CN109287602A - A kind of large size plant protection helicopter and its control system - Google Patents
A kind of large size plant protection helicopter and its control system Download PDFInfo
- Publication number
- CN109287602A CN109287602A CN201811274664.1A CN201811274664A CN109287602A CN 109287602 A CN109287602 A CN 109287602A CN 201811274664 A CN201811274664 A CN 201811274664A CN 109287602 A CN109287602 A CN 109287602A
- Authority
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- China
- Prior art keywords
- spray boom
- plant protection
- spray
- spray head
- support rod
- 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.)
- Withdrawn
Links
- 239000007921 spray Substances 0.000 claims abstract description 103
- 239000003814 drug Substances 0.000 claims abstract description 38
- 239000002360 explosive Substances 0.000 claims abstract description 33
- 239000002775 capsule Substances 0.000 claims abstract description 21
- 239000007788 liquid Substances 0.000 claims description 14
- 230000007246 mechanism Effects 0.000 claims description 8
- 239000002103 nanocoating Substances 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 3
- 239000003595 mist Substances 0.000 claims 1
- 229940079593 drug Drugs 0.000 abstract description 12
- 230000009286 beneficial effect Effects 0.000 description 11
- 239000000575 pesticide Substances 0.000 description 5
- 239000012530 fluid Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 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
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
- A01M7/0071—Construction of the spray booms
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention provides a kind of large-scale plant protection helicopters, comprising: aircraft body, explosive box, support rod, guide rail, grug transportation tube, spray boom, bulb, spray head；Aircraft body includes manned capsule and load medicine storehouse；It carries medicine storehouse and is fixed on manned capsule bottom end；Explosive box, which is fixed on, to be carried inside medicine storehouse；The top surface of support rod is fixed on the bottom surface for carrying medicine storehouse；Support rod bottom surface is provided with guide rail；Bulb is fixed on one end of spray boom, and spray boom passes through the mobilizable connection of guide rail by bulb and support rod；Spray boom is scalable；The other end of spray boom connects spray head；Grug transportation tube one end connects explosive box, and the other end connects spray head.By spray head with Telescopic spray rod and the support frame with guide rail and bulb connect, make spray boom not only and can satisfy different to apply distance, also it can move freely and rotate on the support frame, can comprehensive adjustment spray head position and posture, to adapt to the demand of the sprinkling drug of the crop of different plantation spacing and planting density, structure is simple, easy to use.
Description
Technical field
The present invention relates to agriculture and forestry technical fields, and in particular to a kind of large size plant protection helicopter and its control system.
Background technique
In recent years, due to industrialized development, large area agrisilviculture is developed rapidly as agricultural production industry, in agriculture and forestry
Plantation and the prevention and control of plant diseases, pest control during, large area operation selects helicopter sprinkling medical fluid to carry out, and has had been detached from pure artificial
Spray, helicopter are sprayed with reliable and stable, easy to operate, operating cost is low, duties are high and not by farm-forestry crop growing way
The advantages that limitation, therefore obtained rapid application and development.
But as plant protection helicopter sprays being gradually expanded for job area, operations number gradually increases, plant protection helicopter boat
Sky sprays some drawbacks of mode and disadvantage is also gradually exposed, wherein in the design process of plant protection helicopter spraying system
In, how to determine that the spacing between the number and spray head of spray head has become our major issue of puzzlement.
Existing spray head, which is mostly located at, to be fixed on helicopter, and when spray head number is more, the spacing between spray head is shorter
When, the droplet sprayed can preferably be deposited on crop surface, but unit area, the liquid volume that is consumed in the unit time compared with
It is more, the persticide residue of agricultural product can on the one hand increased；On the other hand it will lead to helicopter unit and spray medical fluid in area
Load dramatically increases, so that the area that always sprays of plant protection helicopter single flight is substantially reduced, to considerably reduce its work
Industry efficiency；When spray head number is less, when the spacing between spray head is longer, although unit area, the medicine consumed in the unit time
Liquid measure is less, but such design method be easy to cause the few spray or even drain spray of crops, so that ideal prevention and treatment effect be not achieved
Fruit, i.e., existing plant protection helicopter can not be accomplished according to demand to be adjusted the spacing of chemical spraying device and pose, limit significantly
Plant protection helicopter application range.
