CN109757459B - Plant protection unmanned aerial vehicle fogdrop particle size and spray amount regulating and controlling device and method - Google Patents
Plant protection unmanned aerial vehicle fogdrop particle size and spray amount regulating and controlling device and method Download PDFInfo
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- CN109757459B CN109757459B CN201910131443.7A CN201910131443A CN109757459B CN 109757459 B CN109757459 B CN 109757459B CN 201910131443 A CN201910131443 A CN 201910131443A CN 109757459 B CN109757459 B CN 109757459B
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- 239000007921 spray Substances 0.000 title claims abstract description 112
- 230000001276 controlling effect Effects 0.000 title claims abstract description 23
- 230000001105 regulatory effect Effects 0.000 title claims abstract description 22
- 238000000034 method Methods 0.000 title claims abstract description 16
- 239000002245 particle Substances 0.000 title claims description 14
- 239000003814 drug Substances 0.000 claims abstract description 24
- 238000005507 spraying Methods 0.000 claims abstract description 22
- 239000012530 fluid Substances 0.000 claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 24
- 239000007788 liquid Substances 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 6
- 230000001808 coupling effect Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 4
- 238000009690 centrifugal atomisation Methods 0.000 claims description 3
- 230000005288 electromagnetic effect Effects 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 239000003595 mist Substances 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 239000000575 pesticide Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention discloses a plant protection unmanned plane droplet size and spray amount regulating and controlling device and method, comprising an unmanned plane, a radar, a medicine box, a pump, a main pipe and a combined spray head; the radar is arranged below the unmanned aerial vehicle, and a medicine box is arranged on the unmanned aerial vehicle; the medicine chest is connected with a pump and is connected with the combined spray head through a main pipe; the combined spray head comprises a motor, an upper pipeline, an upper centrifugal spray head, a middle pipeline, a middle centrifugal spray head, a lower pipeline, a lower centrifugal spray head and a plug which are sequentially arranged from top to bottom; the upper centrifugal spray head comprises an inner rotor, an outer rotor, magnetorheological fluid, a check ring, a bearing and a spraying device, wherein the inner rotor and the outer rotor form a concentric structure, and the spraying device is fixed on the outer rotor through a supporting seat. The plant protection unmanned plane droplet size and spray amount regulating and controlling device and method can accurately control the droplet size of the centrifugal spray head, are convenient to operate, are efficient to use and fully meet actual production requirements.
Description
Technical Field
The invention relates to agricultural pesticide application equipment and a method, in particular to a device and a method for regulating and controlling the particle size and the spraying amount of a plant protection unmanned aerial vehicle fogdrop.
Background
As an advanced pesticide application machine, the plant protection unmanned plane has the advantages of high efficiency, rapidness and the like. When the spraying operation of the current unmanned plane is generally carried out by adopting the same spray head, when the working parameters and the crop types are changed, the rotating speed of the atomizing turntable and the spraying flow are simply regulated for the centrifugal spray head to change the size of the fog drop particle size, and the regulating method can only control the size of the fog drop particle size within a certain range and can not meet the actual production requirement.
Disclosure of Invention
The invention aims to overcome the prior art and provide a plant protection unmanned aerial vehicle droplet size and spray amount regulating and controlling device and method.
