CN108812591A - A kind of distributed plant protection drone spraying system reducing droplet drift - Google Patents
A kind of distributed plant protection drone spraying system reducing droplet drift Download PDFInfo
- Publication number
- CN108812591A CN108812591A CN201810332413.8A CN201810332413A CN108812591A CN 108812591 A CN108812591 A CN 108812591A CN 201810332413 A CN201810332413 A CN 201810332413A CN 108812591 A CN108812591 A CN 108812591A
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- pressure
- wind speed
- wind
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- plant protection
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Classifications
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- 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
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- 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
- A01M7/0089—Regulating or controlling systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS 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
Abstract
The invention discloses a kind of distributed plant protection drone spraying systems of reduction droplet drift,Including network monitoring terminal,Algorithmic controller,Airborne circumstance monitoring device,Ground environment monitoring device,Pressure regulation device,Angular adjustment apparatus and spray head output device,The ground environment monitoring device and airborne circumstance monitoring device carry out a wide range of and small range wind speed near the ground respectively,Wind direction monitoring,Obtain corresponding wind speed,Wind direction and wind speed change rate data,And corresponding data is transmitted to network monitoring terminal,The pressure of rough unmanned aerial vehicle group system synergistic working is uniformly set by network monitoring terminal,Angle parameter,Parameter is transferred to algorithmic controller,By the pressure and angle of obtained detailed adjustment data being transmitted respectively and adjusted by pressure regulation device and angular adjustment apparatus after algorithmic controller operation operation,Spray head output device is set to work according to required operational pressure and operating angle,It realizes and reduces droplet drift,Accuracy pesticide applying,Improve pesticide utilization rate.
Description
Technical field
The present invention relates to plant protection drone field, more particularly, to a kind of reduction droplet drift distributed plant protection without
Man-machine spraying system.
Background technique
Pesticide is agriculture volume increase, reduces the important means of natural hazard.Currently, unmanned plane has job area big, application
Quick and precisely the advantages that, is considered the highly-efficient equipment of pesticide application.But due to the factors such as aerial work condition and ambient windstream
Influence, unmanned plane spray operation be easy to produce droplet drift, it will bring the waste of pesticide, the pollution of pesticide, spraying effect
It reduces, spray the problems such as part is uneven.It reduces the deposition of droplet drift, raising pesticide on Target crops and has become China
The research emphasis of the technical field of plant protection application.
The reduction means of droplet drift at present mainly have the motion path of the partial size, unmanned plane that spray, dosage form of medical fluid etc.
Many aspects, but due to the wind speed in the environment of crop field be it is changeable, detectable and uncontrollable, hand is sprayed for single
Section, effect are poor；And for unmanned plane path（Height, direction and speed including flight etc.）Its effect is preferable, but by
Parameter and complicated operating environment in its unmanned plane itself, thus the development process of method is brought biggish difficulty and longer is opened
The period is sent out, and " air crash " risk of unmanned plane itself can also increased.
Summary of the invention
To overcome existing technological deficiency, the present invention provides a kind of structure is simple, automatic Acquisition Environment factor is directly made
For spouting pressure and angle is sprayed, accuracy pesticide applying influences smaller and reduces droplet drift on the operation of unmanned plane and inherent parameters
The distributed plant protection drone spraying system of shifting.
