CN107897152A - A kind of nozzle position self-checking device suitable for plant protection unmanned plane - Google Patents
A kind of nozzle position self-checking device suitable for plant protection unmanned plane Download PDFInfo
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- CN107897152A CN107897152A CN201711038729.8A CN201711038729A CN107897152A CN 107897152 A CN107897152 A CN 107897152A CN 201711038729 A CN201711038729 A CN 201711038729A CN 107897152 A CN107897152 A CN 107897152A
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- fixed link
- unmanned plane
- plant protection
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims abstract description 6
- 230000001105 regulatory effect Effects 0.000 claims description 12
- 238000012546 transfer Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 description 23
- 241000196324 Embryophyta Species 0.000 description 21
- 230000033001 locomotion Effects 0.000 description 20
- 238000005507 spraying Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 9
- 230000008901 benefit Effects 0.000 description 8
- 230000003028 elevating effect Effects 0.000 description 8
- 239000007788 liquid Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 238000004062 sedimentation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 241000209140 Triticum Species 0.000 description 1
- 235000021307 Triticum Nutrition 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/006—Mounting of the nozzles
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a kind of nozzle position self-checking device suitable for plant protection unmanned plane, including executive device and control system, it is characterized in that, the executive device include being arranged on fixed link below unmanned aerial vehicle body, the multiple shower nozzle fixes seats being arranged in fixed link and with each shower nozzle fixes seat be correspondingly arranged for the moving drive mechanism that drives shower nozzle fixes seat to be moved on fixed link length direction, wherein, nozzle is equipped with each shower nozzle fixes seat, the moving drive mechanism includes motor and power transmission mechanism；The control system includes the machine upper controller being located on plant protection unmanned plane and the ground remote controller being remotely controlled by wireless communication to machine upper controller, the machine upper controller includes wireless transport module, memory module, control module and power module, wherein, motor is connected with control module in the executive device.
Description
Technical field
The present invention relates to plant protection unmanned plane, more particularly to a kind of nozzle position suitable for plant protection unmanned plane to automatically adjust dress
Put.
Background technology
In recent years, due to plant protection unmanned plane spray possessed by it is reliable and stable, easy to operate, operating cost is low, duties
The advantages that height and the limitation from Grain Growth Situation, therefore obtained rapid application and development.But as plant protection unmanned plane sprays
The gradual expansion of job area, operations number gradually increase, and plant protection unmanned plane aviation sprays some drawbacks and shortcoming of mode
Gradually be exposed, wherein, in the design process of plant protection unmanned plane spraying system, how to determine nozzle number and nozzle it
Between spacing become perplex our major issue.
Existing nozzle is mostly located at fixed on unmanned plane, and when nozzle number is more, the spacing between nozzle is shorter
When, the droplet that sprays can preferably be deposited on crop surface, but unit area, the liquid volume that is consumed in the unit interval compared with
It is more, it on the one hand can make the persticide residue of agricultural product increase；On the other hand unmanned plane unit can be caused to spray the liquid in area
Load dramatically increases so that the area that always sprays of plant protection unmanned plane single flight is substantially reduced, so as to considerably reduce its work
Industry efficiency, " two losing at one stroke "；When nozzle number is less, when the spacing between nozzle is longer, although unit area, in the unit interval
The liquid volume consumed is less, but such a design method be easy to cause few spray of crops, or even drain spray, so as to not reach ideal
Prevention effect.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of nozzle position suitable for plant protection unmanned plane
Self-checking device is put, which can carry out remote adjustment to spraying swath at any time according to unmanned plane actual job situation, so as to carry
High plant protection unmanned plane sprays the efficiency of operation, realizes precisely spraying for crops.