The technical scheme adopted by the invention is as follows: the plant protection unmanned plane droplet size and spray amount regulating and controlling device comprises an unmanned plane, a radar, a medicine box, a pump, a main pipe and a combined spray head; the radar is arranged below the unmanned aerial vehicle, and a medicine box is arranged on the unmanned aerial vehicle; the medicine chest is connected with a pump and is connected with the combined spray head through a main pipe;
the combined spray head comprises a motor, an upper pipeline, an upper centrifugal spray head, a middle pipeline, a middle centrifugal spray head, a lower pipeline, a lower centrifugal spray head and a plug which are sequentially arranged from top to bottom;
the upper centrifugal spray head comprises an inner rotor, an outer rotor, magnetorheological fluid, a check ring, a bearing and a spraying device, wherein the inner rotor and the outer rotor form a closed space through a sealing ring, the magnetorheological fluid is filled between the inner rotor and the outer rotor, and a coil is arranged in the inner rotor;
the spraying device is fixed on the outer rotor through a supporting seat and comprises a circular ring, a water inlet pipe and a water outlet pipe, and the water inlet pipe and the water outlet pipe are communicated with the circular ring;
an annular groove, a lower water outlet and an upper water outlet are formed in the outer rotor; the electromagnetic valve is arranged on the outer side of the upper centrifugal spray head and is connected with the upper water outlet and the water inlet pipe; the coil and the electromagnetic valve are connected with a power supply through a conductive ring, and an insulating layer is arranged between the conductive ring and the inner rotor;
the upper centrifugal spray head, the middle centrifugal spray head and the lower centrifugal spray head are all installed on the atomizing turntable, an upper LED light source is arranged at the lower end of the motor, an upper photoelectric sensor is arranged at the upper end of the upper centrifugal spray head, a middle LED light source is arranged at the lower end of the upper centrifugal spray head, a middle photoelectric sensor is arranged at the upper end of the middle centrifugal spray head, a lower LED light source is arranged at the lower end of the middle centrifugal spray head, and a lower photoelectric sensor is arranged at the upper end of the lower centrifugal spray head.
Preferably, the inner rotor is made of a magnetic permeable material, mainly a coil is arranged in the inner rotor, and a magnetic field can penetrate through the surface of the inner rotor to further control magnetorheological fluid.
The plant protection unmanned aerial vehicle droplet particle size and spray amount regulation and control method adopting the device comprises the following steps:
1) During plant protection operation, according to the type of crop to flight parameter: the operation height, the flight speed and the operation route are set, the unmanned plane starts to fly, and the radar detects the canopy density of crops, so that the operation parameters are determined: the particle size and flow of the fog drops, the flow of the pump and the working parameters of the combined spray head are further controlled, the rotating speed of the motor is judged, and one spray head in the combined spray head is adopted, and the combined spray head is connected with the main pipe;
2) The particle size of fog drops of the centrifugal spray heads is not only related to the rotating speed and flow of the rotary table, but also closely related to the number of teeth of the atomizing rotary table, the number of teeth of the atomizing rotary table on the upper centrifugal spray head, the middle centrifugal spray head and the lower centrifugal spray head are different, and the specific number of teeth is determined according to the test results of a laboratory on different heights and different crops;
3) When the centrifugal spray head works, an upper centrifugal spray head, a middle centrifugal spray head and a lower centrifugal spray head are determined to be adopted according to a judging result, if a conclusion is that the upper centrifugal spray head sprays, at the moment, a motor is electrified to rotate to drive a coil to rotate, the coil and an electromagnetic valve also start to be electrified, an atomization turntable rotates through a coupling effect, when the coil is electrified, an electromagnetic effect generated controls the magnetorheological effect of magnetorheological fluid between an inner rotor and an outer rotor, the inner rotor and the outer rotor generate the coupling effect, and the centrifugal atomization turntable is further controlled; the change of the magneto-rheological effect is achieved by controlling the current of the coil, so that the rotating speed of the centrifugal atomization turntable is controlled; the electromagnetic valve is opened, the pump starts to convey the liquid medicine, and the unmanned aerial vehicle starts to operate; the upper pipeline slides in the outer rotor, the middle pipeline slides in the middle centrifugal nozzle, and meanwhile, as the electromagnetic valves and coils on the middle centrifugal nozzle and the lower centrifugal nozzle are not electrified, the liquid medicine cannot flow from the pipeline to the atomizing turntable, the outer rotor cannot rotate, the energy consumption is further saved, and the plug is arranged on the outer rotor of the lower centrifugal nozzle, so that the liquid medicine cannot leak;
4) Taking the rotation speed feedback of the centrifugal spray head as an example, an upper photoelectric sensor is arranged on an outer rotor, an upper LED light source is fixed on a motor shell, when the upper centrifugal spray head rotates, the upper photoelectric sensor rotates at the same rotation speed along with the outer rotor, the rotation speed is measured and fed back to a lower computer, the lower computer is compared with a target rotation speed, and the rotation speed of the upper centrifugal spray head is adjusted by controlling the current on a coil and the rotation speed of the inner rotor;
5) And the flow is regulated and controlled, the current actual flow is measured through a flow sensor, fed back to the lower computer, compared with the target flow, and the output liquid medicine flow is regulated by controlling the voltage of the pump.
