CN109757459A - A kind of plant protection unmanned aerial vehicle mist droplet particle size and discharge rate regulation device and method - Google Patents
A kind of plant protection unmanned aerial vehicle mist droplet particle size and discharge rate regulation device and method Download PDFInfo
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- CN109757459A CN109757459A CN201910131443.7A CN201910131443A CN109757459A CN 109757459 A CN109757459 A CN 109757459A CN 201910131443 A CN201910131443 A CN 201910131443A CN 109757459 A CN109757459 A CN 109757459A
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- 239000003595 mist Substances 0.000 title claims abstract description 33
- 239000002245 particle Substances 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000012530 fluid Substances 0.000 claims abstract description 19
- 238000000889 atomisation Methods 0.000 claims description 13
- 230000005291 magnetic effect Effects 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 8
- 238000000518 rheometry Methods 0.000 claims description 7
- 230000001808 coupling effect Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 238000005119 centrifugation Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 238000012377 drug delivery Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000005352 galvanomagnetic phenomena Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Abstract
The invention discloses a kind of plant protection unmanned aerial vehicle mist droplet particle sizes and discharge rate regulation device and method, including unmanned aerial vehicle, radar, medicine-chest, pump, supervisor and combined sprinkler；The lower section of unmanned aerial vehicle is arranged in the radar, is configured with medicine-chest on unmanned aerial vehicle；It is connected with pump on the medicine-chest, and is connect by supervisor with combined sprinkler；The combined sprinkler includes the motor successively installed from top to bottom, upper pipeline, upper centrifugal energy nozzle, middle pipeline, middle centrifugal energy nozzle, lower pipeline, lower centrifugal energy nozzle, plug；The upper centrifugal energy nozzle includes that internal rotor, outer rotor, magnetorheological fluid, retaining ring, bearing, flusher form concentric structure from inside to outside, and the flusher is fixed on outer rotor by support base.Plant protection unmanned aerial vehicle mist droplet particle size of the invention and discharge rate regulation device and method can be more accurate control centrifugal energy nozzle mist droplet particle size size, and it is easy to operate, using efficient, sufficiently meet actual production demand.
Description
Technical field
The present invention relates to a kind of agriculture application equipment and methods, and in particular to a kind of plant protection unmanned aerial vehicle mist droplet particle size and spray
Measure regulation device and method.
Background technique
Plant protection unmanned aerial vehicle has many advantages, such as efficient, quick as a kind of advanced application equipment.Current unmanned aerial vehicle exists
Same spray head is generally used when spraying operation, when job parameter, agrotype change, for centrifugal energy nozzle only
It is revolving speed and the mist flow of simple adjustment atomization turntable to change the size of mist droplet particle size, such adjusting method can only be one
The size for determining control mist droplet particle size in range, without being able to satisfy actual production demand.
Summary of the invention
The purpose of the present invention is overcoming the prior art, a kind of plant protection unmanned aerial vehicle mist droplet particle size and discharge rate regulation device are provided
And method.
The technical solution adopted by the present invention is that: a kind of plant protection unmanned aerial vehicle mist droplet particle size and discharge rate regulation device, including nothing
People's aircraft, radar, medicine-chest, pump, supervisor and combined sprinkler；The lower section of unmanned aerial vehicle is arranged in the radar, matches on unmanned aerial vehicle
It is equipped with medicine-chest；It is connected with pump on the medicine-chest, and is connect by supervisor with combined sprinkler；
The combined sprinkler include the motor successively installed from top to bottom, upper pipeline, upper centrifugal energy nozzle, middle pipeline, in from
Heart spray head, lower pipeline, lower centrifugal energy nozzle, plug；
The upper centrifugal energy nozzle includes internal rotor, outer rotor, magnetorheological fluid, retaining ring, bearing, flusher shape from inside to outside
Concentric structure, the outer rotor are mounted on internal rotor by bearing, and internal rotor is formed with outer rotor by sealing ring closed
Space is full of therebetween magnetorheological fluid, and inside is equipped with coil on internal rotor；
The flusher is fixed on outer rotor by support base, and flusher includes annulus, water inlet pipe and outlet pipe,
The water inlet pipe and outlet pipe are communicated with annulus；
The outer rotor is equipped with annular groove, lower outlet and upper water-out mouth；It is equipped on the outside of the upper centrifugal energy nozzle
Solenoid valve, solenoid valve are connect with upper water-out mouth and water inlet pipe；Coil is connected to power supply by conducting ring with solenoid valve, and conductive
Insulating layer is equipped between ring and internal rotor；
The upper centrifugal energy nozzle, middle centrifugal energy nozzle, lower centrifugal energy nozzle are installed on atomization turntable, and the motor lower end is set
There is upper LED light source, upper centrifugal energy nozzle upper end is equipped with upper photoelectric sensor, and upper centrifugal energy nozzle lower end is equipped with middle LED light source, middle centrifugation
Spray head upper end is equipped with middle photoelectric sensor, and middle centrifugal energy nozzle lower end is equipped with lower LED light source, and the upper end of lower centrifugal energy nozzle is equipped with lower light
Electric transducer.