Therefore how to provide one kind can freely adjust the plant protection helicopter of spray head pose is that those skilled in the art are urgently to be resolved
The problem of.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of large-scale plant protection helicopter, by spray head and Telescopic spray rod and
Support frame with guide rail and can the bulb of comprehensive adjustment connect, make spray boom not only and can satisfy it is different apply away from
From, can also move freely and rotate on the support frame, can comprehensive adjustment spray head position and posture, to adapt between different plantations
Away from and planting density crop sprinkling drug demand, structure is simple, easy to use, has plant protection helicopter broader
Application range.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of large size plant protection helicopter, comprising: aircraft body, explosive box, support rod, grug transportation tube, spray boom, spray head；
The aircraft body includes manned capsule and load medicine storehouse；The load medicine storehouse is fixed on the manned capsule bottom end；The explosive box
It is fixed on inside the load medicine storehouse；The top surface of the support rod is fixed on the bottom surface for carrying medicine storehouse；One end of the spray boom is solid
It is scheduled on the support rod bottom surface and the spray boom is scalable；The other end of the spray boom connects the spray head；The grug transportation tube
One end connects the explosive box, and the other end connects the spray head.
The beneficial effect of above-mentioned technical proposal is: using telescopic spray boom, applying demand for difference can adjust spray head
It is easy to use with the spacing between receptor crop, there is broader practice range.
Further, the support rod bottom surface is provided with guide rail, and the spray boom and the support rod pass through the guide rail can
The connection of sliding.
The beneficial effect of above-mentioned further technical solution is: can be according to the plantation spacing and different pharmaceutical of receptor crop
Sprinkler discharge density demand freely adjusts the spacing between spray boom, widens the scope of application and guarantees that application is comprehensive.
Further, the spray boom top is provided with bulb, and the bulb is mobilizable to be connected in the guide rail.
The beneficial effect of above-mentioned further technical solution is: can according to different growthforms and different plantation spacing and not
The pose that spray boom is adjusted with the sprinkler discharge density rotation of demand, further widens application range.
Preferably, the manned capsule is the sealing cabin with inlet and outlet.
The beneficial effect of above-mentioned optimal technical scheme is: the sealed compartment of closed type avoids the drug of sprinkling from entering to operator
The health care belt of member endangers.
Preferably, the explosive box internal coat has anticorrosive nano coating.
The beneficial effect of above-mentioned optimal technical scheme is: avoiding that there is corrosive pesticide to damage to explosive box, increases
Add the service life of explosive box.
Preferably, the spray head is comprehensive atomizer.
The beneficial effect of above-mentioned optimal technical scheme is: so that drug drop is more uniform and fine and closely woven, guarantee to crop into
Row sprinkling covering comprehensively.
It is another object of the present invention to provide a kind of control systems of large-scale plant protection helicopter, comprising: control mechanism
And executing agency；
The control mechanism is the console being arranged in the manned capsule；The executing agency includes spray boom pose adjuster；
The spray boom pose adjuster setting passes through guiding connection in the bulb two sides and with the control mechanism.
The beneficial effect of above-mentioned technical proposal is: the system of applying controlled by intelligence system, it can needle at work
Different crop situations is adjusted spray boom, it is easy to use.
Further, further includes: liquid level meter；
The liquid level meter is vertically arranged in the load medicine-chest inner wall.
The beneficial effect of above-mentioned further technical solution is: the surplus for monitoring medical fluid in explosive box at any time is convenient for operator
Make dosing plan of making a return voyage.
Preferably, further includes: level alarm device；
The level alarm device is connect with the liquid level meter and the level alarm device passes through conducting wire and the control mechanism
It is connected.
The beneficial effect of above-mentioned optimal technical scheme is: making alarm when medical fluid is lower than threshold value, prevents operator
Carelessness brings invalid operation.
Preferably, the liquid level meter is photoelectric liquid level sensor.
The beneficial effect of above-mentioned optimal technical scheme is: photoelectric liquid level sensor has higher sensitivity.
In conjunction with above-mentioned, compared with prior art, the invention has the following beneficial effects: the present invention using comprehensive can adjusting
Spray boom spread pesticides, flusher can be adjusted according to the planting density and growth characteristics for applying object, no replacement is required,
Structure is simple, easy to use；And it is controlled it using intelligence control system, it can root before sprinkling or during sprinkling
The demand that applies of the different zones for applying demand or identical crop of Different Crop is met according to actual demand, it is right in time
The pose of flusher is made adjustment, and guarantees the comprehensive spreadability and action effectiveness that apply drug, is applicable in broader
Range.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of main view of large-scale plant protection helicopter of the present invention；
Fig. 2 is a kind of bottom view of large-scale plant protection helicopter of the present invention；
Fig. 3 is a kind of side view of large-scale plant protection helicopter of the present invention；
Wherein: 1, aircraft body, 11, manned capsule, 12, load medicine storehouse, 2, explosive box, 3, support rod, 31, guide rail, 4, grug transportation tube, 5,
Spray boom, 51, bulb, 6, spray head.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Fig. 1, the present invention provides a kind of large-scale plant protection helicopters, comprising: aircraft body 1, explosive box 2, support rod
3, grug transportation tube 4, spray boom 5, spray head 6；
Aircraft body 1 includes manned capsule 11 and load medicine storehouse 12；It carries medicine storehouse 12 and is fixed on 11 bottom end of manned capsule；Explosive box 2 is fixed on
It carries inside medicine storehouse 12；The top surface of support rod 3 is fixed on the bottom surface for carrying medicine storehouse 12；One end of spray boom 5 is fixed on 3 bottom surface of support rod
And spray boom 5 is scalable；The other end of spray boom 5 connects spray head 6；4 one end of grug transportation tube connects explosive box 2, and the other end connects spray head 6.