The purpose of the present invention is realized by following technical solution：
A kind of nozzle position self-checking device suitable for plant protection unmanned plane, including executive device and control system, its
It is characterized in that, the executive device includes being arranged on fixed link below unmanned aerial vehicle body, the multiple nozzles being arranged in fixed link
Fixed seat and with each shower nozzle fixes seat be correspondingly arranged be used for drive shower nozzle fixes seat to be moved on fixed link length direction
Moving drive mechanism, wherein, nozzle is equipped with each shower nozzle fixes seat, the moving drive mechanism includes motor and power
Transmission mechanism；
The control system includes the machine upper controller being located on plant protection unmanned plane and by wireless communication to being controlled on machine
The ground remote controller that device processed is remotely controlled, the machine upper controller include wireless transport module, memory module, control mould
Block and power module, wherein, motor is connected with control module in the executive device.
The preferred solution of the present invention, wherein, the fixed link is polished rod, and the power transmission mechanism is by ball screw
Pair is formed, wherein, the output axis connection of leading screw and motor in ball screw assembly, feed screw nut and nozzle in ball screw assembly,
Fixed seat connects.During work, the output shaft of motor drives leading screw to rotate, and then drives feed screw nut, shower nozzle fixes seat, nozzle to make
Linear motion.The purpose so set is, the power transmission mechanism being made of motor and ball screw assembly, have operate steadily,
The advantages that transmission and positioning accuracy are high, meanwhile, screw has position-limiting action to shower nozzle fixes seat so that completes the nozzle after positioning
Fixed seat can remain stationary, and realize positioning.
The preferred solution of the present invention, wherein, the fixed link is rack, in the inner cavity of the shower nozzle fixes seat with tooth
Bar is ordinatedly equipped with driven gear, wherein, the first motor is fixed in fixed seat on one side corresponding with gear, the rotation of motor
Shaft is equipped with driving gear, which engages through fixed seat wall with the driven gear.During work, electric machine rotational axis
Drive driving gear to rotate, and then drive driven gear, shower nozzle fixes seat and nozzle to be moved on rack.What is so set is good
It is in one side motor is arranged in shower nozzle fixes seat and is moved with shower nozzle fixes seat, it is not necessary to other using screw etc.
Connector is attached, therefore required power transfer member is minimum, and structure is most simple；On the other hand, each shower nozzle fixes seat
Interior gear realizes movement by way of being engaged with rack, has the advantages that freedom of movement, flexibility are good.
The preferred solution of the present invention, wherein, it is fixed handle that one end of the fixed link, which is equipped with, and fixed link passes through fixation
Handle is connected with fuselage；The fixed link is two groups, and two groups of fixed links are symmetrically disposed in the both sides of fuselage.The benefit so set
It is, the area coverage of two groups of teeth bar is more extensive, and the round-trip number sprayed can be reduced in unit area, and raising sprays effect
Rate.
Preferably, the fixed link lifting regulating mechanism for driving fixed link to move up and down is further included.During work, fixed link
Lifting regulating mechanism drive connection part moves up and down to drive shower nozzle fixes seat in fixed link and fixed link and nozzle together
Make elevating movement.During work, fixed link lifting regulating mechanism is driven fixed link and is consolidated by drive connection bar up and down motion
Shower nozzle fixes seat and nozzle one in fixed pole act as elevating movement.The purpose so set is, since unmanned plane is in flight,
Its rotor can produce wind field, and the direction of wind field and size are different from during positioned at different height, meanwhile, different wind fields is to spraying
The influence of effect is different, and specifically, when nozzle be located at suitable height, wind field can strengthen the uniformity and sink that liquid sprays
Drop rate, it is on the contrary then reduce spraying effect so as to strengthen spraying effect., being capable of basis by setting above-mentioned fixed plate adjusting mechanism
Different environmental conditions and operation make corresponding adjusting to the height of nozzle, nozzle is sprayed the uniformity, the sedimentation rate of liquid
Etc. reaching optimum efficiency.
Preferably, the motor that lifting driving gear and driving lifting driving gear rotate is equipped with the fixed handle, it is described
In rack stationary rack is ordinatedly equipped with drive gear.During work, motor drives lifting driving gear to turn on stationary rack
The dynamic elevating movement for realizing fixed link.