Preferably, the material of the internal rotor is magnetic-permeable material, mainly internal rotor internal cable circle, magnetic field wants to wear
The surface of saturating internal rotor, further controls magnetorheological fluid.
A kind of plant protection unmanned aerial vehicle mist droplet particle size using above-mentioned apparatus and discharge rate regulate and control method, comprising the following steps:
1) when plant protection operation, according to the type of crop to flight parameter: operation height, flying speed, operation course line carry out
Setting, unmanned aerial vehicle start to fly, the canopy density of radar detection crop, so that it is determined that job parameter: mist droplet particle size, flow,
The further running parameter of the flow of control pump and combined sprinkler judges motor speed and using certain in combined sprinkler
It is connected on a kind of spray head, combined sprinkler and supervisor；
2) mist droplet particle size of centrifugal energy nozzle is not only related to rotary speed, flow, while close with the number of teeth of atomization turntable
Correlation, the upper centrifugal energy nozzle, middle centrifugal energy nozzle, the atomization turntable number of teeth on lower centrifugal energy nozzle are different, and the specific number of teeth determines root
It is formulated according to test result of the laboratory in different height, Different Crop；
3) when working, according to judgement as a result, determining to use upper centrifugal energy nozzle, middle centrifugal energy nozzle, lower centrifugal energy nozzle, such as knot
By being upper centrifugal energy nozzle sprinkling, electrical power rotates at this time, and band moving winding rotates, and coil is also initially powered up with solenoid valve, passes through
Coupling effect is atomized turntable rotation, when the coil is energized, the magnetic current between the galvanomagnetic-effect control internal rotor and outer rotor of generation
Become the magnetic rheology effect of liquid, internal rotor and outer rotor generate coupling effect, further control centrifugal atomizing turntable；And pass through control
The electric current of coil processed, reaches the variation of magnetic rheology effect, to control the revolving speed of centrifugal atomizing turntable；Solenoid valve is opened, and pump is opened
Begin conveying medical fluid, and unmanned plane starts operation；Upper pipeline is slided in outer internal rotor, middle pipeline in middle centrifugal energy nozzle internal slide,
Simultaneously because middle centrifugal energy nozzle, the solenoid valve on lower centrifugal energy nozzle and coil are not powered on, so that medical fluid will not be flow to from pipeline
It is atomized on turntable, and outer rotor will not rotate, further energy saving, be equipped with plug on lower centrifugal energy nozzle outer rotor, protects
Card medical fluid will not leak；
4) when the above centrifugal energy nozzle rotates for speed feedback, upper photoelectric sensor is mounted on outer rotor, upper LED light source
It is fixed on motor housing, when the rotation of upper centrifugal energy nozzle, upper photoelectric sensor is followed by outer rotor and is rotated with identical revolving speed,
The measurement of its revolving speed is fed back into slave computer, and is compared with rotating speed of target, the electric current and internal rotor on control coil are passed through
Revolving speed, so as to adjust the revolving speed of upper centrifugal energy nozzle；
5) flow control measures currently practical flow by flow sensor, feeds back to slave computer, and with target flow ratio
It is right, by the voltage of control pump, so as to adjust output medicinal liquid flow.
Preferably, motor speed is adjustable in the step 3), outer rotor revolving speed further can control.
Preferably, the electric current for passing through control coil in the step 3) is to reach magnetic current using resistance or PWM duty cycle
The variation of change effect.
