CN110104182A - The plant protection drone sprinkling system and its method of view-based access control model autonomous flight - Google Patents
The plant protection drone sprinkling system and its method of view-based access control model autonomous flight Download PDFInfo
- Publication number
- CN110104182A CN110104182A CN201910336849.9A CN201910336849A CN110104182A CN 110104182 A CN110104182 A CN 110104182A CN 201910336849 A CN201910336849 A CN 201910336849A CN 110104182 A CN110104182 A CN 110104182A
- Authority
- CN
- China
- Prior art keywords
- module
- flight
- sprinkling
- processing unit
- central processing
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000012545 processing Methods 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 17
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 16
- 238000001914 filtration Methods 0.000 claims abstract description 11
- 239000007921 spray Substances 0.000 claims description 13
- 239000003814 drug Substances 0.000 claims description 7
- 238000009472 formulation Methods 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 7
- 241000238631 Hexapoda Species 0.000 claims description 5
- 241000607479 Yersinia pestis Species 0.000 claims description 5
- 230000036624 brainpower Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000000151 deposition Methods 0.000 claims description 3
- 238000005507 spraying Methods 0.000 claims description 3
- 229940079593 drug Drugs 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000575 pesticide Substances 0.000 description 1
- 238000006467 substitution reaction Methods 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
-
- 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; 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Wood Science & Technology (AREA)
- Insects & Arthropods (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Catching Or Destruction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of plant protection drone sprinkling system of view-based access control model autonomous flight and its method, system includes drone body, elevation carrection module, drive module, camera model, sprinkling module, power module and flight control modules；Sprinkling module includes that medicine-chest, force (forcing) pump, filtering gasket, control valve and atomizer, medicine-chest are connected by force (forcing) pump with atomizer；The exit of medicine-chest is arranged in filtering gasket；Control valve is arranged in the pipeline between pressurization pump discharge and atomizer；Flight control modules include accelerometer, three-axis gyroscope, GPS, communication module and central processing unit.When work, the instruction that central processing unit is received according to communication module, in conjunction with accelerometer, three-axis gyroscope, GPS, elevation carrection module sensed data, control camera model, force (forcing) pump, control valve work.The present invention can contexture by self path, reduce human cost, avoid operating error caused by manual remote control, be administered crop uniformly.
Description
Technical field
The present invention relates to UAV Flight Control field more particularly to a kind of plant protection drones of view-based access control model autonomous flight
Sprinkling system and its method.
Background technique
With the iterative method of China's agricultural modernization, there is more and more large-scale plantations, traditional artificial work
Industry mode has not adapted to the production of this high intensity, in order to improve the production efficiency, modern science and technology and modern industry dress
For agriculturally using more and more.The mechanization and informationization of agricultural production are the development trends of modern agriculture.
In recent years, with unmanned air vehicle technique high speed development, unmanned plane is all widely used in each field, in agricultural production
In also play an increasingly important role.
Quadrotor drone plant protection operation mode is with work efficiency is high, working area is wide, excellent convenient for information system management etc.
Point, has received widespread attention, but the design of the intelligent plant protection drone sprinkling system of view-based access control model is but rarely reported.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of based on view for defect involved in background technique
The plant protection drone sprinkling system and its method for feeling autonomous flight can identify sprinkling region, according to insect pest situation adjust automatically
Fountain height.
The present invention uses following technical scheme to solve above-mentioned technical problem:
The plant protection drone sprinkling system of view-based access control model autonomous flight, including drone body, elevation carrection module, driving mould
Block, camera model, sprinkling module, power module and flight control modules；
The elevation carrection module uses laser sensor, for measuring the flying height of drone body, and passes it to
The central processing unit；
The drive module includes being worked according to each rotor of the order-driven drone body of flight control modules；
The camera model passes it to the flight control modules for acquiring plant protection image；
The sprinkling module includes medicine-chest, force (forcing) pump, filtering gasket, control valve and atomizer, wherein the medicine-chest is for depositing
Put the medicament for needing to spray；The entrance of the force (forcing) pump is connected by conduit with the outlet of medicine-chest, and the outlet of force (forcing) pump is by leading
Pipe is connected with atomizer；The exit of medicine-chest is arranged in the filtering gasket, for filtering the dregs of a decoction；The control valve setting exists
In the pipeline to pressurize between pump discharge and atomizer, for controlling the sprinkling power of its opening size and then control atomizer
Degree；
The power module is for powering；
The flight control modules include accelerometer, three-axis gyroscope, GPS, communication module and central processing unit；
The accelerometer is used to measure the acceleration information of drone body, and passes it to central processing unit；
The three-axis gyroscope passes it to central processing unit due to measuring the posture information of drone body；
The GPS is used to measure the location information of drone body, and passes it to central processing unit；
The communication module is used to receive external instruction, and passes it to central processing unit；
The central processing unit respectively with accelerometer, three-axis gyroscope, GPS, communication module, elevation carrection module, driving mould
Block, camera model, force (forcing) pump, control valve, power module are electrically connected, the instruction for being received according to communication module, in conjunction with
Accelerometer, three-axis gyroscope, GPS, elevation carrection module sensed data, control camera model, force (forcing) pump, control valve work
Make.