In order to advanced optimize above scheme, manned capsule 11 is the sealing cabin with inlet and outlet, avoids the drug of sprinkling
It is endangered into the health care belt to operator.
In order to advanced optimize above scheme, 4 internal coat of explosive box has anticorrosive nano coating, avoids with corrosivity
Pesticide explosive box is damaged, increase the service life of explosive box.
In order to advanced optimize above scheme, spray head 6 is comprehensive atomizer, so that drug drop is more uniform and thin
It is close, guarantee to carry out crop sprinkling covering comprehensively.
When being worked, staff in manned capsule 11 applying density and corresponding apply distance according to demand
The length of spray boom 5 is adjusted, and is being applied during operation carries out, for the different demands of the Different Crop of same medication,
Operator can the length in time to spray boom 5 regulated and controled to adapt to different sprinkling demands.
Embodiment 2
As shown in Fig. 2, the present invention provides a kind of large-scale plant protection helicopters, comprising: aircraft body 1, explosive box 2, support rod
3, guide rail 31, grug transportation tube 4, spray boom 5, spray head 6；
Aircraft body 1 includes manned capsule 11 and load medicine storehouse 12；It carries medicine storehouse 12 and is fixed on 11 bottom end of manned capsule；Explosive box 2 is fixed on
It carries inside medicine storehouse 12；The top surface of support rod 3 is fixed on the bottom surface for carrying medicine storehouse 12；3 bottom surface of support rod is provided with guide rail 31, spray boom 5
It is slidably connect with support rod 3 by guide rail 31；Spray boom 5 is scalable；The other end of spray boom 5 connects spray head 6；Grug transportation tube 4 one
End connection explosive box 2, the other end connect spray head 6.
In order to advanced optimize above scheme, 4 internal coat of explosive box has anticorrosive nano coating, avoids with corrosivity
Pesticide explosive box is damaged, increase the service life of explosive box.
In order to advanced optimize above scheme, spray head 6 is comprehensive atomizer, so that drug drop is more uniform and thin
It is close, guarantee to carry out crop sprinkling covering comprehensively.
When being worked, staff in manned capsule 11 applying density and corresponding apply distance according to demand
The length of spray boom 5 is adjusted, and the spacing of spray boom 5 is adjusted according to the planting density of Different Crop, is being applied
During operation carries out, for the different demands of the Different Crop of same medication, length and spray boom that operator can in time to spray boom 5
Spacing between 5 is regulated and controled to adapt to different sprinkling demands.
Embodiment 3
As shown in Fig. 3, the present invention provides a kind of large-scale plant protection helicopters, comprising: aircraft body 1, explosive box 2, support rod
3, guide rail 31, grug transportation tube 4, spray boom 5, bulb 51, spray head 6；
Aircraft body 1 includes manned capsule 11 and load medicine storehouse 12；It carries medicine storehouse 12 and is fixed on 11 bottom end of manned capsule；Explosive box 2 is fixed on
It carries inside medicine storehouse 12；The top surface of support rod 3 is fixed on the bottom surface for carrying medicine storehouse 12；3 bottom surface of support rod is provided with guide rail 31；Bulb 51
It is fixed on one end of spray boom 5, spray boom 5 passes through the mobilizable connection of guide rail 31 by bulb 51 and support rod 3；Spray boom 5 is scalable；
The other end of spray boom 5 connects spray head 6；4 one end of grug transportation tube connects explosive box 2, and the other end connects spray head 6.
In order to advanced optimize above scheme, 4 internal coat of explosive box has anticorrosive nano coating, avoids with corrosivity
Pesticide explosive box is damaged, increase the service life of explosive box.
In order to advanced optimize above scheme, spray head 6 is comprehensive atomizer, so that drug drop is more uniform and thin
It is close, guarantee to carry out crop sprinkling covering comprehensively.