Preferably, the fixed link lifting regulating mechanism is made of ball screw assembly, wherein, the screw in ball screw assembly,
Nut is connected with the fixed handle.During work, the output shaft of motor drives leading screw to rotate, and then drives feed screw nut, fixed link
And shower nozzle fixes seat in fixed link and nozzle one act as elevating movement.
The preferred solution of the present invention, wherein, the motor is stepper motor or servomotor.During work, pass through control
The rotational angle of stepper motor or servomotor processed controls the displacement distance of nozzle so that nozzle adjust it is more accurate.
The present invention operation principle be：
During work, need to only the adjusting that can be realized as to two nozzle spacing, specifically, ground be operated by ground remote controller
Face remote control is communicated by way of wireless communication with the wireless transport module on unmanned plane, and instruction is passed to wirelessly
Conveyor module, wireless transport module send received instruction to control module again, then, control module execute instruction control electricity
Machine works, and motor drives shower nozzle fixes seat to move by power transmission mechanism again, when the spacing between two nozzles is smaller, sprays process
In when there is overlay region, motor drives the corresponding shower nozzle fixes seat of two nozzles to make movement close to each other；Spacing between two nozzles
Larger, when occurring drain spray area during spraying, the shower nozzle fixes seat where motor drives two nozzles is located remotely from each other movement, so that
Realize the adjustment distance two nozzles.
And before the crops to different densities spray, integral layout, work first are carried out to the quantity of fixed link upper nozzle
Further according to real work situation each nozzle is carried out in the specific location of fixed link on the whole moving adjusting, this elder generation when making
Partly-adjusting mode solves the problems, such as spacing between the number of nozzle and nozzle well after integral layout.
Similarly, it can control the position of each nozzle.
The present invention has the advantages that compared with prior art：
1st, the spacing that the device can be between adjusting shower nozzle, relative to the processing side of mode in background technology one and mode two
For formula, can fundamentally solve the problems, such as to spray dose it is excessive or it is very few exist, so as to realize the accurate of crops
Spray, improve the efficiency that plant protection unmanned plane sprays operation.
2nd, the device is not only able to carry out the micro-positioning regulators of small distance, and can carry out the adjusting of big distance, so that
Object must be sprayed can either cover the less plant of spacing of wheat class can cover trees equidistantly larger plant again, therefore
Add the application range of plant protection unmanned plane.
3rd, the device can realize the automatic adjustment of nozzle position by remote control, with respect to being adjusted manually
For the mode of section, need not be carried out when adjusting it is multiple take off, land, so as to save time and flight energy consumption, at the same time
Motor drive, precision higher quicker than hand drive, therefore the automatic adjustment have the advantages that it is real-time, quick.
4th, integral layout first is carried out to the quantity of fixed link upper nozzle when the device works, further according to real work situation pair
Each nozzle carries out moving adjusting in the specific location of fixed link, and partly-adjusting mode to adjust after this elder generation's integral layout
Step it is simple, regulating effect is good, solves the problems, such as spacing between the number of nozzle and nozzle well.
Brief description of the drawings
Fig. 1 is an a kind of specific implementation of nozzle position self-checking device suitable for plant protection unmanned plane of the present invention
The dimensional structure diagram of mode.
Fig. 2-Fig. 4 is a kind of plant protection of nozzle position self-checking device suitable for plant protection unmanned plane of the application present invention
The dimensional structure diagram of unmanned plane, wherein, Fig. 2 is the dimensional structure diagram of the nozzle position before adjusting；After Fig. 3 is adjusts
Nozzle position dimensional structure diagram；Fig. 4 is another second visual angle figure of Fig. 3.
Embodiment
With reference to embodiment and attached drawing, the present invention is described in further detail, but embodiments of the present invention are unlimited
In this.
Referring to Fig. 1 and Fig. 2, a kind of nozzle position self-checking device suitable for plant protection unmanned plane of the invention includes holding
Luggage is put and control system, it is characterised in that the executive device includes being arranged on fixed link 1 below unmanned aerial vehicle body, sets
Multiple shower nozzle fixes seats 2 in fixed link 1 and drive shower nozzle fixes seat with being used for of being correspondingly arranged of each shower nozzle fixes seat 2
2 moving drive mechanisms moved on 1 length direction of fixed link, wherein, nozzle 3 is equipped with each shower nozzle fixes seat 2, it is described
Moving drive mechanism includes motor 4 and power transmission mechanism；
The control system includes the machine upper controller being located on plant protection unmanned plane and by wireless communication to being controlled on machine
The ground remote controller that device processed is remotely controlled, the machine upper controller include wireless transport module, memory module, control mould
Block and power module, wherein, motor 4 is connected with control module in the executive device.
Referring to Fig. 1 and Fig. 4, the fixed link 1 is rack, is ordinatedly set with rack in the inner cavity of the shower nozzle fixes seat 2
There is driven gear, which is equipped with rolling bearing, and rolling bearing is set in the fixing axle of fixed seat inner cavity the (portion
It is divided into conventional connection, not shown in figure to come out), wherein, motor 4 is fixed in fixed seat on one side corresponding with gear,
The rotation axis of motor 4 is equipped with driving gear, which engages through fixed seat wall with the driven gear.During work,
4 rotation axis of motor drives driving gear to rotate, and then drives driven gear, shower nozzle fixes seat 2 and nozzle to be moved on rack.
Moved the advantages of this arrangement are as follows one side motor 4 is arranged in shower nozzle fixes seat 2 with shower nozzle fixes seat 2, it is not necessary to
It is attached using other connectors such as screw, therefore required power transfer member is minimum, structure is most simple；On the other hand,
Gear in each shower nozzle fixes seat 2 realizes movement by way of being engaged with rack, has good excellent of freedom of movement, flexibility
Point.
Referring to Fig. 1 and Fig. 2, wherein, it is fixed handle 1-1 that one end of the fixed link 1, which is equipped with, and fixed link 1 passes through fixed handle
1-1 is connected with fuselage；The fixed link 1 is two groups, and two groups of fixed links 1 are symmetrically disposed in the both sides of fuselage.So set
It is advantageous in that, the area coverage of two groups of teeth bar is more extensive, and the round-trip number sprayed can be reduced in unit area, improves spray
Apply efficiency.
Referring to Fig. 1 Fig. 2,1 lifting regulating mechanism of fixed link for driving fixed link 1 to move up and down is further included.During work,
1 lifting regulating mechanism drive connection part of fixed link moves up and down to drive the shower nozzle fixes seat 2 in fixed link 1 and fixed link 1
Elevating movement is acted as with nozzle one.During work, fixed link lifting regulating mechanism is driven solid by drive connection bar up and down motion
Shower nozzle fixes seat and nozzle one in fixed pole and fixed link act as elevating movement.The purpose so set is, due to nobody
For machine in flight, its rotor can produce wind field, and the direction of wind field and size are different from during positioned at different height, meanwhile, it is different
Influence of the wind field to spraying effect it is different, specifically, when nozzle is located at suitable height, wind field can strengthen liquid and spray
The uniformity and sedimentation rate, it is on the contrary then reduce spraying effect so as to strengthen spraying effect.By setting above-mentioned fixed plate to adjust machine
Structure, can make corresponding adjusting according to different environmental conditions and operation to the height of nozzle, nozzle is sprayed the equal of liquid
Evenness, sedimentation rate etc. reach optimum efficiency.
1 lifting regulating mechanism of fixed link is made of ball screw assembly, wherein, feed screw nut in ball screw assembly, with
The fixed handle 1-1 connections.During work, the output shaft of motor 4 drives leading screw to rotate, so drive feed screw nut, fixed link 1 with
And shower nozzle fixes seat 2 in fixed link 1 and nozzle one act as elevating movement.The motor 4 is stepper motor 4 or servomotor 4.
During work, the displacement distance of nozzle is controlled by controlling the rotational angle of stepper motor 4 or servomotor 4, so that spray
Head adjusts more accurate.
Referring to Fig. 1 and Fig. 3, operation principle of the invention is：
During work, need to only the adjusting that can be realized as to two nozzle spacing, specifically, ground be operated by ground remote controller
Face remote control is communicated by way of wireless communication with the wireless transport module on unmanned plane, and instruction is passed to wirelessly
Conveyor module, wireless transport module send received instruction to control module again, then, control module execute instruction control electricity
Machine 4 works, and motor 4 drives shower nozzle fixes seat 2 to move by power transmission mechanism again, when the spacing between two nozzles is smaller, sprays
During when there is overlay region, motor 4 drives the corresponding shower nozzle fixes seat 2 of two nozzles to make movement close to each other；When between two nozzles
Spacing it is larger, when occurring drain spray area during spraying, motor 4 drive two nozzles where shower nozzle fixes seat 2 be located remotely from each other
Movement, so as to fulfill the adjustment distance two nozzles.
And before the crops to different densities spray, integral layout, work first are carried out to the quantity of 1 upper nozzle of fixed link
Further according to real work situation each nozzle is carried out in the specific location of fixed link 1 on the whole moving adjusting when making, it is this
Partly-adjusting mode solves the problems, such as spacing between the number of nozzle and nozzle well after first integral layout.
Similarly, it can control the position of each nozzle.
Embodiment 2
The present embodiment and the difference of embodiment 1 be, the fixed link 1 is polished rod, the power transmission mechanism by
Ball wire bar pair is formed, wherein, the output axis connection of leading screw in ball screw assembly, and motor 4, the leading screw in ball screw assembly,
Nut is connected with shower nozzle fixes seat 2.During work, the output shaft of motor 4 drives leading screw to rotate, and then drives feed screw nut, nozzle
Fixed seat 2, nozzle are for linear motion.The purpose so set is that the power being made of motor 4 and ball screw assembly, transmits machine
Structure has the advantages that to operate steadily, be driven and positioning accuracy is high, meanwhile, screw has position-limiting action to shower nozzle fixes seat 2 so that
Completing the shower nozzle fixes seat 2 after positioning can remain stationary, and realize positioning.
The present embodiment other embodiment other than the above is same as Example 1.
Embodiment 3
The present embodiment and the difference of embodiment 1 are, lifting driving gear and driving are equipped with the fixed handle 1-1
The motor 4 that driving gear rotates is lifted, is ordinatedly equipped with stationary rack with drive gear in the rack.During work, 4 band of motor
Dynamic lifting driving gear rotates the elevating movement for realizing fixed link 1 on stationary rack.
The present embodiment other embodiment other than the above is same as Example 1.
It is above-mentioned for the preferable embodiment of the present invention, but embodiments of the present invention and from the limitation of the above, its
His any Spirit Essence without departing from the present invention with made under principle change, modification, replacement, combine, simplification, should be
The substitute mode of effect, is included within protection scope of the present invention.
Claims (8)
1. a kind of nozzle position self-checking device suitable for plant protection unmanned plane, including executive device and control system, it is special
Sign is that the executive device includes being arranged on fixed link below unmanned aerial vehicle body, the multiple nozzles being arranged in fixed link are consolidated
Reservation and with each shower nozzle fixes seat be correspondingly arranged be used for drive what shower nozzle fixes seat moved on fixed link length direction
Moving drive mechanism, wherein, nozzle is equipped with each shower nozzle fixes seat, the moving drive mechanism includes the first motor and moves
Force transfer mechanism；
The control system includes the machine upper controller being located on plant protection unmanned plane and is filled by wireless communication to being controlled on machine
Put the ground remote controller being remotely controlled, the machine upper controller include wireless transport module, memory module, control module with
And power module, wherein, the first motor is connected with control module in the executive device.
2. the nozzle position self-checking device according to claim 1 suitable for plant protection unmanned plane, it is characterised in that institute
It is polished rod to state fixed link, and the power transmission mechanism is made of ball wire bar pair, wherein, leading screw and motor in ball screw assembly,
Output axis connection, the feed screw nut in ball screw assembly, is connected with shower nozzle fixes seat.
3. the nozzle position self-checking device according to claim 1 suitable for plant protection unmanned plane, it is characterised in that institute
It is rack to state fixed link, and driven gear is ordinatedly equipped with rack in the inner cavity of the shower nozzle fixes seat, wherein, the first motor is consolidated
It is scheduled in fixed seat on one side corresponding with gear, the rotation axis of the first motor is equipped with driving gear, which wears
Fixed seat wall is crossed to engage with the driven gear.
4. the nozzle position self-checking device according to claim 1 suitable for plant protection unmanned plane, it is characterised in that institute
The one end for stating fixed link is equipped with fixed handle, and fixed link is connected by fixed handle with fuselage；The fixed link is two groups, and two groups are fixed
Bar is symmetrically disposed in the both sides of fuselage.
5. the nozzle position self-checking device according to claim 4 suitable for plant protection unmanned plane, it is characterised in that also
Including the fixed link lifting regulating mechanism for driving fixed link to move up and down.
6. the nozzle position self-checking device according to claim 5 suitable for plant protection unmanned plane, it is characterised in that institute
State fixed link lifting regulating mechanism include be arranged in fixed handle lifting driving gear, be arranged in rack and lift driving tooth
The second motor that the stationary rack of engagement and driving lifting driving gear rotate is taken turns, which connects with the control module
Connect.
7. the nozzle position self-checking device according to claim 5 suitable for plant protection unmanned plane, it is characterised in that institute
Fixed link lifting regulating mechanism is stated to be made of ball screw assembly, wherein, feed screw nut and the fixed handle in ball screw assembly,
Connection.
8. the nozzle position self-checking device according to claim 1 suitable for plant protection unmanned plane, it is characterised in that institute
It is stepper motor or servomotor to state the first motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038729.8A CN107897152A (en) | 2017-10-27 | 2017-10-27 | A kind of nozzle position self-checking device suitable for plant protection unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711038729.8A CN107897152A (en) | 2017-10-27 | 2017-10-27 | A kind of nozzle position self-checking device suitable for plant protection unmanned plane |
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| CN107897152A true CN107897152A (en) | 2018-04-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711038729.8A Pending CN107897152A (en) | 2017-10-27 | 2017-10-27 | A kind of nozzle position self-checking device suitable for plant protection unmanned plane |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108583895A (en) * | 2018-04-18 | 2018-09-28 | 深圳市安思科电子科技有限公司 | A kind of plant protection drone with nozzle switching and accurate spraying function |
| CN109927902A (en) * | 2019-03-12 | 2019-06-25 | 华南农业大学 | A kind of regulating device and method of plant protection drone rotor wind field and mist field consistency |
| CN109984118A (en) * | 2019-04-30 | 2019-07-09 | 农业农村部南京农业机械化研究所 | A kind of adaptive device for administration of drugs |
| CN110001965A (en) * | 2019-04-24 | 2019-07-12 | 方淼洪 | A kind of plant protection drone by adjusting spray angle regulating agent content |
| CN110254723A (en) * | 2019-06-28 | 2019-09-20 | 王祖德 | A kind of adjustable agriculture unmanned plane pesticide spraying frame |
| CN110325443A (en) * | 2018-04-28 | 2019-10-11 | 深圳市大疆创新科技有限公司 | Agriculture unmanned plane |
| CN110382353A (en) * | 2018-04-28 | 2019-10-25 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle rack and unmanned plane |
| CN111280032A (en) * | 2020-03-30 | 2020-06-16 | 深圳市伊乐农贸有限公司 | A plant protection unmanned aerial vehicle for agricultural irrigation's jam-proof |
| CN114096464A (en) * | 2020-10-12 | 2022-02-25 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle |
| WO2022095021A1 (en) * | 2020-11-09 | 2022-05-12 | 深圳市大疆创新科技有限公司 | Spraying operation method and apparatus, unmanned aerial vehicle, and storage medium |
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Application publication date: 20180413 |