The utility model has the advantages that a kind of plant protection unmanned aerial vehicle mist droplet particle size of the present invention with discharge rate regulation device and method can compared with it is smart
The size of the mist droplet particle size of true control centrifugal energy nozzle, and easy to operate sufficiently meets actual production demand using efficient.
Detailed description of the invention
Fig. 1 is the top view of plant protection unmanned aerial vehicle of the present invention；
Fig. 2 is the use schematic diagram of plant protection unmanned aerial vehicle mist droplet particle size of the present invention and discharge rate regulation device；
Fig. 3 is the combined sprinkler structural schematic diagram of plant protection unmanned aerial vehicle mist droplet particle size of the present invention and discharge rate regulation device；
Fig. 4 is the upper centrifugal energy nozzle structural schematic diagram of plant protection unmanned aerial vehicle mist droplet particle size of the present invention and discharge rate regulation device；
Fig. 5 a is the flusher structural schematic diagram of plant protection unmanned aerial vehicle mist droplet particle size of the present invention and discharge rate regulation device；
Fig. 5 b is the top view of Fig. 5 a；
Fig. 6 is the outer-rotor structure schematic diagram of plant protection unmanned aerial vehicle mist droplet particle size of the present invention and discharge rate regulation device；
Fig. 7 is the inner rotor core schematic diagram of plant protection unmanned aerial vehicle mist droplet particle size of the present invention and discharge rate regulation device；
Fig. 8 is present invention regulation flow chart.
Specific embodiment
Specific embodiments of the present invention will be described in detail with reference to the accompanying drawing.
As shown in figures 1-8, a kind of plant protection unmanned aerial vehicle mist droplet particle size and discharge rate regulation device, including unmanned aerial vehicle 1, radar
2, medicine-chest 3, pump 4, supervisor 5 and combined sprinkler 6；The lower section of unmanned aerial vehicle 1 is arranged in the radar 2, is configured on unmanned aerial vehicle 1
Medicine-chest 3；It is connected with pump 4 on the medicine-chest 3, and is connect by supervisor 5 with combined sprinkler 6；
The combined sprinkler 6 includes motor 7, upper pipeline 8, upper centrifugal energy nozzle 9, the middle pipeline successively installed from top to bottom
10, middle centrifugal energy nozzle 11, lower pipeline 12, lower centrifugal energy nozzle 13, plug 14；
The upper centrifugal energy nozzle 9 includes internal rotor 19, outer rotor 24, magnetorheological fluid 26, retaining ring 20, bearing 21, sprinkling dress
It sets 27 and forms concentric structure from inside to outside, the outer rotor 24 is mounted on internal rotor 19 by bearing 21, internal rotor 19 and outer
Rotor 24 forms confined space by sealing ring 28, is full of magnetorheological fluid 26 therebetween, and inside is equipped with coil on internal rotor 19
25；The material of the internal rotor 19 is magnetic-permeable material, and mainly 19 internal cable circle 25 of internal rotor, magnetic field wants that internal rotor can be penetrated
19 surface, further controls magnetorheological fluid；
The flusher 27 is fixed on outer rotor 24 by support base 16, and flusher 27 includes annulus 15, water inlet
Pipe 17 and outlet pipe 18, the water inlet pipe 17 and outlet pipe 18 are communicated with annulus 15；
The outer rotor 24 is equipped with annular groove 31, lower outlet 32 and upper water-out mouth 33；Outside the upper centrifugal energy nozzle 9
Side is equipped with solenoid valve 22, and solenoid valve 22 is connect with upper water-out mouth 33 and water inlet pipe 17；Coil 25 is with solenoid valve 22 by leading
Electric ring 30 connects to power supply, and insulating layer 29 is equipped between conducting ring 30 and internal rotor 19；
The upper centrifugal energy nozzle 9, middle centrifugal energy nozzle 11, lower centrifugal energy nozzle 13 are installed on atomization turntable 23, the electricity
7 lower end of machine is equipped with upper LED light source 34, and upper 9 upper end of centrifugal energy nozzle is equipped with upper photoelectric sensor 35, and upper 9 lower end of centrifugal energy nozzle is equipped with
Middle LED light source 36, middle 11 upper end of centrifugal energy nozzle are equipped with middle photoelectric sensor 37, and middle 11 lower end of centrifugal energy nozzle is equipped with lower LED light source
38, the upper end of lower centrifugal energy nozzle 13 is equipped with lower photoelectric sensor 39.
