CN108516092B - Agricultural unmanned aerial vehicle's medicine system that spouts - Google Patents
Agricultural unmanned aerial vehicle's medicine system that spouts Download PDFInfo
- Publication number
- CN108516092B CN108516092B CN201810256361.0A CN201810256361A CN108516092B CN 108516092 B CN108516092 B CN 108516092B CN 201810256361 A CN201810256361 A CN 201810256361A CN 108516092 B CN108516092 B CN 108516092B
- Authority
- CN
- China
- Prior art keywords
- farmland
- edge
- aerial vehicle
- unmanned aerial
- shape model
- 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.)
- Active
Links
- 239000003814 drug Substances 0.000 title claims abstract description 9
- 239000000575 pesticide Substances 0.000 claims abstract description 43
- 238000005507 spraying Methods 0.000 claims abstract description 29
- 239000007788 liquid Substances 0.000 claims abstract description 26
- 239000007921 spray Substances 0.000 claims abstract description 20
- 210000001015 abdomen Anatomy 0.000 claims description 3
- 230000002285 radioactive effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 2
- 208000035473 Communicable disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Images
Classifications
-
- 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)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a pesticide spraying system of an agricultural unmanned aerial vehicle, which comprises: an unmanned aerial vehicle; the pesticide spraying device comprises a pesticide box, a liquid pump and a plurality of spray heads; a camera disposed on the drone; the server terminal comprises a route planning module and a database, wherein a plurality of farmland shape models and a flight route aiming at each farmland shape model are stored in the database in advance; the controller controls the unmanned aerial vehicle to fly to the upper part of a farmland and controls the camera to shoot farmland images; the route planning module identifies farmland boundaries from the farmland images, when the farmland boundaries are matched with one farmland shape model, the server terminal sends the matched flight routes to the controller, and the controller controls the unmanned aerial vehicle to fly according to the matched flight routes and controls the liquid pump to spray liquid medicine. The invention can control the unmanned aerial vehicle to fly according to a certain route, and improves the working efficiency of farmland pesticide spraying.
Description
Technical Field
The present invention relates to agricultural machinery. More specifically, the invention relates to a pesticide spraying system of an agricultural unmanned aerial vehicle.
Background
The unmanned plane is called unmanned plane for short, and is an unmanned aerial vehicle operated by radio remote control equipment and a self-contained program control device. At present, the unmanned aerial vehicle has wide application in aspects of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster rescue, wild animal observation, infectious disease monitoring and the like, so that the use of the unmanned aerial vehicle is greatly expanded. In the agricultural field, utilize unmanned aerial vehicle to carry out the pesticide and spray into a trend, it can improve the liquid medicine and spray efficiency, saves the manual work, but the farmland shape is not unified, how to make unmanned aerial vehicle can adapt to the farmland without the shape, is a problem that still must research.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a pesticide spraying system of an agricultural drone, including:
an unmanned aerial vehicle;
the pesticide spraying device comprises a pesticide box, a liquid pump and a plurality of spray heads, the pesticide box is hung below the abdomen of the unmanned aerial vehicle, the lower part of the pesticide box is connected with a central output pipe, the spray heads are distributed in a radioactive mode relative to the central output pipe and are connected to the central output pipe through respective branch pipelines, and the liquid pump is arranged on the central output pipe so as to pump the pesticide liquid in the pesticide box into the spray heads simultaneously;
the camera is arranged on the unmanned aerial vehicle and used for shooting a ground image;
the server terminal comprises a route planning module and a database, wherein a plurality of farmland shape models and a flight route aiming at each farmland shape model are stored in the database in advance;
the controller is connected to the unmanned aerial vehicle, the camera and the liquid pump, the controller controls the unmanned aerial vehicle to fly to the upper part of a farmland, controls the camera to shoot farmland images and sends the shot farmland images to the server terminal;
the route planning module identifies farmland boundaries from the farmland images, compares the farmland boundaries with each farmland shape model, when the farmland boundaries are matched with one farmland shape model, the server terminal sends matched flight routes to the controller, and the controller controls the unmanned aerial vehicle to fly over the farmland according to the matched flight routes and controls the liquid pump to spray liquid medicine.
Preferably, in the pesticide spraying system of the agricultural unmanned aerial vehicle, when the farmland shape model is trapezoidal, the flight path corresponding to the farmland shape model takes one corner of a first side of the farmland boundary as a starting point, travels along the first side of the farmland boundary, moves a certain distance along a second side adjacent to the first side when reaching another corner of the first side, flies in a direction parallel to the first side until reaching a third side adjacent to the first side, moves a certain distance along the third side, flies in a direction parallel to the first side, and reciprocates until traveling once along a fourth side parallel to the first side.