The invention also discloses a kind of control method of the plant protection drone sprinkling system of view-based access control model autonomous flight,
Specific step is as follows for middle view-based access control model contexture by self flight path:
Step is A.1), communication module receives the extraneous contexture by self flight directive sent and sprinkling coordinates regional, and is passed
Pass central processing unit；
Step is A.2), central controller controls drive module drives drone body flight to plant protection operation overlying regions；
Step is A.3), elevation carrection module measures the flying height of drone body, and passes it to central processing unit；
Step is A.4), central controller controls drive module driving drone body is flown to preset first height threshold, and
It controls camera model and acquires plant protection image；
Step is A.5), central controller controls extract the angle point of collected plant protection image, identify operating area boundary；
Step is A.6), central controller controls drive module driving drone body fly to preset second height threshold,
Along operating area boundary flight, complete operating area two dimensional image is acquired；
Step is A.7), central controller is according to the two dimensional image of operating area, the elevation information of unmanned plane and sprays coordinates regional,
Plan flight path.
Control method as the plant protection drone sprinkling system the present invention is based on vision autonomous flight further optimizes
Scheme, wherein uniformly being sprayed, specific step is as follows:
Step is B.1), set spraying parameter；
Step is B.2), unmanned plane tracks desired trajectory；
Step is B.3), read unmanned plane height and speed data；
Step is B.4), real-time unit of account area formulation rate and spray head opening size；
Step is B.5), controller issues control instruction, adjusts the opening size of control valve, executes sprinkling task.
Control method as the plant protection drone sprinkling system the present invention is based on vision autonomous flight further optimizes
Scheme, wherein carrying out brainpower insufflation, specific step is as follows:
Step is C.1), quadrotor is flown above operating area, acquires image information by camera；
Step is C.2), image angle point is extracted, insect pest situation is quantified；
Step is C.3), read unmanned plane height and speed data；
Step is C.4), unit of account area formulation rate and spray head opening size；
Step is C.5), controller issues control instruction to atomizer, adjusts the opening size of control valve, executes sprinkling task.
The invention adopts the above technical scheme compared with prior art, has following technical effect that
1. contexture by self path, unmanned plane autonomous flight reduces human cost, while avoiding operation caused by manual remote control
Error is administered crop uniformly；
2. different spray modes may be selected, pesticide can be increased or reduced by insect pest situation for crop is different by vision
Fountain height optimizes drug utilization, reduces environmental pollution, also the support customized fountain height of user；
3. being not only suitable for plane effect region, it is also applied for the three-dimensional operation of single plant；
4. the medicament of sprinkling can make drug rapid subsidence to farming under the wind action that drone body rotor wing rotation generates
On object, reduce drug loss and environmental pollution.