To achieve the purpose of the present invention, it is achieved using following technical scheme：
A kind of distributed plant protection drone spraying system reducing droplet drift, including it is used for a unified monitoring unmanned plane operation group of planes
Network monitoring terminal, for by operation algorithm control task variable algorithmic controller, for small range near the ground
The airborne circumstance monitoring device that is monitored of the data such as wind speed, wind direction, for on a large scale in working environment wind speed,
The environment monitoring device near the ground that the data such as wind direction are monitored, for adjusting the pressure regulation device of unmanned plane operational pressure,
Spray head output device for adjusting the angular adjustment apparatus of unmanned plane operating angle and for exporting medical fluid；The network monitoring
Terminal, airborne circumstance monitoring device, ground environment monitoring device are wirelessly connected with algorithmic controller respectively, and the pressure adjusts dress
It sets and is connected to respectively with spray head output device and medicine-chest, the ground environment monitoring device and airborne circumstance monitoring device difference are over the ground
Face carry out on a large scale and small range wind speed, wind direction monitor, obtain corresponding wind speed, wind direction and wind speed change rate, and by data
It is transferred to algorithmic controller, for algorithmic controller by wireless network transmissions to the network terminal, terminal obtains the data of each detection
Post-processing calculates and the parameter approximate range that sprays of each needs is fed back to algorithmic controller, algorithm control by wireless network
Device is adjusted by the way that obtained adjustment data are transmitted separately to pressure regulation device, angular adjustment apparatus after operation by pressure
The pressure and angle of device and angular adjustment apparatus adjustment operation, make spray head output device according to required operational pressure and operation
Angle work is realized and reduces droplet drift.
In this patent, the network monitoring terminal, algorithmic controller, airborne circumstance monitoring device, ground environment monitoring dress
It sets, carried out data transmission between pressure regulation device and angular adjustment apparatus by wireless network, and the installation position of each device
It sets and installation number can according to need setting.
Wherein, ground environment monitoring device in large area supervises the data such as the wind speed, wind direction, temperature and humidity on ground
It surveys, while airborne circumstance monitoring device is monitored the data such as wind speed, the wind direction of unmanned plane operating environment in low latitude, obtains small
The wind speed of range, wind direction data simultaneously obtain wind speed change rate after processing.The number such as obtained wind speed, wind direction and wind speed change rate
It is converted into digital signal according to by chromacoder, and by being wirelessly transmitted in algorithmic controller, algorithmic controller is to biography
The data such as the defeated wind speed to come, wind direction and wind speed change rate carry out algorithm operation, are calculated and corresponding spray angle and spray
It exerts pressure, and this result is exported to pressure regulation device and angular adjustment apparatus, thus by pressure regulation device and angle tune
Engagement positions carry out the adjustment of unmanned plane operational pressure and operating angle, enable spray head output device according to required pressure and angle
Degree carries out spraying pesticide.In addition other data other than the data of wind speed, wind direction and wind speed change rate, including temperature and humidity
Deng other working methods such as the operating speeds for being used for regulating system.
The wind speed change rate be calculated by real-time wind speed as a result, the period be 0.1s, meet system performance.
Wherein, the algorithmic controller is while transmitting the result to pressure regulation device and angular adjustment apparatus,
Data result is transmitted to network monitoring terminal, is monitored in real time by network monitoring terminal.
Further, the network monitoring terminal is made of the minicomputer terminal with GPRS function, the network prison
Control terminal includes WEB server procedure, data switching center, data storage disk and the electricity that network receives database, Transmission Control Protocol
Source.
The network monitoring terminal is made of the minicomputer terminal with GPRS function, can be moved easily, and system is increased
Flexibility.The power supply is uninterruptible power supply, to guarantee network monitoring terminal energy steady operation.
Further, the algorithmic controller includes signal input apparatus, SCM system, circuit power supply unit, signal
Output amplifier and vibration abatement.
The vibration abatement can be further improved the stability of system.The vibration abatement is the flexible glue of sponge structure,
Light weight and good buffer effect.
Further, the algorithmic controller is equipped with radio receiving transmitting module and GPRS module, and passes through wired, wireless receipts
Send out the output and input of module and GPRS module as data.
Further, the airborne circumstance monitoring device is mounted on unmanned plane, including the wind speed sensing being mounted above
Device and wind transducer, and be mounted on lower section leeward isolating device, the air velocity transducer, wind transducer and leeward every
From chromacoder and wireless transport module is equipped between device, the air velocity transducer and wind transducer are separately connected
Chromacoder, and wind speed and direction data are transferred to by algorithmic controller by chromacoder and wireless transport module
In, the signal of the wireless transport module is carried out in a manner of mass-sending.