Preferably, the motor rotation speed in the step 3) can be adjusted, and the outer rotor rotation speed can be further controlled.
Preferably, in the step 3), the current of the coil is controlled to be a resistor or a PWM duty cycle, so as to achieve the change of the magneto-rheological effect.
The beneficial effects are that: the plant protection unmanned plane droplet size and spray amount regulating and controlling device and method can accurately control the droplet size of the centrifugal spray head, are convenient to operate, are efficient to use and fully meet actual production requirements.
Drawings
FIG. 1 is a top view of a plant protection drone of the present invention;
FIG. 2 is a schematic diagram of the plant protection unmanned aerial vehicle droplet size and spray amount regulating device according to the present invention;
FIG. 3 is a schematic diagram of a combined spray head of a droplet size and spray amount regulating device of a plant protection unmanned aerial vehicle according to the present invention;
FIG. 4 is a schematic diagram of the upper centrifugal spray head of the plant protection unmanned aerial vehicle droplet size and spray amount regulating device according to the invention;
FIG. 5a is a schematic view of a spray device of a droplet size and spray amount control device for a plant protection unmanned aerial vehicle according to the present invention;
FIG. 5b is a top view of FIG. 5 a;
FIG. 6 is a schematic diagram of an outer rotor structure of a droplet size and spray amount control device of a plant protection unmanned aerial vehicle according to the present invention;
FIG. 7 is a schematic diagram of an inner rotor structure of a droplet size and spray amount control device of a plant protection unmanned aerial vehicle according to the present invention;
FIG. 8 is a flow chart of the control of the present invention.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings.
1-8, a plant protection unmanned plane droplet size and spray amount regulating device comprises an unmanned plane 1, a radar 2, a medicine box 3, a pump 4, a main pipe 5 and a combined spray head 6; the radar 2 is arranged below the unmanned plane 1, and a medicine box 3 is arranged on the unmanned plane 1; the medicine chest 3 is connected with a pump 4 and is connected with a combined spray head 6 through a main pipe 5;
the combined spray head 6 comprises a motor 7, an upper pipeline 8, an upper centrifugal spray head 9, a middle pipeline 10, a middle centrifugal spray head 11, a lower pipeline 12, a lower centrifugal spray head 13 and a plug 14 which are sequentially arranged from top to bottom;
the upper centrifugal spray head 9 comprises an inner rotor 19, an outer rotor 24, magnetorheological fluid 26, a retainer ring 20, a bearing 21 and a spraying device 27, wherein a concentric structure is formed by the inner rotor, the outer rotor 24 is arranged on the inner rotor 19 through the bearing 21, the inner rotor 19 and the outer rotor 24 form a closed space through a sealing ring 28, the magnetorheological fluid 26 is filled between the inner rotor 19 and the outer rotor, and a coil 25 is arranged inside the inner rotor 19; the inner rotor 19 is made of a magnetic permeable material, mainly a coil 25 is arranged in the inner rotor 19, and a magnetic field can penetrate through the surface of the inner rotor 19 to further control magnetorheological fluid;
the spraying device 27 is fixed on the outer rotor 24 through the supporting seat 16, the spraying device 27 comprises a circular ring 15, a water inlet pipe 17 and a water outlet pipe 18, and the water inlet pipe 17 and the water outlet pipe 18 are communicated with the circular ring 15;
the outer rotor 24 is provided with an annular groove 31, a lower water outlet 32 and an upper water outlet 33; the electromagnetic valve 22 is arranged on the outer side of the upper centrifugal nozzle 9, and the electromagnetic valve 22 is connected with the upper water outlet 33 and the water inlet pipe 17; the coil 25 and the electromagnetic valve 22 are connected with a power supply through a conductive ring 30, and an insulating layer 29 is arranged between the conductive ring 30 and the inner rotor 19;
the upper centrifugal spray head 9, the middle centrifugal spray head 11 and the lower centrifugal spray head 13 are all installed on the atomizing turntable 23, an upper LED light source 34 is arranged at the lower end of the motor 7, an upper photoelectric sensor 35 is arranged at the upper end of the upper centrifugal spray head 9, a middle LED light source 36 is arranged at the lower end of the upper centrifugal spray head 9, a middle photoelectric sensor 37 is arranged at the upper end of the middle centrifugal spray head 11, a lower LED light source 38 is arranged at the lower end of the middle centrifugal spray head 11, and a lower photoelectric sensor 39 is arranged at the upper end of the lower centrifugal spray head 13.