Detailed description of the invention
Fig. 1 is the plant protection sprinkling UAV system structure chart of view-based access control model；
Fig. 2 is unmanned plane during flying path planning process figure；
Fig. 3 is sprinkling flow chart.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
As shown in Figure 1, the invention discloses a kind of plant protection drone sprinkling system of view-based access control model autonomous flight, including unmanned plane
Ontology, elevation carrection module, drive module, camera model, sprinkling module, power module and flight control modules；
The elevation carrection module uses laser sensor, for measuring the flying height of drone body, and passes it to
The central processing unit；
The drive module includes being worked according to each rotor of the order-driven drone body of flight control modules；
The camera model passes it to the flight control modules for acquiring plant protection image；
The sprinkling module includes medicine-chest, force (forcing) pump, filtering gasket, control valve and atomizer, wherein the medicine-chest is for depositing
Put the medicament for needing to spray；The entrance of the force (forcing) pump is connected by conduit with the outlet of medicine-chest, and the outlet of force (forcing) pump is by leading
Pipe is connected with atomizer；The exit of medicine-chest is arranged in the filtering gasket, for filtering the dregs of a decoction；The control valve setting exists
In the pipeline to pressurize between pump discharge and atomizer, for controlling the sprinkling power of its opening size and then control atomizer
Degree；
The power module is for powering；
The flight control modules include accelerometer, three-axis gyroscope, GPS, communication module and central processing unit；
The accelerometer is used to measure the acceleration information of drone body, and passes it to central processing unit；
The three-axis gyroscope passes it to central processing unit due to measuring the posture information of drone body；
The GPS is used to measure the location information of drone body, and passes it to central processing unit；
The communication module is used to receive external instruction, and passes it to central processing unit；
The central processing unit respectively with accelerometer, three-axis gyroscope, GPS, communication module, elevation carrection module, driving mould
Block, camera model, force (forcing) pump, control valve, power module are electrically connected, the instruction for being received according to communication module, in conjunction with
Accelerometer, three-axis gyroscope, GPS, elevation carrection module sensed data, control camera model, force (forcing) pump, control valve work
Make.
As shown in Fig. 2, the invention also discloses a kind of plant protection drone sprinkling systems of view-based access control model autonomous flight
Control method, wherein specific step is as follows for view-based access control model contexture by self flight path:
Step is A.1), communication module receives the extraneous contexture by self flight directive sent and sprinkling coordinates regional, and is passed
Pass central processing unit；
Step is A.2), central controller controls drive module drives drone body flight to plant protection operation overlying regions；
Step is A.3), elevation carrection module measures the flying height of drone body, and passes it to central processing unit；
Step is A.4), central controller controls drive module driving drone body is flown to preset first height threshold, and
It controls camera model and acquires plant protection image；
Step is A.5), central controller controls extract the angle point of collected plant protection image, identify operating area boundary；
Step is A.6), central controller controls drive module driving drone body fly to preset second height threshold,
Along operating area boundary flight, complete operating area two dimensional image is acquired；
Step is A.7), central controller is according to the two dimensional image of operating area, the elevation information of unmanned plane and sprays coordinates regional,
Plan flight path.
As shown in figure 3, the present invention have both of which adjust formulation rate, can select according to actual needs brainpower insufflation or
Uniformly sprinkling, wherein uniformly being sprayed, specific step is as follows:
Step is B.1), set spraying parameter；
Step is B.2), unmanned plane tracks desired trajectory；
Step is B.3), read unmanned plane height and speed data；
Step is B.4), real-time unit of account area formulation rate and spray head opening size；
Step is B.5), controller issues control instruction, adjusts the opening size of control valve, executes sprinkling task.
Carrying out brainpower insufflation, specific step is as follows:
Step is C.1), quadrotor is flown above operating area, acquires image information by camera；
Step is C.2), image angle point is extracted, insect pest situation is quantified；
Step is C.3), read unmanned plane height and speed data；
Step is C.4), unit of account area formulation rate and spray head opening size；
Step is C.5), controller issues control instruction to atomizer, adjusts the size of control valve, executes sprinkling task.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (4)
1. the plant protection drone sprinkling system of view-based access control model autonomous flight, which is characterized in that including drone body, elevation carrection
Module, drive module, camera model, sprinkling module, power module and flight control modules；
The elevation carrection module uses laser sensor, for measuring the flying height of drone body, and passes it to
The central processing unit；
The drive module includes being worked according to each rotor of the order-driven drone body of flight control modules；
The camera model passes it to the flight control modules for acquiring plant protection image；
The sprinkling module includes medicine-chest, force (forcing) pump, filtering gasket, control valve and atomizer, wherein the medicine-chest is for depositing
Put the medicament for needing to spray；The entrance of the force (forcing) pump is connected by conduit with the outlet of medicine-chest, and the outlet of force (forcing) pump is by leading
Pipe is connected with atomizer；The exit of medicine-chest is arranged in the filtering gasket, for filtering the dregs of a decoction；The control valve setting exists
In the pipeline to pressurize between pump discharge and atomizer, for controlling the sprinkling power of its opening size and then control atomizer
Degree；
The power module is for powering；
The flight control modules include accelerometer, three-axis gyroscope, GPS, communication module and central processing unit；
The accelerometer is used to measure the acceleration information of drone body, and passes it to central processing unit；
The three-axis gyroscope passes it to central processing unit due to measuring the posture information of drone body；
The GPS is used to measure the location information of drone body, and passes it to central processing unit；
The communication module is used to receive external instruction, and passes it to central processing unit；
The central processing unit respectively with accelerometer, three-axis gyroscope, GPS, communication module, elevation carrection module, driving mould
Block, camera model, force (forcing) pump, control valve, power module are electrically connected, the instruction for being received according to communication module, in conjunction with
Accelerometer, three-axis gyroscope, GPS, elevation carrection module sensed data, control camera model, force (forcing) pump, control valve work
Make.
