CN108812591B - Distributed plant protection unmanned aerial vehicle spraying system capable of reducing fogdrop drifting - Google Patents
Distributed plant protection unmanned aerial vehicle spraying system capable of reducing fogdrop drifting Download PDFInfo
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- CN108812591B CN108812591B CN201810332413.8A CN201810332413A CN108812591B CN 108812591 B CN108812591 B CN 108812591B CN 201810332413 A CN201810332413 A CN 201810332413A CN 108812591 B CN108812591 B CN 108812591B
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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 distributed plant protection unmanned aerial vehicle spraying system for reducing fogdrop drifting, which comprises a network monitoring terminal, an algorithm controller, an airborne environment monitoring device, a ground environment monitoring device, a pressure adjusting device, an angle adjusting device and a spray head output device, wherein the ground environment monitoring device and the airborne environment monitoring device respectively monitor large-range and small-range wind speed and wind direction close to the ground to obtain corresponding wind speed, wind direction and wind speed change rate data and transmit the corresponding data to the network monitoring terminal, the network monitoring terminal uniformly sets approximate pressure and angle parameters of cooperative work of an unmanned aerial vehicle group system, the parameters are transmitted to the algorithm controller, the obtained detailed adjusting data are respectively transmitted after the algorithm controller is operated, and the pressure and angle of the work are adjusted by the pressure adjusting device and the angle adjusting device to ensure that the spray head output device works according to the required work pressure and work angle, the fog drop drift is reduced, the pesticide is applied accurately, and the pesticide utilization rate is improved.
Description
Technical Field
The invention relates to the field of plant protection unmanned aerial vehicles, in particular to a distributed plant protection unmanned aerial vehicle spraying system capable of reducing fogdrop drifting.
Background
The pesticide is an important means for increasing the agricultural yield and reducing natural harm. At present, unmanned aerial vehicle has that the operation scope is big, and the quick accurate advantage such as of giving medicine to poor free of charge is considered the high efficiency equipment of pesticide spraying. However, due to the influence of factors such as aerial operation conditions and environmental airflows, the spraying operation of the unmanned aerial vehicle is easy to generate fogdrop drifting, and the problems of pesticide waste, pesticide pollution, reduced spraying effect, local uneven spraying and the like can be caused. The reduction of the fog drop drift and the improvement of the deposition amount of the pesticide on the target crops become the research key points in the technical field of the plant protection pesticide application in China.
At present, the spray droplet drift reduction means mainly comprises multiple aspects of sprayed particle size, unmanned aerial vehicle motion path, liquid medicine dosage form and the like, but the effect is poor for a single spraying means as the wind speed in the field environment is variable, detectable and uncontrollable; the method has good effect on the unmanned aerial vehicle path (including the flying height, direction, speed and the like), but due to the parameters of the unmanned aerial vehicle and the complex operation environment, the development process of the method brings great difficulty and long development period, and the risk of 'crash' of the unmanned aerial vehicle is increased.
Disclosure of Invention
In order to overcome the technical defects in the prior art, the invention provides the spraying system of the distributed plant protection unmanned aerial vehicle, which has a simple structure, automatically obtains environmental factors, directly acts on spraying pressure and spraying angle, accurately applies pesticide, has small influence on the operation and self parameters of the unmanned aerial vehicle, and reduces the fogdrop drifting.
In order to realize the purpose of the invention, the following technical scheme is adopted for realizing the purpose:
a distributed plant protection unmanned aerial vehicle spraying system for reducing fogdrop drifting comprises a network monitoring terminal for uniformly monitoring an unmanned aerial vehicle operation cluster, an algorithm controller for controlling operation variables through an operation algorithm, an airborne environment monitoring device for monitoring data such as wind speed and wind direction on the ground in a small range, a near-ground environment monitoring device for monitoring data such as wind speed and wind direction in a working environment in a large range, a pressure adjusting device for adjusting the operation pressure of the unmanned aerial vehicle, an angle adjusting device for adjusting the operation angle of the unmanned aerial vehicle and a spray head output device for outputting liquid medicine; the network monitoring terminal, the airborne environment monitoring device and the ground environment monitoring device are respectively in wireless connection with the algorithm controller, the pressure adjusting device is respectively communicated with the spray head output device and the medicine box, the ground environment monitoring device and the airborne environment monitoring device respectively monitor the ground at large and small ranges of ground wind speed and wind direction to obtain corresponding wind speed, wind direction and wind speed change rate and transmit the data to the algorithm controller, the algorithm controller is transmitted to the network terminal through a wireless network, the terminal obtains all detected data, processes and calculates and feeds back all required spraying parameters to the algorithm controller through the wireless network, the algorithm controller respectively transmits the obtained adjusting data to the pressure adjusting device and the angle adjusting device after operation, and the pressure adjusting device and the angle adjusting device adjust the pressure and the angle of operation, the spray head output device works according to the required working pressure and working angle, and the fog drop drift is reduced.