The plant protection unmanned aerial vehicle droplet particle size and spray amount regulation and control method adopting the device comprises the following steps:
1) During plant protection operation, according to the type of crop to flight parameter: the operation altitude, the flight speed and the operation route are set, the unmanned plane 1 starts to fly, and the radar 2 detects the canopy density of crops, so that the operation parameters are determined: the particle size and flow of the fog drops further control the flow of the pump 4 and the working parameters of the combined spray head 6, and the rotating speed of the motor 7 is judged, and any spray head in the combined spray head 6 is adopted, wherein the combined spray head 6 is connected with the main pipe 5;
2) The particle size of fog drops of the centrifugal spray heads is not only related to the rotating speed and flow rate of the rotary table, but also closely related to the number of teeth of the atomizing rotary table, the number of teeth of the atomizing rotary table 23 on the upper centrifugal spray head 9, the middle centrifugal spray head 11 and the lower centrifugal spray head 13 is different, and the specific number of teeth is determined and formulated according to the test results of a laboratory on different crops at different heights;
3) When the centrifugal spraying device works, the upper centrifugal spraying head 9, the middle centrifugal spraying head 11 and the lower centrifugal spraying head 13 are determined to be adopted according to the judging result, if the conclusion is that the upper centrifugal spraying head 9 sprays, at the moment, the motor 7 is electrified to rotate to drive the coil 25 to rotate, the coil 25 and the electromagnetic valve 22 are electrified, the atomizing turntable 23 rotates through the coupling effect, and when the coil 25 is electrified, the generated electromagnetic effect controls the magneto-rheological effect of magneto-rheological fluid 26 between the inner rotor 19 and the outer rotor 24, the inner rotor 19 and the outer rotor 24 generate the coupling effect, and the centrifugal atomizing turntable 23 is further controlled; and the change of the magneto-rheological effect is achieved by controlling the current (resistance or PWM duty cycle) of the coil 25, thereby controlling the rotation speed of the centrifugal atomizing turntable 23; the rotating speed of the motor can be adjusted, and the rotating speed of the outer rotor can be further controlled; the electromagnetic valve 22 is opened, the pump 4 starts to convey the liquid medicine, and the unmanned aerial vehicle starts to operate; the upper pipeline 8 slides in the outer rotor 24, the middle pipeline 10 slides in the middle centrifugal nozzle, and meanwhile, as the electromagnetic valves and coils on the middle centrifugal nozzle 11 and the lower centrifugal nozzle 13 are not electrified, the liquid medicine cannot flow from the pipeline to the atomizing turntable 23, the outer rotor cannot rotate, the energy consumption is further saved, and the plugs are arranged on the outer rotor of the lower centrifugal nozzle 13, so that the liquid medicine cannot leak;
4) Taking the rotation speed feedback as an example when the upper centrifugal nozzle 9 rotates, the upper photoelectric sensor 35 is mounted on the outer rotor 24, the upper LED light source 34 is fixed on the outer shell of the motor 7, when the upper centrifugal nozzle 9 rotates, the upper photoelectric sensor 35 follows the outer rotor 24 to rotate at the same rotation speed, the rotation speed is measured and fed back to the lower computer, the lower computer is compared with the target rotation speed, and the rotation speed of the upper centrifugal nozzle 9 is adjusted by controlling the current on the coil 25 and the rotation speed of the inner rotor 19;
5) Flow regulation and control, the current actual flow is measured through a flow sensor, fed back to a lower computer, compared with the target flow, and the output liquid medicine flow is regulated by controlling the voltage of the pump 4.