2. the control method of the plant protection drone sprinkling system based on view-based access control model autonomous flight described in claim 1, special
Sign is that wherein specific step is as follows for view-based access control model contexture by self flight path:
Step is A.1), communication module receives the extraneous contexture by self flight directive sent and sprinkling coordinates regional, and is passed
Pass central processing unit；
Step is A.2), central controller controls drive module drives drone body flight to plant protection operation overlying regions；
Step is A.3), elevation carrection module measures the flying height of drone body, and passes it to central processing unit；
Step is A.4), central controller controls drive module driving drone body is flown to preset first height threshold, and
It controls camera model and acquires plant protection image；
Step is A.5), central controller controls extract the angle point of collected plant protection image, identify operating area boundary；
Step is A.6), central controller controls drive module driving drone body fly to preset second height threshold,
Along operating area boundary flight, complete operating area two dimensional image is acquired；
Step is A.7), central controller is according to the two dimensional image of operating area, the elevation information of unmanned plane and sprays coordinates regional,
Plan flight path.
3. the control method of the plant protection drone sprinkling system based on view-based access control model autonomous flight as claimed in claim 2, special
Sign is that specific step is as follows wherein uniformly being sprayed:
Step is B.1), set spraying parameter；
Step is B.2), unmanned plane tracks desired trajectory；
Step is B.3), read unmanned plane height and speed data；
Step is B.4), real-time unit of account area formulation rate and spray head opening size；
Step is B.5), controller issues control instruction, controls the opening size of control valve, executes sprinkling task.
4. the control method of the plant protection drone sprinkling system based on view-based access control model autonomous flight as claimed in claim 2, special
Sign is that specific step is as follows wherein carrying out brainpower insufflation:
Step is C.1), quadrotor is flown above operating area, acquires image information by camera；
Step is C.2), image angle point is extracted, insect pest situation is quantified；
Step is C.3), read unmanned plane height and speed data；
Step is C.4), unit of account area formulation rate and spray head opening size；
Step is C.5), controller issues control instruction to atomizer, adjusts the opening size of control valve, executes sprinkling task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910336849.9A CN110104182A (en) | 2019-04-25 | 2019-04-25 | The plant protection drone sprinkling system and its method of view-based access control model autonomous flight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910336849.9A CN110104182A (en) | 2019-04-25 | 2019-04-25 | The plant protection drone sprinkling system and its method of view-based access control model autonomous flight |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110104182A true CN110104182A (en) | 2019-08-09 |
Family
ID=67486610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910336849.9A Pending CN110104182A (en) | 2019-04-25 | 2019-04-25 | The plant protection drone sprinkling system and its method of view-based access control model autonomous flight |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110104182A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110134147A (en) * | 2019-06-20 | 2019-08-16 | 安阳全丰航空植保科技股份有限公司 | A kind of autonomous paths planning method and device of plant protection drone |
| CN111959790A (en) * | 2020-08-24 | 2020-11-20 | 广东碧通百年科技有限公司 | Flying device for spraying and control method thereof |
| CN112906505A (en) * | 2021-01-29 | 2021-06-04 | 郑州尼采生物科技有限公司 | Method for accurately treating plants by using medicament based on unmanned aerial vehicle |
| CN113232865A (en) * | 2021-06-18 | 2021-08-10 | 仲恺农业工程学院 | Agricultural unmanned aerial vehicle pesticide spraying system and method based on machine vision |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843236A (en) * | 2016-03-17 | 2016-08-10 | 中山飞旋天行航空科技有限公司 | Plant protection unmanned plane spraying control system and spraying control method thereof |