Effectively unmanned plane displacement bring air-flow can be kept apart by the way that leeward isolating device is arranged, so that detecting
Environmental data it is more acurrate reliable.The leeward isolating device be wind isolation board, the light plastic of the material of the wind isolation board, thus
While being effectively isolated air-flow, also it is avoided that wind isolation board aggravates the weight of whole device.
Further, the ground environment monitoring device is mounted on ground by height-adjustable fast dismantling support and caisson
Face, including the air velocity transducer and wind transducer being mounted at the top of caisson, the signal converting means that is mounted on inside caisson
It sets, singlechip control chip and power supply, and wind speed and direction data is transferred in algorithmic controller by wireless signal.
The making material of the caisson and fast dismantling support is stainless steel, can effectively resist weathering caused by exposing to the weather
And corrosiveness.The power supply is preferably solar energy power store device.
Further, the pressure regulation device includes pressure adjustable water pump, sig-nal-conditioning unit and powered stable device,
The pressure regulation device passes through sig-nal-conditioning unit and powered stable device by pressure adjustable testing pump spouting pressure
Control is adjusted to pressure adjustable water pump.
The pressure regulation device has the function of that signal is kept, signal conversion and signal are amplified.The pressure adjustable water
Pump carries out output pressure by the controllable liquid pump of power, and the control of the liquid pump is controlled by the pwm signal of variable period, thus
Control the pressure size of water pump.Wherein, adjustable range of the spouting pressure of liquid pump between 100 ~ 500kPa.
Further, the angular adjustment apparatus includes that sequentially connected structure, stable axis, the angle of being connected and fixed exports rudder
Machine, signal keep structure and powered stable device.
The control signal of the angle controller is monocycle PWM waveform, and the angular adjustment apparatus is by big torsion rudder
Machine carries out angular adjustment, and light alloy material is made the big torsion steering engine again, is equipped with lightweight and rotates three-legged structure, institute
Stating lightweight rotation three-legged structure is that light plastic and aerometal are made, and not only lighter weight, adjustable to spray angle,
Mechanical hardness also with higher.The adjustment angle of the angular adjustment apparatus is lateral 0 ~ 90 ° of the range of unmanned plane.
Further, the spray head output device includes several medicine-chests and pressure type spray head, the medicine-chest and pressure-type spray
Head is connected by hose construction.
Droplet ratio of the operation process of the spray head output device using partial size greater than 150um calculates, to work as droplet
Droplet is spontaneous with preferable anti-drift and with certain penetrability when partial size is greater than 150um.The medicine-chest is equipped with medical fluid
Remaining detection device can quickly and accurately be transferred to data in algorithmic controller.The medicine-chest is additionally provided with weight and liquid is high
The wrong probability of double check device, precision with higher and lower detection.The hose construction have branch be arranged and
In the scalability of wound form, the collocation degree to unmanned plane of system can be improved.
Further, the input parameter of the algorithmic controller includes wind speed, wind direction and wind speed change rate, output parameter packet
It includes and sprays angle and spouting pressure, the algorithm of the algorithmic controller includes fuzzy algorithmic approach.
The operation algorithm of the algorithmic controller is not limited only to fuzzy algorithmic approach, and the algorithm of algorithmic controller can be according to mesh
Mark control effect is selected, and fuzzy algorithmic approach is suitable for the biggish control system of hysteresis quality, has the beneficial effect for stablizing output.
The input parameter of the algorithmic controller is not limited only to wind speed, wind direction and wind speed change rate, can also be other changes such as temperature, humidity
Change parameter as additional input parameter.
Compared with the prior art, the invention has the advantages that：
This patent discloses a kind of distributed plant protection drone spraying systems of reduction droplet drift, pass through wind speed detection device energy
Ambient wind velocity, wind speed change rate and the process for spraying angle spouting pressure by changing in real time are obtained, different wind can be directed to
Speed, changeable wind direction carry out difference and spray, and make it possible to realize the function of reducing droplet drift, accuracy pesticide applying.Solve ambient wind
Droplet drift seriousness when fast bring unmanned plane sprays, thus reduce the droplet drift of pesticide and improve effective rate of utilization,
Conducive to promoting and apply.