A kind of plant protection unmanned aerial vehicle mist droplet particle size using above-mentioned apparatus and discharge rate regulate and control method, comprising the following steps:
1) when plant protection operation, according to the type of crop to flight parameter: operation height, flying speed, operation course line carry out
Setting, unmanned aerial vehicle 1 start to fly, and radar 2 detects the canopy density of crop, so that it is determined that job parameter: mist droplet particle size, stream
Amount, further the running parameter of the flow of control pump 4 and combined sprinkler 6, judges 7 revolving speed of motor and uses combined sprinkler 6
In a certain spray head, combined sprinkler 6 and supervisor 5 on connect；
2) mist droplet particle size of centrifugal energy nozzle is not only related to rotary speed, flow, while close with the number of teeth of atomization turntable
Correlation, the upper centrifugal energy nozzle 9, middle centrifugal energy nozzle 11,23 number of teeth of atomization turntable on lower centrifugal energy nozzle 13 are different, the specific number of teeth
Determine that the test result according to laboratory in different height, Different Crop is formulated；
3) when working, according to judgement as a result, determining to use upper centrifugal energy nozzle 9, middle centrifugal energy nozzle 11, lower centrifugal energy nozzle
13, if conclusion is that upper centrifugal energy nozzle 9 sprays, motor 7, which is powered, at this time rotates, and band moving winding 25 rotates, coil 25 and solenoid valve 22
Also it is initially powered up, turntable 23 is atomized by coupling effect and is rotated, when coil 25 is powered, the galvanomagnetic-effect of generation controls internal rotor
The magnetic rheology effect of magnetorheological fluid 26 between 19 and outer rotor 24, internal rotor 19 and outer rotor 24 generate coupling effect, into one
Step control centrifugal atomizing turntable 23；And the electric current (resistance or PWM duty cycle) for passing through control coil 25, reaches magnetic rheology effect
Variation, to control the revolving speed of centrifugal atomizing turntable 23；Motor speed is adjustable, further can control outer rotor and turns
Speed；Solenoid valve 22 is opened, and pump 4 starts to convey medical fluid, and unmanned plane starts operation；Upper pipeline 8 is in 24 internal slide of outer rotor, middle pipe
Road 10 is in middle centrifugal energy nozzle internal slide, simultaneously because middle centrifugal energy nozzle 11, the solenoid valve on lower centrifugal energy nozzle 13 and coil are equal
It is not powered on, so that medical fluid will not be flow on atomization turntable 23 from pipeline, and outer rotor will not rotate, further energy saving,
Plug is installed on lower 13 outer rotor of centrifugal energy nozzle, guarantees that medical fluid will not leak；
4) when the above centrifugal energy nozzle 9 rotates for speed feedback, upper photoelectric sensor 35 is mounted on outer rotor 24, on
LED light source 34 is fixed on 7 shell of motor, when upper centrifugal energy nozzle 9 rotation when, upper photoelectric sensor 35 be followed by outer rotor 24 with
The measurement of its revolving speed is fed back to slave computer, and is compared with rotating speed of target by identical revolving speed rotation, by control coil 25
Electric current and internal rotor 19 revolving speed, so as to adjust the revolving speed of upper centrifugal energy nozzle 9；
5) flow control measures currently practical flow by flow sensor, feeds back to slave computer, and with target flow ratio
It is right, by the voltage of control pump 4, so as to adjust output medicinal liquid flow.
Embodiments of the present invention are described in detail in conjunction with attached drawing above, but the present invention is not limited to described reality
Apply mode.For those of ordinary skill in the art, in the range of the principle of the present invention and technical idea, to these implementations
Mode carries out a variety of variations, modification, replacement and deformation and still falls in protection scope of the present invention.