The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the spirit and scope of the invention.
Claims (3)
1. A method for regulating and controlling the particle size and the spraying quantity of mist drops of a plant protection unmanned aerial vehicle is characterized by comprising the following steps:
the device adopted by the plant protection unmanned plane droplet size and spray amount regulation method comprises an unmanned plane (1), a radar (2), a medicine box (3), a pump (4), a main pipe (5) and a combined spray head (6); the radar (2) is arranged below the unmanned plane (1), and a medicine box (3) is arranged on the unmanned plane (1); the medicine chest (3) is connected with a pump (4) and is connected with a combined spray head (6) through a main pipe (5);
the combined spray head (6) comprises a motor (7), an upper pipeline (8), an upper centrifugal spray head (9), a middle pipeline (10), a middle centrifugal spray head (11), a lower pipeline (12), a lower centrifugal spray head (13) and a plug (14) which are sequentially arranged from top to bottom;
the upper centrifugal nozzle (9) comprises an inner rotor (19), an outer rotor (24), magnetorheological fluid (26), a retainer ring (20), a bearing (21) and a spraying device (27), wherein a concentric structure is formed by the inner rotor, the outer rotor (24) is arranged on the inner rotor (19) through the bearing (21), the inner rotor (19) and the outer rotor (24) form a closed space through a sealing ring (28), the magnetorheological fluid (26) is filled between the inner rotor and the outer rotor, and a coil (25) is arranged inside the inner rotor (19);
the spraying device (27) is fixed on the outer rotor (24) through the supporting seat (16), the spraying device (27) comprises a circular ring (15), a water inlet pipe (17) and a water outlet pipe (18), and the water inlet pipe (17) and the water outlet pipe (18) are communicated with the circular ring (15);
an annular groove (31), a lower water outlet (32) and an upper water outlet (33) are formed in the outer rotor (24); an electromagnetic valve (22) is arranged on the outer side of the upper centrifugal spray head (9), and the electromagnetic valve (22) is connected with an upper water outlet (33) and a water inlet pipe (17); the coil (25) and the electromagnetic valve (22) are connected with a power supply through a conductive ring (30), and an insulating layer (29) is arranged between the conductive ring (30) and the inner rotor (19);
the upper centrifugal spray head (9), the middle centrifugal spray head (11) and the lower centrifugal spray head (13) are all arranged on the atomizing turntable (23), an upper LED light source (34) is arranged at the lower end of the motor (7), an upper photoelectric sensor (35) is arranged at the upper end of the upper centrifugal spray head (9), a middle LED light source (36) is arranged at the lower end of the upper centrifugal spray head (9), a middle photoelectric sensor (37) is arranged at the upper end of the middle centrifugal spray head (11), a lower LED light source (38) is arranged at the lower end of the middle centrifugal spray head (11), and a lower photoelectric sensor (39) is arranged at the upper end of the lower centrifugal spray head (13);
the material of the inner rotor (19) is a magnetic permeable material;
the method for regulating and controlling the droplet size and the spraying quantity of the plant protection unmanned aerial vehicle comprises the following steps:
1) During plant protection operation, according to the type of crop to flight parameter: the operation altitude, the flight speed and the operation route are set, the unmanned plane (1) starts to fly, and the radar (2) detects the canopy density of crops, so that the operation parameters are determined: the particle size and flow of the fog drops further control the flow of the pump (4) and the working parameters of the combined spray head (6), and the rotating speed of the motor (7) is judged, and any spray head in the combined spray head (6) is adopted, wherein the combined spray head (6) is connected with the main pipe (5);