Detailed description of the invention
Fig. 1 is airborne minimum system structural schematic diagram of the invention.
Fig. 2 is complete system structural schematic diagram of the invention.
Fig. 3 is that airborne circumstance monitoring device wind speed of the invention obtains schematic diagram.
Fig. 4 is that ground environment monitoring device wind speed of the invention obtains schematic diagram.
Fig. 5 is the structural schematic diagram of angular adjustment apparatus of the present invention.
Fig. 6 is the structural schematic diagram that pressure regulation device of the present invention connects spray head output device.
Fig. 7 is working state schematic representation of the invention.
Fig. 8 is work detailed description schematic diagram of the invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, with reference to the accompanying drawing to embodiment of the present invention
It is described in more detail.Wherein, the explanation of being given for example only property of attached drawing, expression is only schematic diagram, rather than pictorial diagram, no
It can be understood as a limitation of this patent；In order to which the embodiment of this patent is better described, the certain components of attached drawing have omission, amplification
Or diminution, the size for not representing actual product；It will be understood by those skilled in the art that certain known features and its explanation in attached drawing
May omit will be understood by.
The same or similar label correspond to the same or similar components in the attached drawing of the embodiment of the present invention;It is retouched in of the invention
In stating, it is to be understood that if the orientation or positional relationship for having the instructions such as term " on ", "lower", "left", "right" is based on attached drawing
Shown in orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore positional relationship is described in attached drawing
Term only for illustration, should not be understood as the limitation to this patent, for the ordinary skill in the art, can
To understand the concrete meaning of above-mentioned term as the case may be.
Embodiment
As shown in Figure 1, a kind of distributed plant protection drone spraying system for reducing droplet drift, including it is used for unified monitoring
The network monitoring terminal 1 of a unmanned plane operation group of planes, is used for the algorithmic controller 2 for controlling task variable by running algorithm
The small range airborne circumstance monitoring device 3 that ground-to-ground data such as the wind speed, wind direction in face are monitored, for working on a large scale
Ground environment monitoring device 4 that the data such as wind speed, wind direction in environment are monitored, the pressure for adjusting unmanned plane operational pressure
Force adjusting device 5, the angular adjustment apparatus 6 for adjusting unmanned plane operating angle and the spray head output device for exporting medical fluid
7。
As shown in Fig. 2, a kind of distributed plant protection drone spraying system for reducing droplet drift, ground detection
Number is from 1 to n, and data are by being wirelessly transmitted to airborne minimum system A, wherein airborne minimum system A and network monitoring are whole
End 1 carries out data communication, the substantially output area for the airborne minimum system A that network monitoring terminal 1 arrives n 1 after data operation
It exports to each airborne minimum system B ~ N.Airborne minimum system A makes subtle adjustment according to instant changing factor and passes through
Algorithm control output.
As shown in figure 3, airborne circumstance monitoring device 3 includes the air velocity transducer and wind being mounted above in the present embodiment
To sensor, and be mounted on lower section leeward isolating device, and air velocity transducer, wind transducer and leeward isolating device it
Between chromacoder and wireless transport module are installed, air velocity transducer and wind transducer are separately connected signal converting means
It sets, and wind speed and direction data is transferred in algorithmic controller by chromacoder and wireless transport module, the nothing
The signal of line transmission module is carried out in a manner of mass-sending.The leeward isolating device is wind isolation board, and the wind isolation board is moulded using lightweight
Material is fabricated.
As shown in figure 4, ground environment monitoring device 4 passes through height-adjustable fast dismantling support and waterproof in the present embodiment
Case is mounted on ground, including the air velocity transducer and wind transducer being mounted at the top of caisson, is mounted on inside caisson
Chromacoder, singlechip control chip and power supply, and wind speed and direction data are transferred to by algorithm control by wireless signal
In device processed.The making material of the caisson and fast dismantling support is stainless steel, and the power supply is preferably solar energy power store device.
