Dosage, safe and environment-friendly, operating efficiency greatly improves, while promotes popularizing for fruit tree plant protection pattern；Aerosol spray
Device can save decoction, improve the single pass spray value of atomizing unmanned plane, improve spray efficiency, and extremely suitable fruit tree is planted
Protect；Course line is write into earth station, atomizing unmanned plane performs plant protection operation automatically, solve mountain and hill area fruit tree plant protection nobody
The low technical barrier of machine intelligent level, the implementation of the technology make plant protection operation efficiency improve about thirtyfold, reduce medicine to soil
The pollution of earth and drinking water source, economy, environmental benefit protrude.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the geographical location information of the fruit tree and barrier fixed for a long time includes position, the root of fruit tree
Height above sea level, topography and geomorphology relevant information；The fruit tree morphological parameters include reflecting that the fruit tree of fruit tree shape size information is high
Degree, tree crown size and canopy thickness；The fruit tree plant protection operation information includes species, the pesticide spraying use that fruit tree is sprayed insecticide
Amount, pesticide spraying number relevant information.
It is using the above-mentioned further beneficial effect of scheme：Plant protection database includes substantial amounts of data message, is atomizing
Unmanned plane operating system provides fully comprehensive basic data and supported.
Further, gather fruit tree morphological parameters when, the graduated scale be expansion link with a scale, shrinkage-rule, tape measure,
Ruler or set square.
It is using the above-mentioned further beneficial effect of scheme：Using expansion link with a scale, shrinkage-rule, tape measure, ruler and
Set square can accurately measure the form of each fruit tree each several part.
Further, the method that fruit tree morphological parameters take sampling measurement in the plant protection database, averages.
It is using the above-mentioned further beneficial effect of scheme：The method for taking sampling measurement, averages, and can increase institute
Survey the accuracy of fruit tree data.
Further, the atomizing unmanned plane is four rotor wing unmanned aerial vehicles.
It is using the above-mentioned further beneficial effect of scheme：Four rotors do not need displacement, and empennage can be achieved with balancing and drive
Dynamic minimum rotor quantity.
Further, the drive device of the atomizing unmanned plane is internal combustion engine.
It is using the above-mentioned further beneficial effect of scheme：Atomizing unmanned plane does drive device using internal combustion engine, can be with
Increase the working time of unmanned plane, improve the load-carrying of atomizing unmanned plane, improve operating efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the step flow chart of the present invention；
Fig. 3 is the terraced fields operation plot schematic diagram of the present invention；
Fig. 4 is the line of flight schematic diagram in the terraced fields plot of the present invention.
In figure, 1, mapping equipment；2nd, plant protection database；3rd, unmanned plane；4th, operation course line.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
A kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology, including：
Mapping equipment 1, the mapping equipment 1 include RTK plotting boards and graduated scale, and the RTK plotting boards can be to fruit
The geographical position of tree and barrier fixed for a long time is surveyed and drawn, and the graduated scale can be surveyed and drawn to fruit tree morphological parameters,
When gathering the morphological parameters of fruit tree, the graduated scale is expansion link with a scale, shrinkage-rule, tape measure, ruler or set square.
Plant protection database 2, the fruit tree and barrier fixed for a long time that the plant protection database 2 gathers to mapping equipment 1
Geographical location information, fruit tree morphological parameters and fruit tree plant protection operation information build storehouse arrangement；The fruit tree and long-time are solid
Position of the geographical location information of fixed barrier including fruit tree, root height above sea level, topography and geomorphology relevant information, the fruit tree
Morphological parameters include that fruit tree height, tree crown size and the canopy thickness of fruit tree shape size information can be reflected；The fruit tree plant protection
Job information includes species, pesticide spraying usage amount, the pesticide spraying number relevant information that fruit tree is sprayed insecticide.The plant protection number
The method for taking sampling measurement according to fruit tree morphological parameters in storehouse 2, averages.