In this patent, carry out data transmission through wireless network between network monitor terminal, algorithm controller, airborne environment monitoring device, ground environment monitoring device, pressure adjusting device and the angle adjusting device, and the mounted position and the installation quantity of each device can set up as required.
The ground environment monitoring device monitors data such as wind speed, wind direction, temperature and humidity of the ground in a large area, and the airborne environment monitoring device monitors data such as wind speed and wind direction of the low-altitude unmanned aerial vehicle operation environment to obtain small-range wind speed and wind direction data and obtain a wind speed change rate after processing. The obtained data such as the wind speed, the wind direction, the wind speed change rate and the like are converted into digital signals through the signal conversion device and are transmitted to the algorithm controller in a wireless mode, the algorithm controller conducts algorithm operation on the transmitted data such as the wind speed, the wind direction, the wind speed change rate and the like, corresponding spraying angles and spraying pressures are obtained through calculation, the results are output to the pressure adjusting device and the angle adjusting device, the unmanned aerial vehicle operation pressure and the operation angle are adjusted through the pressure adjusting device and the angle adjusting device, and the spray nozzle output device can spray pesticides according to the required pressure and angle. Besides the data of wind speed, wind direction and wind speed change rate, other data comprise temperature, humidity and other working modes for adjusting the working speed of the system.
The wind speed change rate is a result calculated by real-time wind speed, the period is 0.1s, and the system performance is met.
And the algorithm controller transmits the result to the pressure adjusting device and the angle adjusting device, and simultaneously transmits the data result to the network monitoring terminal, and real-time monitoring is carried out through the network monitoring terminal.
Furthermore, the network monitoring terminal is composed of a small computer terminal with a GPRS function, and comprises a network receiving database, a WEB server program of a TCP protocol, a data conversion center, a data storage disc and a power supply.
The network monitoring terminal is composed of a small computer terminal with a GPRS function, and can be conveniently moved, and the flexibility of the system is improved. The power supply is an uninterruptible power supply, so that the network monitoring terminal can stably work.
Further, the algorithm controller comprises a signal input device, a single chip microcomputer system, a circuit power supply device, a signal output amplifying circuit and a shockproof device.
The shock-proof device can further improve the stability of the system. The shockproof device is soft rubber with a sponge structure, and is light in weight and good in buffering effect.
Furthermore, the algorithm controller is provided with a wireless transceiver module and a GPRS module, and the wireless transceiver module and the GPRS module are used as data output and input through a wire.
Further, airborne environment monitoring device installs on unmanned aerial vehicle, including installing wind speed sensor and the wind direction sensor in the top to and install leeward isolating device in the below, install signal conversion equipment and wireless transmission module between wind speed sensor, the wind direction sensor and the leeward isolating device, wind speed sensor and wind direction sensor connect signal conversion equipment respectively to in transmitting wind speed and wind direction data to the algorithm controller through signal conversion equipment and wireless transmission module, wireless transmission module's signal goes on with the mass-sending mode.
Through setting up the air current that leeward isolating device can effectively bring unmanned aerial vehicle self motion and keep apart for the environmental data that detects is more accurate reliable. The leeward isolation device is a wind isolation plate made of light plastics, so that the wind isolation plate can be prevented from weighting the whole device while effectively isolating airflow.