When being worked, staff in manned capsule 11 applying density and corresponding apply distance according to demand
The length of spray boom 5 is adjusted, and the spacing of spray boom 5 is adjusted according to the planting density of Different Crop, it can also root
According to the difference of different parts apply density requirement adjustment spray boom pose, i.e., spray boom 5 can multi-directional rotation moving telescopic adjustment,
It applies in operation progress, the different demands of Different Crop or identical crop different zones for same medication, operator can
The spray angle of the spacing between the length to spray boom 5 and spray boom 5 and spray boom is regulated and controled to adapt to different sprinklings in time
Demand.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of large size plant protection helicopter characterized by comprising aircraft body (1), explosive box (2), support rod (3), loading
Manage (4), spray boom (5), spray head (6)；The aircraft body (1) includes manned capsule (11) and carries medicine storehouse (12)；The load medicine storehouse
(12) it is fixed on the manned capsule (11) bottom end；It is internal that the explosive box (2) is fixed on the load medicine storehouse (12)；The support rod
(3) top surface is fixed on the bottom surface for carrying medicine storehouse (12)；One end of the spray boom (5) is fixed on the support rod (3) bottom surface
The upper and described spray boom is scalable；The other end of the spray boom (5) connects the spray head (6)；Described grug transportation tube (4) one end connects institute
It states explosive box (2), the other end connects the spray head (6).
2. a kind of large-scale plant protection helicopter according to claim 1, which is characterized in that support rod (3) the bottom surface setting
Have guide rail (31), the spray boom (5) is slidably connect with the support rod (3) by the guide rail (31).
3. a kind of large-scale plant protection helicopter according to claim 2, which is characterized in that spray boom (5) top is provided with
Bulb (51), the bulb (51) is mobilizable to be connected in the guide rail (31).
4. a kind of large-scale plant protection helicopter according to claim 3, which is characterized in that the manned capsule (11) be with into
The sealing cabin of outlet.
5. a kind of large-scale plant protection helicopter according to claim 4, which is characterized in that explosive box (2) internal coat
There is anticorrosive nano coating.
6. a kind of large-scale plant protection helicopter according to claim 5, which is characterized in that the spray head (6) is comprehensive mist
Change spray head.
7. a kind of control system of large-scale plant protection helicopter according to claim 1-6, which is characterized in that packet
It includes: control mechanism and executing agency；The control mechanism is the console being arranged in the manned capsule (11)；The execution machine
Structure includes spray boom pose adjuster；The spray boom pose adjuster is arranged in the bulb two sides and passes through with the control mechanism
Guiding connection.
8. a kind of control system of large-scale plant protection helicopter according to claim 6, which is characterized in that further include: liquid level
Device；The liquid level meter is vertically arranged in the load medicine-chest inner wall.
9. a kind of control system of large-scale plant protection helicopter according to claim 7, which is characterized in that further include: liquid level
Alarm device；
The level alarm device is connect with the liquid level meter and the level alarm device passes through conducting wire and the control mechanism
It is connected.
10. a kind of control system of large-scale plant protection helicopter according to claim 8, which is characterized in that the liquid level meter
For photoelectric liquid level sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811274664.1A CN109287602A (en) | 2018-10-30 | 2018-10-30 | A kind of large size plant protection helicopter and its control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811274664.1A CN109287602A (en) | 2018-10-30 | 2018-10-30 | A kind of large size plant protection helicopter and its control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109287602A true CN109287602A (en) | 2019-02-01 |
Family
ID=65158179
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811274664.1A Withdrawn CN109287602A (en) | 2018-10-30 | 2018-10-30 | A kind of large size plant protection helicopter and its control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109287602A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110063322A (en) * | 2019-05-28 | 2019-07-30 | 四川农业大学 | A kind of point band sprayer apparatus for intercropping and interplanting |
| CN113273557A (en) * | 2021-04-13 | 2021-08-20 | 海南大学 | Tethered unmanned aerial vehicle smoke agent spraying system and method suitable for rubber trees |
-
2018
- 2018-10-30 CN CN201811274664.1A patent/CN109287602A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110063322A (en) * | 2019-05-28 | 2019-07-30 | 四川农业大学 | A kind of point band sprayer apparatus for intercropping and interplanting |
| CN110063322B (en) * | 2019-05-28 | 2024-02-09 | 四川农业大学 | A divide area spraying device for intercropping |
| CN113273557A (en) * | 2021-04-13 | 2021-08-20 | 海南大学 | Tethered unmanned aerial vehicle smoke agent spraying system and method suitable for rubber trees |
| CN113273557B (en) * | 2021-04-13 | 2022-07-01 | 海南大学 | Tethered unmanned aerial vehicle smoke agent spraying system and method suitable for rubber trees |
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Application publication date: 20190201 |
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