As shown in figure 5, in the present embodiment, angular adjustment apparatus 6 include it is sequentially connected be connected and fixed structure, stablize axis,
Angle exports steering engine 11, signal keeps structure and powered stable device.The control signal of the angle controller 6 is the monocycle
PWM waveform, the angle output steering engine 11 carry out angular adjustment, the big torsion steering engine and light alloy material by big torsion steering engine
Material is made, and is equipped with lightweight and rotates three-legged structure, the lightweight rotation three-legged structure is light plastic and aerometal system
It forms, not only lighter weight, adjustable to spray angle, mechanical hardness also with higher.The angular adjustment apparatus 6
Adjusting the angle is lateral 0 ~ 90 ° of the range of unmanned plane.
As shown in fig. 6, pressure regulation device 5 includes pressure adjustable water pump 9,10 and of sig-nal-conditioning unit in the present embodiment
Powered stable device, the pressure regulation device 5 adjusts spouting pressure by pressure adjustable water pump 9, and is adjusted and filled by signal
Set 10 and powered stable device control is adjusted to pressure adjustable water pump 9.The 5 receiving algorithm controller of pressure regulation device
Control is adjusted by power of the output pwm signal to water pump, to control water pump in the 2 spouting pressure data transmitted
Pressure size.Wherein, adjustable range of the spouting pressure of liquid pump between 100 ~ 500kPa.Spray head output device 7 includes medicine
Case and 2 pressure type spray heads corresponding with medicine-chest, the medicine-chest are connected with pressure type spray head by hose construction.The medicine-chest
Equipped with medical fluid residue detection device, it is additionally provided with weight and the high double check device of liquid, there is the hose construction branch to be arranged simultaneously
It and is in the scalability of wound form.
As shown in Figure 2 and Figure 7, the part in system is only enumerated in the present embodiment；4 large area of ground environment monitoring device
Ground-to-ground the data such as the wind speed, wind direction in face, temperature and humidity are monitored, while airborne circumstance monitoring device 3 is to the nothing in low latitude
The data such as wind speed, the wind direction of man-machine operation's environment are monitored, and are obtained small-scale wind speed, wind direction data and are obtained after processing
Wind speed change rate.The data such as obtained wind speed, wind direction and wind speed change rate are converted into digital signal by chromacoder,
And by being wirelessly transmitted in algorithmic controller 2, algorithmic controller 2 is to the wind speed, wind direction and wind speed change rate transmitted
Etc. data carry out algorithm operation, be calculated it is corresponding spray angle and spouting pressure, and this result is transmitted to pressure adjustment
Device 5 and angular adjustment apparatus 6, to carry out unmanned plane operational pressure and work by pressure regulation device 5 and angular adjustment apparatus 6
The adjustment of industry angle enables spray head output device 7 to carry out spraying pesticide according to required pressure and angle.
As shown in figure 8, its data in system operation, first by ground environment detection device 4 or airborne circumstance detection dress
The sensors such as 3 wind speed direction are set to obtain and collect conversion by single-chip microcontroller therein and be sent to algorithm control by radio transmitter
Device 2；2 result wireless receiver of algorithmic controller receives the environmental datas such as wind speed, is sent to network monitoring end by GPRS module
End 1, network monitoring terminal 1 is obtained and is stored in by GPRS module in the hard disk of minicomputer；Network monitoring terminal 1 is data
Quickly substantially data needed for each minimum airborne system are sent on each minimum airborne system by GPRS module after processing,
After receiving data on minimum airborne system, accurately spouting pressure is calculated by the algorithm in algorithmic controller 2 and sprays angle
Degree is sent to angular adjustment apparatus 6 and pressure regulation device 5, and angle is exported by the steering engine controlled, and pressure is by power governor control
Water pump processed reaches required effect.