Furthermore, the ground environment monitoring device is installed on the ground through a height-adjustable quick-release type support and a waterproof box, and comprises an air speed sensor and an air direction sensor which are installed at the top of the waterproof box, a signal conversion device, a single-chip microcomputer control chip and a power supply which are installed inside the waterproof box, and the air speed and the air direction data are transmitted to an algorithm controller through wireless signals.
The waterproof box and the quick-release type support are made of stainless steel, and can effectively resist weathering and corrosion caused by wind, sunlight and the like. The power source is preferably a solar power storage device.
Further, the pressure adjusting device comprises a pressure-adjustable water pump, a signal adjusting device and a power supply stabilizing device, the spraying pressure is adjusted by the pressure adjusting device through the pressure-adjustable water pump, and the pressure-adjustable water pump is adjusted and controlled through the signal adjusting device and the power supply stabilizing device.
The pressure adjusting device has the functions of signal holding, signal conversion and signal amplification. The pressure-adjustable water pump outputs pressure by a power-controllable liquid pump, and the control of the liquid pump is controlled by a PWM signal with a variable period, so that the pressure of the water pump is controlled. Wherein the spraying pressure of the liquid pump is in the adjusting range of 100-500 kPa.
Furthermore, the angle adjusting device comprises a connecting and fixing structure, a stabilizing shaft, an angle output steering engine, a signal holding structure and a power supply stabilizing device which are sequentially connected.
The angle control device's control signal is the monocycle PWM wave form, angle adjusting device carries out the angle modulation by big torsion steering wheel, big torsion steering wheel is light alloy material preparation again and forms, and it is equipped with light and rotates the triangle structure, light is rotated the triangle structure and is formed for light plastics and aviation alloy preparation, and not only the quality is lighter, can adjust the spraying angle, still has higher mechanical hardness. The angle adjusting device is used for adjusting the angle of the unmanned aerial vehicle to be in the range of 0-90 degrees in the lateral direction.
Further, the spray head output device comprises a plurality of medicine boxes and a pressure type spray head, and the medicine boxes are connected with the pressure type spray head through a hose structure.
The operation process of the spray head output device uses the fog drop proportion calculation with the particle size larger than 150um, so that the fog drops have better anti-drifting performance and certain penetrability when the particle size of the fog drops is larger than 150 um. The medicine chest is provided with a liquid medicine residual detection device, and data can be quickly and accurately transmitted to the algorithm controller. The medical kit still is equipped with weight and high dual detector spare of liquid, has higher precision and lower detection error probability. Hose construction has the branch setting and is winding form scalability, can improve the collocation degree of system to unmanned aerial vehicle.
Further, the input parameters of the algorithm controller comprise wind speed, wind direction and wind speed change rate, the output parameters comprise spraying angle and spraying pressure, and the algorithm of the algorithm controller comprises a fuzzy algorithm.
The operation algorithm of the algorithm controller is not limited to the fuzzy algorithm, the algorithm of the algorithm controller can be selected according to the target control effect, and the fuzzy algorithm is suitable for a control system with large hysteresis and has the advantage of stable output. The input parameters of the algorithm controller are not limited to wind speed, wind direction and wind speed change rate, and other change parameters such as temperature, humidity and the like can be used as additional input parameters.
Compared with the prior art, the invention has the following beneficial effects:
the patent discloses a distributed plant protection unmanned aerial vehicle spraying system that reduces droplet drift can acquire environment wind speed, wind speed rate of change and through the process that changes spraying angle spraying pressure in real time through wind speed detection device, can be to different wind speeds, and changeable wind direction carries out the difference spraying for can realize reducing droplet drift, the function of accurate application of pesticides. The problem of fog drop drift severity when unmanned aerial vehicle sprays that environmental wind speed brought is solved to reduce the fog drop drift of pesticide and improve the availability, do benefit to popularization and application.
Drawings
Fig. 1 is a schematic diagram of the onboard minimum system structure of the present invention.
FIG. 2 is a schematic diagram of the complete system architecture of the present invention.
Fig. 3 is a schematic view of acquiring wind speed of the airborne environment monitoring device of the invention.
Fig. 4 is a schematic view of acquiring wind speed by the ground environment monitoring device of the present invention.