Claims (5)
1. a kind of plant protection unmanned aerial vehicle mist droplet particle size and discharge rate regulation device, it is characterised in that: including unmanned aerial vehicle (1), radar
(2), medicine-chest (3), pump (4), supervisor (5) and combined sprinkler (6)；The radar (2) is arranged in the lower section of unmanned aerial vehicle (1), nothing
Medicine-chest (3) are configured on people's aircraft (1)；It is connected with pump (4) on the medicine-chest (3), and passes through supervisor (5) and combined sprinkler (6)
Connection；
The combined sprinkler (6) includes the motor (7), upper pipeline (8), upper centrifugal energy nozzle (9), middle pipe successively installed from top to bottom
Road (10), middle centrifugal energy nozzle (11), lower pipeline (12), lower centrifugal energy nozzle (13), plug (14)；
The upper centrifugal energy nozzle (9) includes internal rotor (19), outer rotor (24), magnetorheological fluid (26), retaining ring (20), bearing
(21), flusher (27) forms concentric structure from inside to outside, and the outer rotor (24) is mounted on internal rotor by bearing (21)
(19) on, internal rotor (19) and outer rotor (24) are full of therebetween magnetorheological fluid by sealing ring (28) formation confined space
(26), internal on internal rotor (19) to be equipped with coil (25)；
The flusher (27) is fixed on outer rotor (24) by support base (16), and flusher (27) includes annulus
(15), water inlet pipe (17) and outlet pipe (18), the water inlet pipe (17) and outlet pipe (18) are communicated with annulus (15)；
The outer rotor (24) is equipped with annular groove (31), lower outlet (32) and upper water-out mouth (33)；The upper centrifugal energy nozzle
(9) it is equipped on the outside of solenoid valve (22), solenoid valve (22) is connect with upper water-out mouth (33) and water inlet pipe (17)；Coil (25) with
Solenoid valve (22) is connected to power supply by conducting ring (30), and insulating layer is equipped between conducting ring (30) and internal rotor (19)
(29)；
The upper centrifugal energy nozzle (9), middle centrifugal energy nozzle (11), lower centrifugal energy nozzle (13) are installed in atomization turntable (23), institute
Motor (7) lower end is stated equipped with upper LED light source (34), upper centrifugal energy nozzle (9) upper end is equipped with upper photoelectric sensor (35), upper centrifugation spray
Head (9) lower end is equipped with middle LED light source (36), and middle centrifugal energy nozzle (11) upper end is equipped with middle photoelectric sensor (37), middle centrifugal energy nozzle
(11) lower end is equipped with lower LED light source (38), and the upper end of lower centrifugal energy nozzle (13) is equipped with lower photoelectric sensor (39).
2. plant protection unmanned aerial vehicle mist droplet particle size according to claim 1 and discharge rate regulation device, it is characterised in that: in described
The material of rotor (19) is magnetic-permeable material.
3. a kind of plant protection unmanned aerial vehicle mist droplet particle size using the device as claimed in claim 1 or 2 and discharge rate regulate and control method,
It is characterized in that: the following steps are included:
1) when plant protection operation, according to the type of crop to flight parameter: operation height, flying speed, operation course line are configured,
Unmanned aerial vehicle (1) starts to fly, and radar (2) detects the canopy density of crop, so that it is determined that job parameter: mist droplet particle size, flow,
The further running parameter of the flow of control pump (4) and combined sprinkler (6) judges motor (7) revolving speed and using combination spray
It is connected on a certain spray head in head (6), combined sprinkler (6) and supervisor (5)；
2) mist droplet particle size of centrifugal energy nozzle is not only related to rotary speed, flow, while closely related with the number of teeth of atomization turntable,
The upper centrifugal energy nozzle (9), middle centrifugal energy nozzle (11), atomization turntable (23) number of teeth on lower centrifugal energy nozzle (13) are different, specifically
The number of teeth determines that the test result according to laboratory in different height, Different Crop is formulated；
3) when working, according to judgement as a result, determining to use upper centrifugal energy nozzle (9), middle centrifugal energy nozzle (11), lower centrifugal energy nozzle
(13), if conclusion is upper centrifugal energy nozzle (9) sprinkling, the rotation of motor (7) energization at this time, band moving winding (25) rotation, coil (25)