Preferably, in the pesticide spraying system of the agricultural unmanned aerial vehicle, when the farmland shape model is a trapezoid, the farmland shape model includes a first side, a second side adjacent to the first side, a third side adjacent to the first side, and a fourth side opposite to the first side, the farmland shape model is divided into a trapezoid and a triangle, the quadrangle has the first side and a fifth side opposite to and parallel to the first side, and the fifth side divides the second side into a sixth side belonging to the trapezoid and a seventh side belonging to the triangle, the flight path of the farmland shape model is to take one corner of the first side as a starting point, to travel along the first side, to reach the other corner of the first side, to move for a certain distance along the second side adjacent to the first side, and then, the flying is carried out along a direction parallel to the first edge until a sixth edge adjacent to the first edge is reached, the flying is carried out along the sixth edge for a certain distance, then, the flying is carried out along the direction parallel to the first edge, the reciprocating operation is carried out until the flying is carried out once along a fifth edge parallel to the first edge, then, the flying is carried out along a seventh edge adjacent to the fifth edge for a certain distance, then, the flying is carried out along the direction parallel to the fifth edge until a corner of the triangle which is not adjacent to the trapezoid is reached, and the reciprocating operation is carried out until a corner of the triangle which is not adjacent to the trapezoid is reached.
Preferably, in the pesticide spraying system of the agricultural unmanned aerial vehicle, the server terminal includes an external input module, and when the route planning module cannot match a farmland shape model from the database for the farmland image, the external input module is configured to receive an externally input flight route, store a farmland boundary of the farmland image as a new farmland shape model in the database, and simultaneously store the flight route under the new farmland shape model.
Preferably, in the pesticide spraying system of the agricultural unmanned aerial vehicle, the plurality of spray heads are distributed on a circle with the central output pipe as the center of a circle.
The invention at least comprises the following beneficial effects:
before spraying, the unmanned aerial vehicle flies to the upper part of a farmland, shoots an image of the farmland and sends the image to a server terminal; the server terminal discerns farmland image, simplifies out its farmland border to compare it with the farmland shape model that has existed in the database, match when the two, then send the flight route that the matching was out to the controller, and controller control unmanned aerial vehicle flies above the farmland according to this flight route, and simultaneously at the flight in-process, the liquid pump is gone into the shower nozzle with the liquid medicine pump, thereby sprays the pesticide to the farmland.
The invention can control the unmanned aerial vehicle to fly according to a certain route instead of irregularly, and does not need to control the flight all the time by manpower, thereby improving the working efficiency of farmland pesticide spraying and saving the manpower.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic structural diagram of a pesticide spraying system of an agricultural unmanned aerial vehicle according to an embodiment of the invention;
fig. 2 is a schematic structural view of a pesticide spraying device according to an embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 and 2, the present invention provides a pesticide spraying system for an agricultural unmanned aerial vehicle, including: an unmanned aerial vehicle; the pesticide spraying device comprises a pesticide box 1, a liquid pump and a plurality of spray heads 3, the pesticide box is hung below the abdomen of the unmanned aerial vehicle, the lower part of the pesticide box is connected with a central output pipe 2, the spray heads are distributed in a radioactive mode relative to the central output pipe and are connected to the central output pipe through respective branch pipelines, and the liquid pump is arranged on the central output pipe so as to pump liquid pesticide in the pesticide box into the spray heads simultaneously; the camera is arranged on the unmanned aerial vehicle and used for shooting a ground image; the server terminal comprises a route planning module and a database, wherein a plurality of farmland shape models and a flight route aiming at each farmland shape model are stored in the database in advance; the controller is connected to the unmanned aerial vehicle, the camera and the liquid pump, the controller controls the unmanned aerial vehicle to fly to the upper part of a farmland, controls the camera to shoot farmland images and sends the shot farmland images to the server terminal;
the route planning module identifies farmland boundaries from the farmland images, compares the farmland boundaries with each farmland shape model, when the farmland boundaries are matched with one farmland shape model, the server terminal sends matched flight routes to the controller, and the controller controls the unmanned aerial vehicle to fly over the farmland according to the matched flight routes and controls the liquid pump to spray liquid medicine.