| CN108190026A (en) * | 2017-12-26 | 2018-06-22 | 湖北大秀天域科技发展有限公司 | A kind of plant protection UAV Intelligent control system |
| CN108827297A (en) * | 2018-03-14 | 2018-11-16 | 江苏大学 | A kind of real-time planing method of unmanned plane agricultural patrolled and examined track based on image |
-
2019
- 2019-04-25 CN CN201910336849.9A patent/CN110104182A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105843236A (en) * | 2016-03-17 | 2016-08-10 | 中山飞旋天行航空科技有限公司 | Plant protection unmanned plane spraying control system and spraying control method thereof |
| CN108190026A (en) * | 2017-12-26 | 2018-06-22 | 湖北大秀天域科技发展有限公司 | A kind of plant protection UAV Intelligent control system |
| CN108827297A (en) * | 2018-03-14 | 2018-11-16 | 江苏大学 | A kind of real-time planing method of unmanned plane agricultural patrolled and examined track based on image |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110134147A (en) * | 2019-06-20 | 2019-08-16 | 安阳全丰航空植保科技股份有限公司 | A kind of autonomous paths planning method and device of plant protection drone |
| CN111959790A (en) * | 2020-08-24 | 2020-11-20 | 广东碧通百年科技有限公司 | Flying device for spraying and control method thereof |
| CN112906505A (en) * | 2021-01-29 | 2021-06-04 | 郑州尼采生物科技有限公司 | Method for accurately treating plants by using medicament based on unmanned aerial vehicle |
| CN113232865A (en) * | 2021-06-18 | 2021-08-10 | 仲恺农业工程学院 | Agricultural unmanned aerial vehicle pesticide spraying system and method based on machine vision |
| CN113232865B (en) * | 2021-06-18 | 2022-05-24 | 仲恺农业工程学院 | Agricultural unmanned aerial vehicle pesticide spraying system and method based on machine vision |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110104182A (en) | The plant protection drone sprinkling system and its method of view-based access control model autonomous flight | |
| CN104407586B (en) | Drive decoupled plant protection unmanned aerial vehicle control system and control method | |
| CN104670496B (en) | A kind of six shaft type pesticide spray flight instruments and control methods | |
| CN108541683A (en) | A kind of unmanned plane pesticide spraying system based on convolutional neural networks chip | |
| CN103723275B (en) | A kind of unmanned plane is with spraying device for administration of drugs | |
| CN106681400B (en) | A kind of variable spraying system suitable for unmanned plane | |
| CN109353521A (en) | A kind of UAV system and its control method precisely sprayed | |
| CN109601517A (en) | A kind of device and method of the pesticide spraying for multiclass weeds | |
| CN105667799B (en) | A kind of agricultural unmanned plane pesticide spraying system | |
| CN107711798B (en) | Unmanned aerial vehicle plant protection intelligent vector spraying system and method | |
| CN205844798U (en) | A kind of plant protection UAV Intelligent speed governing pesticide spraying system | |
| CN107226211A (en) | One planting fruit-trees pesticide spraying device and spray method | |
| CN103770943A (en) | Intelligent pesticide delivery unmanned helicopter | |
| CN106406336A (en) | Unmanned aerial vehicle used for fruit tree spraying | |
| CN204969074U (en) | Self -propelled greenhouse air curtain type electrostatic spray car | |
| CN105903590A (en) | Spraying flow automatic control system | |
| CN106774465A (en) | A kind of unmanned aerial vehicle (UAV) control method for fruit tree spray | |
| CN109122634A (en) | A kind of unmanned plane region based on machine vision is to target variable farm chemical applying control device and method | |
| CN106347666B (en) | A kind of multi-rotor unmanned aerial vehicle sprinkling control method and system based on velocity measuring | |
| CN106598090A (en) | Unmanned aerial vehicle control system for spraying fruit trees | |
| CN104865935A (en) | Intelligent agricultural system based on unmanned-aerial-vehicle image collection | |
| CN206612074U (en) | Multi-rotor unmanned aerial vehicle variable farm chemical applying device based on rice blast occurring degree | |
| CN208271034U (en) | A kind of aviation variable farm chemical applying monitoring device | |
| CN109573041A (en) | A kind of plant protection drone control system | |
| CN210503198U (en) | Double-cavity medicine box capable of being carried on unmanned aerial vehicle and spraying operation device based on medicine box |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190809 |