Fig. 5 is a schematic structural diagram of the angle adjusting device of the present invention.
FIG. 6 is a schematic structural diagram of the pressure adjustment device of the present invention connected to a nozzle output device.
Fig. 7 is a schematic view of the working state of the present invention.
Fig. 8 is a transmission diagram illustrating the operation of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below with reference to the accompanying drawings. Wherein the showings are for the purpose of illustration only and not for the purpose of limiting the same, and are shown in the drawings and are not to be considered limiting; to better illustrate the embodiments of the present patent, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
In the description of the present invention, it should be understood that if there are orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. based on the orientations or positional relationships shown in the drawings, the description is for convenience of description and simplicity of description, but it is not intended to indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.
Examples
As shown in fig. 1, a distributed plant protection unmanned aerial vehicle spraying system for reducing droplet drift, including network monitor terminal 1 for unifying monitoring unmanned aerial vehicle operation cluster, an algorithm controller 2 for controlling operation variables through operation algorithm, an airborne environment monitoring device 3 for monitoring data such as wind direction and wind speed to ground in a small range, a ground environment monitoring device 4 for monitoring data such as wind direction and wind speed in a large range ground working environment, a pressure adjusting device 5 for adjusting unmanned aerial vehicle operation pressure, an angle adjusting device 6 for adjusting unmanned aerial vehicle operation angle and a spray nozzle output device 7 for outputting liquid medicine.
As shown in FIG. 2, the number of ground detection devices of the spraying system of the distributed plant protection unmanned aerial vehicle for reducing the fogdrop drifting is from 1 to N, data of the ground detection devices are transmitted to an airborne minimum system A through wireless transmission, the airborne minimum system A is in data communication with a network monitoring terminal 1, and the network monitoring terminal 1 outputs the approximate output range of the airborne minimum system A from 1 to N to each airborne minimum system B-N after data operation. The onboard minimum system A makes fine adjustment according to the instant change factors and controls the output through an algorithm.
As shown in fig. 3, in this embodiment, the onboard environment monitoring device 3 includes an air speed sensor and an air direction sensor mounted above, and a leeward isolation device mounted below, and a signal conversion device and a wireless transmission module are mounted between the air speed sensor, the air direction sensor, and the leeward isolation device, the air speed sensor and the air direction sensor are respectively connected to the signal conversion device, and transmit air speed and air direction data to the algorithm controller through the signal conversion device and the wireless transmission module, and signals of the wireless transmission module are performed in a group sending manner. The downwind isolation device is an air isolation plate, and the air isolation plate is made of light plastics.
As shown in fig. 4, in this embodiment, the ground environment monitoring device 4 is installed on the ground through a height-adjustable quick-release bracket and a waterproof box, and includes an air velocity sensor and an air direction sensor installed on the top of the waterproof box, a signal conversion device, a single-chip microcomputer control chip and a power supply installed inside the waterproof box, and transmits air velocity and air direction data to the algorithm controller through wireless signals. The waterproof box and the quick-release type support are made of stainless steel, and the power supply is preferably a solar power storage device.
As shown in fig. 5, in this embodiment, the angle adjusting device 6 includes a connection fixing structure, a stabilizing shaft, an angle output steering engine 11, a signal holding structure, and a power supply stabilizing device, which are connected in sequence. The control signal of the angle control device 6 is a single-period PWM waveform, the angle output steering engine 11 is subjected to angle adjustment by a large-torque steering engine, the large-torque steering engine is made of a light alloy material, a light rotating triangular structure is arranged on the large-torque steering engine, the light rotating triangular structure is made of light plastic and aviation alloy, the weight is light, the spraying angle can be adjusted, and the mechanical hardness is high. The angle adjusting device 6 is used for adjusting the angle of the unmanned aerial vehicle to 0-90 degrees in the lateral direction.