Claims (9)
1. a kind of distributed plant protection drone spraying system for reducing droplet drift, it is characterised in that；Including being used for unified monitoring
The network monitoring terminal of a unmanned plane operation group of planes, for controlling the algorithmic controller of task variable by operation algorithm, for small
The airborne circumstance monitoring device that range the data such as subaerial wind speed, wind direction are monitored, for on a large scale to work
Make the environment monitoring device near the ground that the data such as the wind speed in environment, wind direction are monitored, for adjusting unmanned plane operational pressure
Pressure regulation device, spray head for adjusting the angular adjustment apparatus of unmanned plane operating angle and for exporting medical fluid exports dress
It sets；The network monitoring terminal, airborne circumstance monitoring device, ground environment monitoring device wirelessly connect with algorithmic controller respectively
It connects, the pressure-regulating device is connected to spray head output device and medicine-chest respectively, the ground environment monitoring device and airborne ring
To ground, wind speed, wind direction monitor border monitoring device with carrying out a wide range of and small range respectively, obtain corresponding wind speed, wind direction and wind
Fast change rate, and algorithmic controller is transferred data to, by wireless network transmissions to the network terminal, terminal obtains algorithmic controller
Data Post to each detection, which calculates and passes through wireless network, feeds back to calculation the parameter approximate range that sprays of each needs
Method controller, algorithmic controller is by being transmitted separately to pressure regulation device, angle adjustment for obtained adjustment data after operation
Device, and by the pressure and angle of pressure regulation device and angular adjustment apparatus adjustment operation, make spray head output device according to institute
Operational pressure and the operating angle work needed, realizes and reduces droplet drift.
2. a kind of distributed plant protection drone spraying system for reducing droplet drift according to claim 1, feature exist
In the network monitoring terminal is made of the minicomputer terminal with GPRS function, and the network monitoring terminal includes network
Receive WEB server program, operational software, data-switching centre, data storage disk and the power supply of database, Transmission Control Protocol.
3. a kind of distributed plant protection drone spraying system for reducing droplet drift according to claim 1, feature exist
In the algorithmic controller includes GPRS device, high-frequency wireless signals R-T unit, signal input apparatus, SCM system, electricity
Road power supply unit, signal output amplifier and vibration abatement.
4. a kind of distributed plant protection drone spraying system for reducing droplet drift according to claim 1, feature exist
In the airborne circumstance monitoring device is mounted on unmanned plane, is passed including the air velocity transducer being mounted on above device and wind direction
Sensor, and it is mounted on the leeward isolating device below device, the air velocity transducer, wind transducer and leeward isolating device
Between chromacoder and wireless transport module be installed, the air velocity transducer and wind transducer are separately connected signal and turn
Changing device, and wind speed and direction data are transferred in algorithmic controller by chromacoder and wireless transport module, institute
The signal for stating wireless transport module is carried out in a manner of mass-sending.
5. a kind of distributed plant protection drone spraying system for reducing droplet drift according to claim 1, feature exist
In the ground environment monitoring device is mounted on ground by height-adjustable fast dismantling support and caisson, including is mounted on
Air velocity transducer and wind transducer at the top of caisson are mounted on the chromacoder inside caisson, single-chip microcontroller controls
Chip and power supply, and wind speed and direction data are transferred in algorithmic controller by wireless signal.
6. a kind of distributed plant protection drone spraying system for reducing droplet drift according to claim 1, feature exist
In the pressure regulation device includes pressure adjustable water pump, sig-nal-conditioning unit and powered stable device, the pressure adjustment dress
It sets through pressure adjustable testing pump spouting pressure, and by sig-nal-conditioning unit and powered stable device to pressure adjustable water pump
Control is adjusted.
7. a kind of distributed plant protection drone spraying system for reducing droplet drift according to claim 1, feature exist
In the angular adjustment apparatus includes that sequentially connected structure, stable axis, angle output steering engine, the signal of being connected and fixed keeps knot
Structure and powered stable device.
8. a kind of distributed plant protection drone spraying system for reducing droplet drift according to claim 1, feature exist
In the spray head output device includes several medicine-chests and pressure type spray head, and the medicine-chest and pressure type spray head pass through hose construction
Connection.