The shape of the field is not uniform. Before spraying, the unmanned aerial vehicle flies to the upper part of a farmland, shoots an image of the farmland and sends the image to a server terminal; the server terminal discerns farmland image, simplifies out its farmland border to compare it with the farmland shape model that has existed in the database, match when the two, then send the flight route that the matching was out to the controller, and controller control unmanned aerial vehicle flies above the farmland according to this flight route, and simultaneously at the flight in-process, the liquid pump is gone into the shower nozzle with the liquid medicine pump, thereby sprays the pesticide to the farmland.
The invention can control the unmanned aerial vehicle to fly according to a certain route instead of irregularly, and does not need to control the flight all the time by manpower, thereby improving the working efficiency of farmland pesticide spraying and saving the manpower.
Preferably, in the pesticide spraying system of the agricultural unmanned aerial vehicle, when the farmland shape model is trapezoidal, the flight path corresponding to the farmland shape model takes one corner of a first side of the farmland boundary as a starting point, travels along the first side of the farmland boundary, moves a certain distance along a second side adjacent to the first side when reaching another corner of the first side, flies in a direction parallel to the first side until reaching a third side adjacent to the first side, moves a certain distance along the third side, flies in a direction parallel to the first side, and reciprocates until traveling once along a fourth side parallel to the first side.
The farmland shape model can be established in the system by workers in advance. When the unmanned aerial vehicle moves a certain distance along the second side, can calculate through second side and the first side angle alpha that becomes, moving distance L R/sin alpha, wherein, R is unmanned aerial vehicle's spraying radius.
Preferably, in the pesticide spraying system of the agricultural unmanned aerial vehicle, when the farmland shape model is a trapezoid, the farmland shape model includes a first side, a second side adjacent to the first side, a third side adjacent to the first side, and a fourth side opposite to the first side, the farmland shape model is divided into a trapezoid and a triangle, the quadrangle has the first side and a fifth side opposite to and parallel to the first side, and the fifth side divides the second side into a sixth side belonging to the trapezoid and a seventh side belonging to the triangle, the flight path of the farmland shape model is to take one corner of the first side as a starting point, to travel along the first side, to reach the other corner of the first side, to move for a certain distance along the second side adjacent to the first side, and then, the flying is carried out along a direction parallel to the first edge until a sixth edge adjacent to the first edge is reached, the flying is carried out along the sixth edge for a certain distance, then, the flying is carried out along the direction parallel to the first edge, the reciprocating operation is carried out until the flying is carried out once along a fifth edge parallel to the first edge, then, the flying is carried out along a seventh edge adjacent to the fifth edge for a certain distance, then, the flying is carried out along the direction parallel to the fifth edge until a corner of the triangle which is not adjacent to the trapezoid is reached, and the reciprocating operation is carried out until a corner of the triangle which is not adjacent to the trapezoid is reached.
When the farmland shape model is a trapezoid, the farmland shape model is re-divided into a trapezoid and a triangle, and the flight route is planned according to the trapezoid and the triangle. Unmanned aerial vehicle can realize covering the whole in trapezoid farmland, and does not have the return way, and work efficiency is high.
Preferably, in the pesticide spraying system of the agricultural unmanned aerial vehicle, the server terminal includes an external input module, and when the route planning module cannot match a farmland shape model from the database for the farmland image, the external input module is configured to receive an externally input flight route, store a farmland boundary of the farmland image as a new farmland shape model in the database, and simultaneously store the flight route under the new farmland shape model.
When an existing flight path cannot be matched in the database, the flight path can be made by the staff on site according to the shot farmland image. The newly created flight path and the field boundary of the photographed field image may be stored in a database as a reference for the next matching analysis.
Preferably, in the pesticide spraying system of the agricultural unmanned aerial vehicle, the plurality of spray heads are distributed on a circle with the central output pipe as the center of a circle.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (4)
1. Agricultural unmanned aerial vehicle's spraying system, its characterized in that includes:
an unmanned aerial vehicle;
the pesticide spraying device comprises a pesticide box, a liquid pump and a plurality of spray heads, the pesticide box is hung below the abdomen of the unmanned aerial vehicle, the lower part of the pesticide box is connected with a central output pipe, the spray heads are distributed in a radioactive mode relative to the central output pipe and are connected to the central output pipe through respective branch pipelines, and the liquid pump is arranged on the central output pipe so as to pump the pesticide liquid in the pesticide box into the spray heads simultaneously;
the camera is arranged on the unmanned aerial vehicle and used for shooting a ground image;
the server terminal comprises a route planning module and a database, wherein a plurality of farmland shape models and a flight route aiming at each farmland shape model are stored in the database in advance;
the controller is connected to the unmanned aerial vehicle, the camera and the liquid pump, the controller controls the unmanned aerial vehicle to fly to the upper part of a farmland, controls the camera to shoot farmland images and sends the shot farmland images to the server terminal;
the route planning module identifies farmland boundaries from the farmland images, compares the farmland boundaries with each farmland shape model, and when the farmland boundaries are matched with one farmland shape model, the server terminal sends matched flight routes to the controller, and the controller controls the unmanned aerial vehicle to fly over the farmland according to the matched flight routes and controls the liquid pump to spray liquid medicine;
when the farmland shape model is trapezoidal, the flight path corresponding to the farmland shape model takes one corner of a first edge of the farmland boundary as a starting point, travels along the first edge of the farmland boundary, moves for a certain distance along a second edge adjacent to the first edge when reaching the other corner of the first edge, flies in a direction parallel to the first edge until reaching a third edge adjacent to the first edge, moves for a certain distance along the third edge, flies in a direction parallel to the first edge, and reciprocates until traveling once along a fourth edge parallel to the first edge.