As shown in fig. 6, in this embodiment, the pressure adjusting device 5 includes a pressure-adjustable water pump 9, a signal adjusting device 10 and a power supply stabilizing device, and the pressure adjusting device 5 adjusts the spraying pressure through the pressure-adjustable water pump 9, and adjusts and controls the pressure-adjustable water pump 9 through the signal adjusting device 10 and the power supply stabilizing device. The pressure adjusting device 5 receives spraying pressure data transmitted by the algorithm controller 2, and adjusts and controls the power of the water pump by outputting a PWM signal, so that the pressure of the water pump is controlled. Wherein the spraying pressure of the liquid pump is in the adjusting range of 100-500 kPa. The spray head output device 7 comprises a medicine box and 2 pressure type spray heads corresponding to the medicine box, and the medicine box is connected with the pressure type spray heads through a hose structure. The medical kit is equipped with liquid medicine surplus detection device, still is equipped with weight and high dual detection device of liquid, hose structure has the branch setting and is winding form scalability.
As shown in fig. 2 and 7, only a part of the system is listed in the present embodiment; the ground environment monitoring device 4 monitors data such as wind speed, wind direction, temperature and humidity of the ground in a large area, and the airborne environment monitoring device 3 monitors data such as wind speed and wind direction of the low-altitude unmanned aerial vehicle operation environment to obtain wind speed and wind direction data in a small range and obtain a wind speed change rate after processing. The obtained data such as the wind speed, the wind direction and the wind speed change rate are converted into digital signals through a signal conversion device and are transmitted to an algorithm controller 2 in a wireless mode, the algorithm controller 2 carries out algorithm operation on the transmitted data such as the wind speed, the wind direction and the wind speed change rate, corresponding spraying angles and spraying pressures are obtained through calculation, the results are transmitted to a pressure adjusting device 5 and an angle adjusting device 6, the unmanned aerial vehicle operation pressure and the operation angles are adjusted through the pressure adjusting device 5 and the angle adjusting device 6, and the sprayer output device 7 can spray pesticides according to the required pressure and angles.
As shown in fig. 8, when the system operates, the data is firstly acquired by sensors such as the wind speed direction of the ground environment detection device 4 or the airborne environment detection device 3, and is received and converted by a single chip microcomputer therein and is sent to the algorithm controller 2 by a wireless transmitter; the algorithm controller 2 receives the environmental data such as wind speed and the like by a wireless receiver, and sends the environmental data to the network monitoring terminal 1 through the GPRS module, and the network monitoring terminal 1 is obtained by the GPRS module and stored in a hard disk of the small computer; the network monitoring terminal 1 processes data quickly and sends approximate data required by each minimum airborne system to each minimum airborne system through the GPRS module, after the minimum airborne system receives the data, the algorithm in the algorithm controller 2 calculates accurate spraying pressure and spraying angle and sends the spraying pressure and spraying angle to the angle adjusting device 6 and the pressure adjusting device 5, the angle is output by the controlled steering engine, and the pressure controls the water pump by the power regulator to achieve the required effect.
Claims (8)
1. A distributed plant protection unmanned aerial vehicle spraying system for reducing fogdrop drifting is characterized in that a spraying device is arranged in the plant protection unmanned aerial vehicle spraying system; the method comprises the following steps:
the network monitoring terminal is used for monitoring the unmanned aerial vehicle operation machine group in a unified manner;
an algorithm controller for controlling the job variables by running an algorithm;
the airborne environment monitoring device is used for monitoring the wind speed and wind direction data close to the ground in a small range;
the near-ground environment monitoring device is used for monitoring wind speed and wind direction data in a large-range working environment;
the pressure adjusting device is used for adjusting the spraying pressure of the unmanned aerial vehicle;
the angle adjusting device is used for adjusting the lateral angle of the unmanned aerial vehicle;
the spray head output device is used for outputting liquid medicine;
airborne environment monitoring device installs on unmanned aerial vehicle, include: the wind speed sensor and the wind direction sensor are arranged above the airborne environment monitoring device, and the downwind isolating device is arranged below the device;
the network monitoring terminal, the airborne environment monitoring device and the ground environment monitoring device are respectively in wireless connection with the algorithm controller;
the pressure adjusting device is respectively communicated with the spray head output device and the medicine box;
the ground environment monitoring device and the airborne environment monitoring device respectively monitor the wind speed and the wind direction in a large range and a small range on the ground to obtain data corresponding to the wind speed, the wind direction and the change rate of the wind speed;
the ground environment monitoring device and the airborne environment monitoring device transmit data to the algorithm controller and transmit the data to the network terminal through the wireless network;
the network monitoring terminal obtains each data and then processes and calculates the data, and feeds back the approximate range of each parameter needing spraying to the algorithm controller through the wireless network;
the algorithm controller transmits the obtained adjustment data to the pressure adjusting device and the angle adjusting device respectively after operation, and the pressure adjusting device and the angle adjusting device adjust the lateral angle and the spraying pressure of the unmanned aerial vehicle respectively, so that the spray head output device works according to the required operation pressure and operation angle, and the fog drop drift is reduced.