Atomizing unmanned plane 3, it is exclusive that the atomizing unmanned plane 3 according to the information of plant protection database forms each plot
Operation course line 4, and plant protection operation is carried out according to operation course line 4；The atomizing unmanned plane 3 is four rotor wing unmanned aerial vehicles, driving
Device is internal combustion engine.
The present invention operation principle be：
First, data acquisition ----to fruit tree and the geographical position of barrier fixed for a long time and adopting for fruit tree morphological parameters
Collection.
The geographical position of fruit tree and barrier can be obtained by RTK plotting boards.RTK(Real-timekinematic)
Location technology is the real time kinematic survey system based on carrier phase observation data, is a kind of new conventional GPS measuring methods, it
Three-dimensional localization result of the survey station point in specified coordinate system can be in real time provided, and reach a centimetre class precision.Former static state,
Rapid static, dynamic measurement are required for carrying out resolving the precision that could obtain Centimeter Level afterwards, and RTK plotting boards be can be
Field obtains the measuring method of centimeter-level positioning precision in real time, and operation is not limited by sighting condition, and without controlling, base station is set
Put, carry out after a little checking, you can measurement, precision is high, operation is convenient, in engineering setting out, topographic mapping, various control measurement tools
It is widely used, drastically increases field work efficiency.
The morphological parameters of fruit tree, including the height of fruit tree, tree crown size, canopy thickness etc., can be stretched by with a scale
Contracting bar, shrinkage-rule, tape measure, ruler and set square instrument measure to obtain.And for the fruit tree in same plot, age of tree base
Originally it is the same, so the height of tree, tree crown size, canopy thickness are more or less the same, the method that sampling measurement can be taken, is averaged
Value.
2nd, according to the information collected, pomology information plant protection database 2 is established.
Plant protection database 2 mainly includes the geography information of fruit tree, the position of if tree, root height above sea level and topography and geomorphology
Related information；Height, tree crown size and canopy thickness of fruit tree etc. reflect the information of fruit tree shape size；Fruit tree plant protection operation
The related agricultural plant protection operation letter such as information, species that if tree is sprayed insecticide, pesticide spraying usage amount, pesticide spraying number
Breath.Plant protection information plant protection database 2 is mainly that the extensive operation of plant protection unmanned plane provides basic data.
3rd, secondary development is carried out to air route, forms the exclusive course line in each plot.
According to the content of plant protection database 2, Path Planning for Unmanned Aircraft Vehicle is subjected to secondary development, according to the geography information pair of fruit tree
Fruit tree is got ready, flying height during atomizing 3 operation of unmanned plane is planned according to the elevation information of fruit tree, so as to form each plot
Operations specific course line 4, layer thickness control of can also being come of age according to top fruit sprayer size sprinkling flow and a flying speed are realized accurate
Operation.Terraced fields as shown in Figure 3, it is essentially the same for the same plot fruit tree age of tree, so height difference is little, according to plant protection data
The content of storehouse 3, the plant protection operation course line 4 in the plot can be planned, as shown in figure 4, at the top of every fruit tree certain altitude position
The U that gets B, C, D, E ready ..., plant protection operation course line B-F-G-K-L-P-Q-U is formed, B points can be set to plant protection operation starting point, U
Point is set to plant protection operation end point.Then a takeoff setting is selected according to the concrete condition of field plots, flown by takeoff setting
To plant protection operation starting point, plant protection operation is performed, after the completion of operation, returns to takeoff point, after selected takeoff setting is A points, even
Meet AB to be formed from takeoff setting to the takeoff pattern of plant protection operation starting point, connection AU formation is from plant protection operation end point to starting
The back course of position, so as to form the complete line of flight.Operation course line 4 is write into earth station, atomizing unmanned plane 3 is automatic
Plant protection operation is performed, solves the mountain and hill area fruit tree plant protection low technical barrier of the intelligent level of atomizing unmanned plane 3, should
The implementation of technology makes plant protection operation efficiency improve about 30 times, reduces pollution of the medicine to soil and drinking water source, economic, environmental protection effect
Benefit is prominent.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (8)
- A kind of 1. fruit tree plant protection unmanned plane operating system based on geography information integration technology, it is characterised in that including：Mapping equipment (1), the mapping equipment (1) include RTK plotting boards and graduated scale, and the RTK plotting boards can be to fruit The geographical position of tree and barrier fixed for a long time is surveyed and drawn, and the graduated scale can be surveyed and drawn to fruit tree morphological parameters；Plant protection database (2), the fruit tree and obstacle fixed for a long time that the plant protection database (2) gathers to mapping equipment (1) Geographical location information, fruit tree morphological parameters and the fruit tree plant protection operation information of thing carry out building storehouse arrangement；Atomizing unmanned plane (3), it is only that the atomizing unmanned plane (3) according to the information of plant protection database (2) forms each plot Some operation course lines (4), and carry out plant protection operation according to operation course line (4).