2. A pesticide spraying system of an agricultural unmanned aerial vehicle as claimed in claim 1, wherein when the farmland shape model is a trapezoid, the farmland shape model includes a first side, a second side adjacent to the first side, a third side adjacent to the first side, and a fourth side opposite to the first side, the farmland shape model is divided into a trapezoid and a triangle, the quadrangle has the first side and a fifth side opposite to and parallel to the first side, and the fifth side divides the second side into a sixth side belonging to the trapezoid and a seventh side belonging to the triangle, the flight path of the farmland shape model is such that, starting from one corner of the first side, the farmland travels along the first side, the other corner of the first side is reached, the farmland shape model moves a certain distance along the second side adjacent to the first side, and then, the flying is carried out along a direction parallel to the first edge until a sixth edge adjacent to the first edge is reached, the flying is carried out along the sixth edge for a certain distance, then, the flying is carried out along the direction parallel to the first edge, the reciprocating operation is carried out until the flying is carried out once along a fifth edge parallel to the first edge, then, the flying is carried out along a seventh edge adjacent to the fifth edge for a certain distance, then, the flying is carried out along the direction parallel to the fifth edge until a corner of the triangle which is not adjacent to the trapezoid is reached, and the reciprocating operation is carried out until a corner of the triangle which is not adjacent to the trapezoid is reached.
3. A pesticide spraying system for an agricultural unmanned aerial vehicle as claimed in claim 1, wherein the server terminal comprises an external input module for receiving an externally input flight route when the route planning module cannot match a field shape model from the database for the field image, and storing a field boundary of the field image as a new field shape model in the database while also storing the flight route under the new field shape model.
4. A pesticide spraying system for an agricultural unmanned aerial vehicle as claimed in claim 1, wherein the plurality of spraying heads are distributed on a circle centered on the central output pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810256361.0A CN108516092B (en) | 2018-03-27 | 2018-03-27 | Agricultural unmanned aerial vehicle's medicine system that spouts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810256361.0A CN108516092B (en) | 2018-03-27 | 2018-03-27 | Agricultural unmanned aerial vehicle's medicine system that spouts |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108516092A CN108516092A (en) | 2018-09-11 |
| CN108516092B true CN108516092B (en) | 2021-01-01 |
Family
ID=63433015
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810256361.0A Active CN108516092B (en) | 2018-03-27 | 2018-03-27 | Agricultural unmanned aerial vehicle's medicine system that spouts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108516092B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110134147A (en) * | 2019-06-20 | 2019-08-16 | 安阳全丰航空植保科技股份有限公司 | A kind of autonomous paths planning method and device of plant protection drone |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101763463A (en) * | 2009-12-31 | 2010-06-30 | 上海量科电子科技有限公司 | Digital service type flowerpot and system thereof and implementing method for system |
| US10121015B2 (en) * | 2014-02-21 | 2018-11-06 | Lens Ventures, Llc | Management of data privacy and security in a pervasive computing environment |
| CN103823871A (en) * | 2014-02-26 | 2014-05-28 | 可牛网络技术（北京）有限公司 | Method and device for searching for software |
| CN104881037A (en) * | 2015-04-01 | 2015-09-02 | 广州天翔航空科技有限公司 | Spraying method for plant protection unmanned aerial vehicle (UAV) |
| CN105159319B (en) * | 2015-09-29 | 2017-10-31 | 广州极飞科技有限公司 | The spray method and unmanned plane of a kind of unmanned plane |
| CN105278546A (en) * | 2015-11-06 | 2016-01-27 | 中国航空工业经济技术研究院 | Agricultural plant protection unmanned aerial vehicle planting control system |
| CN106647795A (en) * | 2016-03-01 | 2017-05-10 | 江苏轻石科技有限公司 | Plant protection unmanned plane flight control system |