It is also initially powered up with solenoid valve (22), passes through coupling effect atomization turntable (23) rotation, when coil (25) are powered, the electricity of generation
Magnetic effect controls the magnetic rheology effect of the magnetorheological fluid (26) between internal rotor (19) and outer rotor (24), internal rotor (19) with outside
Rotor (24) generates coupling effect, further controls centrifugal atomizing turntable (23)；And the electric current for passing through control coil (25), reaches
To the variation of magnetic rheology effect, to control the revolving speed of centrifugal atomizing turntable (23)；Solenoid valve (22) is opened, and pump (4) starts defeated
Drug delivery liquid, unmanned plane start operation；Upper pipeline (8) is in outer rotor (24) internal slide, and middle pipeline (10) is in middle centrifugal energy nozzle
Portion's sliding, simultaneously because middle centrifugal energy nozzle (11), the solenoid valve on lower centrifugal energy nozzle (13) and coil are not powered on, thus medical fluid
It will not be flow to from pipeline in atomization turntable (23), and outer rotor will not rotate, further energy saving, lower centrifugal energy nozzle (13)
Plug is installed on outer rotor, guarantees that medical fluid will not leak；
4) when the above centrifugal energy nozzle (9) rotates for speed feedback, upper photoelectric sensor (35) is mounted on outer rotor (24), on
LED light source (34) is fixed on motor (7) shell, and when upper centrifugal energy nozzle (9) rotation, upper photoelectric sensor (35) is followed by outer
Rotor (24) feeds back to slave computer with the rotation of identical revolving speed, by the measurement of its revolving speed, and is compared with rotating speed of target, passes through control
The revolving speed of electric current and internal rotor (19) on coil (25) processed, so as to adjust the revolving speed of upper centrifugal energy nozzle (9)；
5) flow control measures currently practical flow by flow sensor, feeds back to slave computer, and compare with target flow,
By the voltage of control pump (4), so as to adjust output medicinal liquid flow.
4. plant protection unmanned aerial vehicle mist droplet particle size according to claim 3 and discharge rate regulate and control method, it is characterised in that: the step
It is rapid 3) in motor speed be adjusted, it is further to control outer rotor revolving speed.
5. plant protection unmanned aerial vehicle mist droplet particle size according to claim 3 and discharge rate regulate and control method, it is characterised in that: the step
It is rapid 3) in by the electric current of control coil (25) be that the variation of magnetic rheology effect is reached using resistance or PWM duty cycle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910131443.7A CN109757459B (en) | 2019-02-22 | 2019-02-22 | Plant protection unmanned aerial vehicle fogdrop particle size and spray amount regulating and controlling device and method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910131443.7A CN109757459B (en) | 2019-02-22 | 2019-02-22 | Plant protection unmanned aerial vehicle fogdrop particle size and spray amount regulating and controlling device and method |
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| CN109757459A true CN109757459A (en) | 2019-05-17 |
| CN109757459B CN109757459B (en) | 2024-02-13 |
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| CN110672937B (en) * | 2019-09-18 | 2021-08-03 | 北京农业智能装备技术研究中心 | Atomization efficiency evaluation method and device of electric atomizer |
| CN113184192A (en) * | 2021-04-12 | 2021-07-30 | 苏州极目机器人科技有限公司 | Spraying method for aircraft |
| CN113184192B (en) * | 2021-04-12 | 2024-08-13 | 苏州极目机器人科技有限公司 | Spraying method for aircraft |
| CN113598148B (en) * | 2021-08-05 | 2022-09-02 | 苏州极目机器人科技有限公司 | Mist spraying method and device |
| CN113598148A (en) * | 2021-08-05 | 2021-11-05 | 苏州极目机器人科技有限公司 | Mist spraying method and device |
| CN115005182A (en) * | 2022-06-14 | 2022-09-06 | 安徽农业大学 | Electrostatic spraying control method and system |
| CN115792337A (en) * | 2022-11-23 | 2023-03-14 | 深圳市好盈科技股份有限公司 | Unmanned aerial vehicle spraying box pesticide-free detection method and device |
| CN115792337B (en) * | 2022-11-23 | 2023-09-26 | 深圳市好盈科技股份有限公司 | Unmanned aerial vehicle spraying box non-medicine detection method and device |
| CN117602073A (en) * | 2023-11-28 | 2024-02-27 | 黑龙江惠达科技股份有限公司 | Unmanned aerial vehicle for determining centrifugal nozzle spacing |
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