- 2. a kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology according to claim 1, its It is characterised by：The geographical location information of the fruit tree and barrier fixed for a long time includes the position of fruit tree, root height above sea level Degree, topography and geomorphology relevant information.
- 3. a kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology according to claim 1 or 2, It is characterized in that：The fruit tree morphological parameters include that fruit tree height, tree crown size and the hat of fruit tree shape size information can be reflected Thickness degree.
- 4. a kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology according to claim 3, its It is characterised by：The fruit tree plant protection operation information includes the species, pesticide spraying usage amount, pesticide spraying time that fruit tree sprays insecticide Number relevant information.
- 5. a kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology according to claim 1, its It is characterised by：Gather fruit tree morphological parameters when, the graduated scale be expansion link with a scale, shrinkage-rule, tape measure, ruler or Set square.
- 6. a kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology according to claim 1, its It is characterised by：The method that fruit tree morphological parameters take sampling measurement in the plant protection database (2), averages.
- 7. a kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology according to claim 1, its It is characterised by：The atomizing unmanned plane (3) is four rotor wing unmanned aerial vehicles.
- 8. a kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology according to claim 1, its It is characterised by：The drive device of the atomizing unmanned plane (3) is internal combustion engine.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710788224.7A CN107526367A (en) | 2017-09-05 | 2017-09-05 | A kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology |
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| CN201710788224.7A CN107526367A (en) | 2017-09-05 | 2017-09-05 | A kind of fruit tree plant protection unmanned plane operating system based on geography information integration technology |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109341702A (en) * | 2018-12-13 | 2019-02-15 | 广州极飞科技有限公司 | Route planning method, device, equipment and storage medium in operating area |
| CN109709979A (en) * | 2018-12-10 | 2019-05-03 | 北京云无忧大数据科技有限公司 | Plant protection operation method, apparatus, storage medium and electronic equipment |
| CN110162081A (en) * | 2018-02-14 | 2019-08-23 | 广州极飞科技有限公司 | Mobile device control method and device, mobile terminal and mobile device |
| CN110618695A (en) * | 2019-09-23 | 2019-12-27 | 浙江驭云航空科技有限公司 | Plant protection unmanned aerial vehicle ground station and working method thereof |
| CN110832425A (en) * | 2018-10-31 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Control method and device, surveying and mapping unmanned aerial vehicle and spraying unmanned aerial vehicle |
| CN111625016A (en) * | 2019-02-28 | 2020-09-04 | 深圳市翔农创新科技有限公司 | Plant protection unmanned aerial vehicle operation optimization method, device and system and readable storage medium |
| CN111982096A (en) * | 2019-05-23 | 2020-11-24 | 广州极飞科技有限公司 | Operation path generation method and device and unmanned aerial vehicle |
| CN112306069A (en) * | 2020-10-22 | 2021-02-02 | 杭州瓦屋科技有限公司 | Plant protection unmanned aerial vehicle elevation air line control optimization method |
| CN112612299A (en) * | 2020-12-01 | 2021-04-06 | 北京麦飞科技有限公司 | Micro unmanned aerial vehicle cluster variable plant protection method |
| CN113485411A (en) * | 2021-06-21 | 2021-10-08 | 安徽农业大学 | Three-dimensional route planning method for aerial accurate pesticide application |
| CN113821055A (en) * | 2021-09-29 | 2021-12-21 | 广州极飞科技股份有限公司 | Flight control method and device, electronic equipment and readable storage medium |
-
2017
- 2017-09-05 CN CN201710788224.7A patent/CN107526367A/en not_active Withdrawn
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110162081A (en) * | 2018-02-14 | 2019-08-23 | 广州极飞科技有限公司 | Mobile device control method and device, mobile terminal and mobile device |
| CN110832425A (en) * | 2018-10-31 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Control method and device, surveying and mapping unmanned aerial vehicle and spraying unmanned aerial vehicle |
| WO2020087384A1 (en) * | 2018-10-31 | 2020-05-07 | 深圳市大疆创新科技有限公司 | Control method, apparatus, surveying and mapping unmanned aerial vehicle, and spraying unmanned aerial vehicle |
| CN110832425B (en) * | 2018-10-31 | 2021-10-01 | 深圳市大疆创新科技有限公司 | Control method and device, surveying and mapping unmanned aerial vehicle and spraying unmanned aerial vehicle |
| CN109709979A (en) * | 2018-12-10 | 2019-05-03 | 北京云无忧大数据科技有限公司 | Plant protection operation method, apparatus, storage medium and electronic equipment |
| CN109341702B (en) * | 2018-12-13 | 2021-07-20 | 广州极飞科技股份有限公司 | Route planning method, device and equipment in operation area and storage medium |
| CN109341702A (en) * | 2018-12-13 | 2019-02-15 | 广州极飞科技有限公司 | Route planning method, device, equipment and storage medium in operating area |
| CN111625016A (en) * | 2019-02-28 | 2020-09-04 | 深圳市翔农创新科技有限公司 | Plant protection unmanned aerial vehicle operation optimization method, device and system and readable storage medium |
| CN111982096A (en) * | 2019-05-23 | 2020-11-24 | 广州极飞科技有限公司 | Operation path generation method and device and unmanned aerial vehicle |
| CN111982096B (en) * | 2019-05-23 | 2022-09-13 | 广州极飞科技股份有限公司 | Operation path generation method and device and unmanned aerial vehicle |
| CN110618695A (en) * | 2019-09-23 | 2019-12-27 | 浙江驭云航空科技有限公司 | Plant protection unmanned aerial vehicle ground station and working method thereof |
| CN112306069A (en) * | 2020-10-22 | 2021-02-02 | 杭州瓦屋科技有限公司 | Plant protection unmanned aerial vehicle elevation air line control optimization method |
| CN112612299A (en) * | 2020-12-01 | 2021-04-06 | 北京麦飞科技有限公司 | Micro unmanned aerial vehicle cluster variable plant protection method |
| CN113485411A (en) * | 2021-06-21 | 2021-10-08 | 安徽农业大学 | Three-dimensional route planning method for aerial accurate pesticide application |
| CN113821055A (en) * | 2021-09-29 | 2021-12-21 | 广州极飞科技股份有限公司 | Flight control method and device, electronic equipment and readable storage medium |
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Inventor after: Gu Guorong Inventor after: Zhang Jie Inventor after: Yu Yan Inventor after: Wang Dongwei Inventor after: Zhang Peng Inventor after: Tong Chunming Inventor after: Liu Huimin Inventor before: Gao Yong Inventor before: Gu Guorong Inventor before: Zhang Jie Inventor before: Yu Yan Inventor before: Meng Hao Inventor before: Wang Dongwei Inventor before: Zhang Peng Inventor before: Tong Chunming Inventor before: Liu Huimin |
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Application publication date: 20171229 |