2) The particle size of fog drops of the centrifugal spray heads is not only related to the rotating speed and flow of the rotary table, but also closely related to the number of teeth of the atomizing rotary table, the numbers of teeth of the atomizing rotary tables (23) on the upper centrifugal spray head (9), the middle centrifugal spray head (11) and the lower centrifugal spray head (13) are different, and the specific number of teeth is determined according to the test results of a laboratory on different crops at different heights;
3) When the centrifugal atomizer works, an upper centrifugal nozzle (9), a middle centrifugal nozzle (11) and a lower centrifugal nozzle (13) are adopted according to a judging result, if a conclusion is that the upper centrifugal nozzle (9) sprays, at the moment, the motor (7) is electrified and rotates to drive the coil (25) to rotate, the coil (25) and the electromagnetic valve (22) are electrified, the atomizing turntable (23) rotates through a coupling effect, and when the coil (25) is electrified, the generated electromagnetic effect controls the magneto-rheological effect of magneto-rheological fluid (26) between the inner rotor (19) and the outer rotor (24), and the inner rotor (19) and the outer rotor (24) generate a coupling effect to further control the centrifugal atomizing turntable (23); and the change of the magneto-rheological effect is achieved by controlling the current of the coil (25), so that the rotating speed of the centrifugal atomization turntable (23) is controlled; the electromagnetic valve (22) is opened, the pump (4) starts to convey the liquid medicine, and the unmanned aerial vehicle starts to operate; the upper pipeline (8) slides in the outer rotor (24), the middle pipeline (10) slides in the middle centrifugal nozzle, and meanwhile, as the electromagnetic valves and coils on the middle centrifugal nozzle (11) and the lower centrifugal nozzle (13) are not electrified, the liquid medicine cannot flow from the pipeline to the atomizing turntable (23), the outer rotor cannot rotate, the energy consumption is further saved, and the plug is arranged on the outer rotor of the lower centrifugal nozzle (13) to ensure that the liquid medicine cannot leak;
4) Taking the rotation speed feedback of the centrifugal nozzle (9) as an example, an upper photoelectric sensor (35) is arranged on an outer rotor (24), an upper LED light source (34) is fixed on a motor (7) shell, when the upper centrifugal nozzle (9) rotates, the upper photoelectric sensor (35) rotates along with the outer rotor (24) at the same rotation speed, the rotation speed is measured and fed back to a lower computer and is compared with a target rotation speed, and the rotation speed of the upper centrifugal nozzle (9) is adjusted by controlling the current on a coil (25) and the rotation speed of an inner rotor (19);
5) Flow regulation and control, the current actual flow is measured through a flow sensor, fed back to a lower computer, compared with the target flow, and the output liquid medicine flow is regulated by controlling the voltage of a pump (4).
2. The method for regulating and controlling the droplet size and the spraying amount of the plant protection unmanned aerial vehicle according to claim 1, which is characterized in that: and 3) adjusting the rotation speed of the motor in the step 3), and further controlling the rotation speed of the outer rotor.
3. The method for regulating and controlling the droplet size and the spraying amount of the plant protection unmanned aerial vehicle according to claim 1, which is characterized in that: in the step 3), the current of the coil (25) is controlled to be a resistor or PWM duty ratio so as to achieve the change of the magneto-rheological effect.
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| 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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| 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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| CN109757459B true CN109757459B (en) | 2024-02-13 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110199975A (en) * | 2019-07-03 | 2019-09-06 | 农业农村部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle medicine-chest device and control method |
| 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 |
| 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 |
| CN115005182A (en) * | 2022-06-14 | 2022-09-06 | 安徽农业大学 | Electrostatic spraying control method and system |
| 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 |
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