2. The system of claim 1, wherein the network monitoring terminal is a small computer terminal with a GPRS function, and the network monitoring terminal comprises a network receiving database, a WEB server program of a TCP protocol, operation software, a data conversion center, a data storage disk and a power supply.
3. The distributed plant protection unmanned aerial vehicle spraying system for reducing fogdrop drifting according to claim 1, wherein the algorithm controller comprises a GPRS device, a high-frequency wireless signal transceiver, a signal input device, a single chip microcomputer system, a circuit power supply device, a signal output amplifying circuit and a shock-proof device.
4. The system of claim 1, wherein a signal conversion device and a wireless transmission module are installed between the wind speed sensor, the wind direction sensor and the downwind isolation device, the wind speed sensor and the wind direction sensor are respectively connected with the signal conversion device and transmit wind speed and wind direction data to the algorithm controller through the signal conversion device and the wireless transmission module, and signals of the wireless transmission module are transmitted in a group sending mode.
5. The system of claim 1, wherein the ground environment monitoring device is installed on the ground through a height-adjustable quick-release bracket and a waterproof box, and comprises an air speed sensor and an air direction sensor which are installed on the top of the waterproof box, a signal conversion device, a single-chip microcomputer control chip and a power supply which are installed inside the waterproof box, and the air speed and the air direction data are transmitted to the algorithm controller through wireless signals.
6. The distributed plant protection unmanned aerial vehicle spraying system for reducing fogdrop drifting of claim 1, wherein the pressure adjusting deviceAlso comprisesThe spraying device comprises a signal adjusting device and a power supply stabilizing device, wherein the pressure adjusting device adjusts spraying pressure through a pressure-adjustable water pump, and adjusts and controls the pressure-adjustable water pump through the signal adjusting device and the power supply stabilizing device.
7. The distributed plant protection unmanned aerial vehicle spraying system for reducing fogdrop drifting of claim 1, wherein the spray head output device comprises a plurality of pesticide boxes and a pressure type spray head, and the pesticide boxes and the pressure type spray head are connected through a hose structure.
8. The distributed plant protection unmanned aerial vehicle spraying system for reducing fogdrop drifting according to claim 1, wherein input parameters of the algorithm controller comprise wind speed, wind direction and wind speed change rate, output parameters comprise spraying angle and spraying pressure, and the algorithm of the algorithm controller comprises a fuzzy algorithm.
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| CN110012894A (en) * | 2019-05-13 | 2019-07-16 | 南京林业大学 | Couple the high-clearance variable-rate spraying device of environmental factor |
| GB201907664D0 (en) | 2019-05-30 | 2019-07-17 | Agco Int Gmbh | Agricultural sprayer control system |
| GB201907667D0 (en) | 2019-05-30 | 2019-07-17 | Agco Int 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 |
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| CN205018139U (en) * | 2015-09-22 | 2016-02-10 | 北京农业信息技术研究中心 | Agricultural unmanned aerial vehicle machine carries variable machine of giving medicine to poor free of charge |
| CN105905302A (en) * | 2016-06-02 | 2016-08-31 | 中国农业大学 | Intelligent pesticide applying system and control method of plant protection unmanned aerial vehicle |
| CN205661666U (en) * | 2016-06-02 | 2016-10-26 | 中国农业大学 | Plant protection unmanned aerial vehicle intelligence system of giving medicine to poor free of charge |
| CN206885357U (en) * | 2017-06-28 | 2018-01-16 | 广州极飞科技有限公司 | A kind of flusher combination, plant protection unmanned plane |
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