9. a kind of distributed plant protection drone spraying system for reducing droplet drift according to claim 1, feature exist
In the input parameter of the algorithmic controller includes wind speed, wind direction and wind speed change rate, and output parameter includes spraying angle and spray
It exerts pressure, the algorithm of the algorithmic controller includes fuzzy algorithmic approach.
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| CN201810332413.8A CN108812591B (en) | 2018-04-13 | 2018-04-13 | Distributed plant protection unmanned aerial vehicle spraying system capable of reducing fogdrop drifting |
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| CN201810332413.8A CN108812591B (en) | 2018-04-13 | 2018-04-13 | Distributed plant protection unmanned aerial vehicle spraying system capable of reducing fogdrop drifting |
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| CN110647171A (en) * | 2019-11-06 | 2020-01-03 | 江苏蒲公英无人机有限公司 | Method for plant protection unmanned aerial vehicle to adjust flight line independently |
| CN111264496A (en) * | 2020-01-19 | 2020-06-12 | 南京林业大学 | Intelligent decision-making method for accurate pesticide application of plant protection machine |
| EP3685664A1 (en) * | 2019-01-24 | 2020-07-29 | Bayer AG | An aerial vehicle |
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| CN113303306A (en) * | 2021-05-20 | 2021-08-27 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Pesticide spraying prevention drifting method and system for pesticide spraying unmanned aerial vehicle and storage medium |
| CN115005182A (en) * | 2022-06-14 | 2022-09-06 | 安徽农业大学 | Electrostatic spraying control method and system |
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| CN113329624A (en) * | 2019-01-21 | 2021-08-31 | 拜耳公司 | Aircraft with a flight control device |
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| CN109863980A (en) * | 2019-03-26 | 2019-06-11 | 安徽鼎博新能源科技发展有限公司 | A kind of wind-powered electricity generation adjustment irrigation system and its irrigate method of adjustment |
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| WO2020239771A1 (en) * | 2019-05-30 | 2020-12-03 | Agco International Gmbh | Agricultural sprayer control system |
| US11439139B2 (en) | 2019-05-30 | 2022-09-13 | Agco International Gmbh | Agricultural sprayer control system and method |
| US11684059B2 (en) | 2019-05-30 | 2023-06-27 | Agco International Gmbh | Agricultural sprayer control system |
| EP3796777B1 (en) * | 2019-05-30 | 2021-11-10 | AGCO International GmbH | Agricultural sprayer control system |
| CN110647171B (en) * | 2019-11-06 | 2022-10-28 | 江苏蒲公英无人机有限公司 | Method for plant protection unmanned aerial vehicle to adjust flight line independently |
| CN110647171A (en) * | 2019-11-06 | 2020-01-03 | 江苏蒲公英无人机有限公司 | Method for plant protection unmanned aerial vehicle to adjust flight line independently |
| CN111264496A (en) * | 2020-01-19 | 2020-06-12 | 南京林业大学 | Intelligent decision-making method for accurate pesticide application of plant protection machine |
| CN111264496B (en) * | 2020-01-19 | 2021-09-24 | 南京林业大学 | Intelligent decision-making method for accurate pesticide application of plant protection machine |
| CN112078800B (en) * | 2020-09-28 | 2022-05-20 | 重庆工程职业技术学院 | Unmanned aerial vehicle plant protection sprays module |
| CN112078800A (en) * | 2020-09-28 | 2020-12-15 | 重庆工程职业技术学院 | Unmanned aerial vehicle plant protection sprays module |
| CN113303306B (en) * | 2021-05-20 | 2022-10-11 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Pesticide spraying prevention drifting method and system for pesticide spraying unmanned aerial vehicle and storage medium |
| CN113303306A (en) * | 2021-05-20 | 2021-08-27 | 中国农业科学院烟草研究所(中国烟草总公司青州烟草研究所) | Pesticide spraying prevention drifting method and system for pesticide spraying unmanned aerial vehicle and storage medium |
| CN115005182A (en) * | 2022-06-14 | 2022-09-06 | 安徽农业大学 | Electrostatic spraying control method and system |
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