| CN106843243A (en) * | 2016-03-22 | 2017-06-13 | 北京京东尚科信息技术有限公司 | The management method of UAS and unmanned plane route |
| JP6375504B2 (en) * | 2016-06-13 | 2018-08-22 | 株式会社プロドローン | Latitude error sharing system |
| CN109714577A (en) * | 2016-09-20 | 2019-05-03 | 张玲花 | Unmanned aerial vehicle control system, the video monitoring Skynet system based on recognition of face |
| CN106503433A (en) * | 2016-10-18 | 2017-03-15 | 广州极飞科技有限公司 | Sprinkling area determination method and device based on unmanned machine operation |
| CN106502264B (en) * | 2016-10-26 | 2018-05-01 | 广州极飞科技有限公司 | The operating system of plant protection unmanned plane |
| CN106809391A (en) * | 2017-01-20 | 2017-06-09 | 徐志勇 | Site-directed quantitative formula agricultural spray unmanned plane |
| CN106708060B (en) * | 2017-02-21 | 2020-01-10 | 昂海松 | Automatic and orderly mowing method of mower without external navigation information |
| CN107063137A (en) * | 2017-06-08 | 2017-08-18 | 广东容祺智能科技有限公司 | A kind of dam based on unmanned plane inrushes areal calculation and emergent treatment system |
| CN107226211A (en) * | 2017-07-21 | 2017-10-03 | 高连平 | One planting fruit-trees pesticide spraying device and spray method |
-
2018
- 2018-03-27 CN CN201810256361.0A patent/CN108516092B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN108516092A (en) | 2018-09-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105116911B (en) | Unmanned plane spray method | |
| KR101885517B1 (en) | Drone For Peat Control | |
| CN105159319B (en) | The spray method and unmanned plane of a kind of unmanned plane | |
| CN106200683B (en) | Unmanned plane plant protection system and plant protection method | |
| CN108719242B (en) | Pesticide spraying system | |
| CN106585992A (en) | Method and system for intelligent identification and accurate pesticide spraying using unmanned aerial vehicles | |
| CN108541683A (en) | A kind of unmanned plane pesticide spraying system based on convolutional neural networks chip | |
| CN108196580A (en) | The spray method and unmanned plane of a kind of unmanned plane | |
| CN109353521A (en) | A kind of UAV system and its control method precisely sprayed | |
| CN205045004U (en) | Special unmanned aerial vehicle of forestry plant diseases and insect pests monitoring prevention and cure | |
| CN111990388A (en) | Selective spraying system, cooperative pesticide application system and cooperative method | |
| CN106406336A (en) | Unmanned aerial vehicle used for fruit tree spraying | |
| US20230331406A1 (en) | Remotely piloted aircraft suitable for aerial survey and spraying activities,and aerial survey and spraying system | |
| KR102028956B1 (en) | Artificial pollination system using drones | |
| CN108388271B (en) | Unmanned aerial vehicle spouts medicine system based on server terminal | |
| CN106774465A (en) | A kind of unmanned aerial vehicle (UAV) control method for fruit tree spray | |
| KR20200019510A (en) | Drone Control System for Forest | |
| CN106973882A (en) | Unmanned plane for pesticide spraying | |
| CN110113577A (en) | A kind of automatically-monitored platform in track distribution type agricultural planting region and its method | |
| CN108516092B (en) | Agricultural unmanned aerial vehicle's medicine system that spouts | |
| CN113232865A (en) | Agricultural unmanned aerial vehicle pesticide spraying system and method based on machine vision | |
| CN105941378A (en) | Pesticide sprayer | |
| CN210503198U (en) | Double-cavity medicine box capable of being carried on unmanned aerial vehicle and spraying operation device based on medicine box | |
| CN108812589B (en) | Pesticide supply equipment based on unmanned aerial vehicle | |
| Conesa-Muñoz et al. | Integrating autonomous aerial scouting with autonomous ground actuation to reduce chemical pollution on crop soil |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20201217 Address after: 238100 Hujiang administrative village, Huanfeng Town, Hanshan County, Ma'anshan City, Anhui Province Applicant after: HANSHAN FENGHUA SUPPLY AND MARKETING COOPERATIVES Address before: 532100 Jiujie, Dongmen Town, Fusui County, Chongzuo City, Guangxi Zhuang Autonomous Region Applicant before: Zhong Jinghai |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |