CN110341959A - A kind of intelligence plant protection drone and its herbal sprinkling control method - Google Patents
A kind of intelligence plant protection drone and its herbal sprinkling control method Download PDFInfo
- Publication number
- CN110341959A CN110341959A CN201910681050.3A CN201910681050A CN110341959A CN 110341959 A CN110341959 A CN 110341959A CN 201910681050 A CN201910681050 A CN 201910681050A CN 110341959 A CN110341959 A CN 110341959A
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- Prior art keywords
- medicine
- chest
- stirring rod
- drug
- unmanned plane
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 239000003814 drug Substances 0.000 claims abstract description 179
- 229940079593 drug Drugs 0.000 claims abstract description 160
- 238000003756 stirring Methods 0.000 claims abstract description 119
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 75
- 238000002360 preparation method Methods 0.000 claims abstract description 28
- 241000607479 Yersinia pestis Species 0.000 claims abstract description 24
- 238000005192 partition Methods 0.000 claims description 50
- 239000007921 spray Substances 0.000 claims description 49
- 241000238631 Hexapoda Species 0.000 claims description 22
- 230000002209 hydrophobic effect Effects 0.000 claims description 11
- 238000013461 design Methods 0.000 claims description 6
- 238000001802 infusion Methods 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 3
- 230000007717 exclusion Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 abstract description 17
- 239000007788 liquid Substances 0.000 abstract description 7
- 230000008859 change Effects 0.000 abstract description 2
- 238000002347 injection Methods 0.000 abstract 1
- 239000007924 injection Substances 0.000 abstract 1
- 239000006260 foam Substances 0.000 description 30
- 238000002156 mixing Methods 0.000 description 14
- 230000012010 growth Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 241001465754 Metazoa Species 0.000 description 7
- 238000005507 spraying Methods 0.000 description 6
- 239000000575 pesticide Substances 0.000 description 4
- 230000008635 plant growth Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 230000003116 impacting effect Effects 0.000 description 2
- 208000015181 infectious disease Diseases 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000009527 percussion Methods 0.000 description 2
- 239000011148 porous material Substances 0.000 description 2
- 238000010298 pulverizing process Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 231100000331 toxic Toxicity 0.000 description 2
- 230000002588 toxic effect Effects 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 206010008428 Chemical poisoning Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007865 diluting Methods 0.000 description 1
- 230000003670 easy-to-clean Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 231100000225 lethality Toxicity 0.000 description 1
- 239000000447 pesticide residue Substances 0.000 description 1
- 239000010914 pesticide waste Substances 0.000 description 1
- 231100000572 poisoning Toxicity 0.000 description 1
- 230000000607 poisoning effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000009466 transformation Effects 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
- A01M7/0089—Regulating or controlling systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F33/00—Other mixers; Mixing plants; Combinations of mixers
- B01F33/50—Movable or transportable mixing devices or plants
- B01F33/501—Movable mixing devices, i.e. readily shifted or displaced from one place to another, e.g. portable during use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention belongs to plant protection drone technical field, specifically a kind of intelligent plant protection drone and its herbal sprinkling control method, unmanned plane used in this method includes medicine-chest and preparation tank；Shaft is rotatably connected in the medicine-chest；Part of the surface of the shaft inside medicine-chest is fixed with the first stirring rod and the second stirring rod；The medicine-chest top inner wall offers supply port, and supply port quantity is two, is respectively communicated to water tank and drug storage cabin；First stirring rod surface is fixed with the rubber needle being evenly arranged；The present invention can adjust medicine-chest Chinese medicine liquid concentration according to the flight progress of unmanned plane and the variation of crop pests situation, make the medical fluid of unmanned plane sprinkling suitable concentration, while can change the stirring extent of medicine-chest Chinese medicine liquid by the variation of the injection rate of medical fluid or water.
Description
Technical field
The invention belongs to plant protection drone technical field, specifically a kind of intelligent plant protection drone and its herbal sprinkling
Control method.
Background technique
There are 1,800,000,000 mu of basic farmlands in China as large agricultural country, needs a large amount of agricultural plant protection operation every year.Big portion, China
Peasant is divided still to use hand sprayer, the effective rate of utilization of this sprayer pesticide is very low.And the annual pesticide poisoning in China
Number has 100,000 crowd, lethality about 20%.There are spraying equipments to fall behind for traditional agriculture crop spraying medicine method, and pesticide waste is lost
Seriously, control efficiency is poor, repeatedly medication, causes excessive pesticide residues serious, and operator directly contacts with pesticide, productivity poisoning thing
A series of problems, such as part occurs often, and cost of labor persistently increases, plant protection drone are widely used.
Unmanned plane is in herbal sprinkling in the prior art, since field is usually rectangular or irregular shape, is using nobody
When machine carries out herbal sprinkling, speed is slower when due to unmanned plane turning, causes the amount of Turning regions herbal sprinkling larger, leads to agriculture
The death of crop and other animals and plants, influences income, while excessively to cause crop surface to carry drug residual for herbal sprinkling
It stays and is not easy to clean, consumer is edible to will cause security risk, while excessive herbal sprinkling will increase drug cost, the prior art
In also by control unmanned plane spray medication amount, avoid the problem of herbal sprinkling unevenness, but when medication amount sprays very few,
It is easy to make drug generate a large amount of foams during flowing through there are gas, since foam is lighter, is easy to be blown away, lead in spray head
It causes drug localized pulverization too little or too much, influences the growth of crops, while medication amount ceaselessly changes, the pressure that spray head is born
After power is suddenly big or suddenly small, be easy to cause the damage of spray head, reduces unmanned plane spray efficiency, and medication amount tails off, since wind-force acts on
It is easy to cause some crops surface not to be sprayed onto drug, influences crop growth, and unmanned plane medicine-chest is after being packed into drug, by
Vibration during unmanned plane during flying, shakes medical fluid, forms a large amount of foams, influences the sprinkling of drug, causes herbal sprinkling
It is uneven.
Summary of the invention
In order to make up for the deficiencies of the prior art, solve when medication amount spray it is very few, be easy to make drug there are gas in spray head
A large amount of foams are generated during flowing through, lead to that drug localized pulverization is too little or too much, medication amount ceaselessly changes, spray head is born
Pressure it is suddenly big or suddenly small, after be easy to causeing the damage of spray head, medication amount to tail off, due to wind-force effect be easy to cause some crops
Surface is not sprayed onto drug and medical fluid and shakes, and forms a large amount of foams, causes the problem of herbal sprinkling unevenness, and proposed by the present invention one
The intelligent plant protection drone of kind and its herbal sprinkling control method.
The technical solution adopted by the present invention to solve the technical problems is: a kind of intelligent plant protection drone of the present invention
And its herbal sprinkling control method, method includes the following steps:
S1: the drug after being pre-mixed being passed through in the medicine-chest of unmanned plane carrying, then by pure infusion of medicine drug storage cabin, pure
Water injects in water tank, and starting unmanned plane sprays；
S2: in S1 after unmanned plane starting, the camera of unmanned plane carries out complete monitoring during spray, when unmanned plane is taken the photograph
When taking vegetation color difference in somewhere in field as head, the overweight region of insect pest is judged whether it is by system, if insect pest sense
Critical regions are contaminated, then controller control cylinder makes partition to drug storage cabin partial movement, makes in pure infusion of medicine medicine-chest, improves medicine-chest
Drug concentration, the concentration by changing drug are suitable for different insect pest gradient of infection region, realize the sprinkling of specific aim pesticide,
Effectively reduce since insect pest is not fully erased, caused by hazard of corp it is serious；
S3: after unmanned plane is that will extend over the insect pest that S2 is detected to infect critical regions, controlling cylinder by controller makes
Partition is mobile to water tank direction, is passed through pure water in medicine-chest, reduces medicine-chest drug concentration, by reducing drug concentration, prevents
The excessively high normal growth for influencing crops and other animals and plants of drug concentration, while after drug concentration reduction, artificial food can be weakened
Toxic action of the used time to human body, while can medicament-saving expenditure cost；
S4: when unmanned plane needs to turn in S1, controlling cylinder by controller in advance keeps partition mobile to water tank direction,
Reduce medicine-chest drug concentration；Unmanned plane movement is slower when due to unmanned plane turning, persistently sprays drug to field corner, holds
Easily cause herbal sprinkling excessive, by reducing drug concentration in advance, the medicament contg for spraying unmanned plane turning in the process is constant,
It prevents herbal sprinkling from excessively impacting to crops and other animal and plant growths, while can reach the purpose of medicament-saving；
S5: unmanned plane will turn completion in S4, restore normally travel, and controlling cylinder by controller makes partition to storage
Chamber direction is mobile, increases medicine-chest drug concentration, and drug concentration is made to restore normal, before unmanned plane turning is completed, increases in advance
Medicine-chest drug concentration, after so that unmanned plane is restored normally travel, drug concentration reaches standard, prevents turning drug concentration mistake
It is low, it can not effectively achieve the purpose that remove insect pest；
Wherein, unmanned plane used in S1 includes medicine-chest and preparation tank；The medicine-chest is fixed below unmanned plane；It is described
Preparation tank is fixed at the top of medicine-chest, and partition is slidably connected in preparation tank；The prepared box outer wall is fixed with cylinder, cylinder
Extension end penetrates preparation tank and partition side wall is connected, and cylinder is supplied by external air source, and preparation tank is isolated into water tank and storage by partition
Chamber two parts, left side are drug storage cabin, and right side is water tank；It is opened up at the top of the medicine-chest there are two feed inlet, feed inlet makes respectively
Medicine-chest is connected to water tank and drug storage cabin；Fixed plate, movable plate and fixed ring are equipped in the feed inlet；The fixed plate, which is located at, moves
Above movable plate, it is fixed on feed inlet inner wall；The movable plate is slidably connected to feed inlet inner wall；The fixed ring is fixed on charging
Mouth inner wall, and fixed ring is located at below movable plate, and spring is fixed between movable plate and fixed ring；The fixed ring inner circle inner wall
It is obliquely installed；The movable plate and fixed plate surface offer through-hole, and through-hole dislocation arrangement, movable plate upper surface when initial
It is close to fixed plate lower surface, seals through-hole；When work, when drug needs to improve concentration in medicine-chest, controlled by controller outer
Portion's gas source shrinks the extension end of cylinder cylinder air-breathing, to move to left with dynamic dividing plate, squeezes drug in drug storage cabin, makes drug storage
Pressure rises in cabin, so that movable plate be made to move down, opens through-hole, and drug is entered in medicine-chest by through-hole, improves liquid in medicine-chest
Bulk concentration makes fixed ring internal diameter successively decrease under upper simultaneously because fixed ring inner circle inner wall is obliquely installed, thus reinforce drug into
Enter impulse force when medicine-chest, accelerates the mixing of liquid in drug and medicine-chest, be uniformly mixed drug quickly, similarly, the medicine in medicine-chest
When object needs to dilute, external air source is controlled to gas in-cylinder fuel supply by controller, stretches out cylinder extension end, to keep partition right
It moves, enters water in water tank in medicine-chest, dilute drug in medicine-chest.
Preferably, shaft is rotatably connected in the medicine-chest；The medicine-chest top inner wall offers cavity, sliding in cavity
It is connected with rack gear；The shaft upper end penetrates cavity setting, and shaft is equipped with gear, gear in the part of the surface fixing sleeve of cavity
It is engaged with rack；Part of the surface of the shaft inside medicine-chest is fixed with the first stirring rod and the second stirring rod；Described first
Stirring rod and the second stirring rod quantity are two, and are oppositely arranged, and the first stirring rod is located above the second stirring rod；Described first
The one end of stirring rod and the second stirring rod far from shaft is equipped with third stirring rod；The third stirring rod quantity is two, opposite to turn
Axial symmetry design, and the upper and lower ends of third stirring rod are respectively fixedly connected in one end of corresponding first stirring rod and the second stirring rod；
First stirring rod, the second stirring rod and the equal inclined design of third stirring rod, and two the first stirring rod inclined directions it is opposite,
Two the second stirring rod inclined directions are opposite, two third stirring rod inclined directions are opposite；When work, external air source supplies cylinder
External air source moves to right rack gear, so that shaft be driven to rotate counterclockwise, similarly exists to supplying in cavity on the left of rack gear while gas
External air source is to air-breathing in cavity on the left of rack gear while external air source is to cylinder air-breathing, so that rack gear be made to move to left, drives shaft
It rotates clockwise, during shaft rotates counterclockwise, drives the first stirring rod, the second stirring rod and the rotation of third stirring rod,
Since the first stirring rod, the second stirring rod and third stirring rod are obliquely installed, and inclined direction on the contrary, in the first stirring rod and
Drug can be made to float up and down in second stirring rod rotation process, be sufficiently mixed the drug being added and water with original drug, simultaneously
Third stirring rod is obliquely installed, and drug or so can be made to float during rotation, thus the first stirring rod of cooperation and the second stirring
Bar keeps drug more fully mixed, reinforces mixed effect, simultaneously because cavity and the same gas source feed of cylinder, make the moving distance of partition
Bigger, the medical fluid and water being passed through in medicine-chest are more, and shaft revolving speed is faster, and turnning circle is bigger, realize the note according to medical fluid and water
Enter amount control stirring extent, prevents the raw a large amount of foams of stirred fecund, stirring is very few to cause medical fluid mixing uneven.
Preferably, the medicine-chest top inner wall offers supply port, and supply port quantity is two, is respectively communicated to water tank and storage
Chamber；The first guide groove is offered in the shaft, the first guide groove forked arrangement above shaft is respectively communicated with supply port, and divides
The first guide groove inner wall at fork is hinged with oscillating deck, is fixed with spring between oscillating deck and the first guide groove inner wall of crotch；
The second guide groove is offered in second stirring rod；Second stirring rod lower surface offers water outlet, water outlet connection the
Two guide grooves, the second guide groove is connected to the first guide groove, and water outlet is arranged straight down；When work, drug improves concentration mistake in medicine-chest
Cheng Zhong, drug storage cabin inner part drug enter in supply port, swing the oscillating deck on the left of the first guide groove crotch, and connection first is led
Slot, drug is entered after the second guide groove by the first guide groove to be sprayed by water outlet, can preferentially be mentioned to the drug below medicine-chest
High concentration can avoid unmanned plane after the completion of reaching insect pest critical regions and turning, and drug concentration improved slowly, and drug is caused to spray
Insect pest can not be killed by spilling, while spray the chemical spray that drug cooperates feed inlet by water outlet, realize multi-faceted medicine
The supplement of object, the first stirring rod of cooperation, the second stirring rod and third stirring rod improve mixing efficiency, with drug should needing in medicine-chest
When diluting, the water in water tank is sprayed by water outlet, can be quickly diluted to drug in medicine-chest, be prevented unmanned plane from turning
In the process and after crossing severe affected area, drug concentration can not reduce in time, and high concentration medicine sprays the waste for causing drug,
The edible of crops is influenced simultaneously and crops and other animal and plant growths are impacted.
Preferably, first stirring rod surface is fixed with the rubber needle being evenly arranged；The rubber needle is hollow setting,
And rubber wire surface offers the stomata being evenly arranged, rubber needle and the same air supply source of cylinder；When work, the first stirring rod was rotated
The rotation of rubber needle is driven in journey, due to that can generate a large amount of foams after drug mixing, is influenced the sprinkling and use of drug, is caused drug
Uneven phenomenon is sprayed, for rubber needle in rotation, external air source supplies it, can scratch foam by the rotation of rubber needle, together
When rubber needle insertion foam in when, gas enters in foam, so that foam is risen brokenly, while gas by stomata ejection when, pass through gas
Stream can blow brokenly bubble foam, improve the crushing efficiency of foam, impact to reduce foam to unmanned plane spray, make herbal sprinkling more
Uniformly, it is beneficial to crop growth, while stomata jet can cooperate the first stirring rod, the second stirring rod and third stirring rod to accelerate
The mixing of drug improves mixing efficiency, the drug concentration change time is reduced, to improve the working efficiency of unmanned plane.
Preferably, hydrophobic air-guiding film is fixed in the stomata；The hydrophobic air-guiding film is less than due to surface micropore diameter
Hydrone is greater than gas molecule diameter, can not influence passing through for gas while exclusion of water；The hydrophobic air-guiding film is close to drug
Side side be fixed with the elastic hair being evenly arranged；When work, external air source is to when air-breathing, passing through rubber needle table in rubber needle
Face stomata can be such that gas in bubble is sucked out, to make bubble collapse, while steel foams can pass through rubber in rubber wire surface
The rotating percussion of needle makes bubble collapse, foamed pharmaceutical can be effectively prevent to enter in stomata by hydrophobic air-guiding film, make bubble collapse,
The fluxion strap dynamic elasticity hair shake of gas simultaneously, compound rubber needle and gas are crushed foam.
Preferably, the two sides side of the partition is fixed with air bag；The medicine-chest side wall is fixed with the spray being evenly arranged
Head, spray head are connected to air bag, and spray head is located at the bending position at the top of medicine-chest；When work, when partition is moved to preparation tank side wall,
Since cylinder supplies, driving partition is mobile, and partition has mobile inertia, can play buffer function by air bag, reduce partition to pre-
The impact of standby chamber interior wall, prevents partition from hitting the damage that preparation tank side wall causes preparation tank and partition, while air bag is squeezed
When, gas is sprayed by spray head in air bag, and the gas interactions rubber needle jet sprayed by spray head can blow bubble in medicine-chest
Broken, reduce bubble influences caused by herbal sprinkling, makes herbal sprinkling more evenly.
Beneficial effects of the present invention are as follows:
1. a kind of intelligent plant protection drone of the present invention and its herbal sprinkling control method, by setting preparation tank,
Partition and cylinder；Controlling cylinder by controller keeps partition mobile, so that liquor strength in medicine-chest is adjusted, to reach according to nobody
The flight progress of machine and the variation of crop pests situation, spray the medical fluid of suitable concentration, prevent medicine liquid spray uneven, influence
The growth of crops and other animals and plants, while saving the use of medical fluid.
2. a kind of intelligent plant protection drone of the present invention and its herbal sprinkling control method, pass through setting shaft, the
One stirring rod, the second stirring rod and third stirring rod, rotate shaft by external air source, and partition moving distance is bigger, shaft
Revolving speed is faster, and turnning circle is more, makes in medicine-chest medical fluid mixing full and uniform, prevents the unevenness due to liquor strength, lead to agriculture
Crop sprinkling is uneven, influences crop growth.
3. a kind of intelligent plant protection drone of the present invention and its herbal sprinkling control method, by setting supply port,
First guide groove, the second guide groove and water outlet；In medicine-chest in liquor strength adjustment process, part water or medical fluid by supply port,
First guide groove and the second guide groove spray from water outlet, preferentially medicine-chest bottom liquor strength are adjusted, when realizing external spray
The medical fluid after adjusting can be quickly sprayed, while the mixing uniformity of medical fluid can be improved.
Detailed description of the invention
The present invention will be further explained below with reference to the attached drawings.
Fig. 1 is the perspective view of unmanned plane used herein；
Fig. 2 is the perspective view of medicine-chest；
Fig. 3 is the cross-sectional view of medicine-chest；
Fig. 4 is the perspective view of shaft and the first stirring rod, the second stirring rod and third stirring rod connection type；
Fig. 5 is partial enlarged view at A in Fig. 3；
Fig. 6 is partial enlarged view at B in Fig. 3；
Fig. 7 is partial enlarged view at C in Fig. 3；
Fig. 8 is partial enlarged view at D in Fig. 5；
In figure: medicine-chest 1, preparation tank 2, partition 21, cylinder 22, water tank 23, drug storage cabin 24, air bag 25, spray head 26, feed inlet
11, fixed plate 111, movable plate 112, fixed ring 113, through-hole 114, shaft 12, cavity 13, rack gear 14, the first stirring rod 15,
Two stirring rods 16, third stirring rod 17, supply port 18, the first guide groove 121, oscillating deck 122, the second guide groove 161, water outlet 162,
Rubber needle 3, stomata 31, elastic hair 32.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Specific embodiment is closed, the present invention is further explained.
As shown in Figures 1 to 8, a kind of intelligent plant protection drone and its herbal sprinkling control method of the present invention, should
Method the following steps are included:
S1: the drug after being pre-mixed being passed through in the medicine-chest of unmanned plane carrying, then by pure infusion of medicine drug storage cabin, pure
Water injects in water tank, and starting unmanned plane sprays；
S2: in S1 after unmanned plane starting, the camera of unmanned plane carries out complete monitoring during spray, when unmanned plane is taken the photograph
When taking vegetation color difference in somewhere in field as head, the overweight region of insect pest is judged whether it is by system, if insect pest sense
Critical regions are contaminated, then controller control cylinder makes partition to drug storage cabin partial movement, makes in pure infusion of medicine medicine-chest, improves medicine-chest
Drug concentration, the concentration by changing drug are suitable for different insect pest gradient of infection region, realize the sprinkling of specific aim pesticide,
Effectively reduce since insect pest is not fully erased, caused by hazard of corp it is serious；
S3: after unmanned plane is that will extend over the insect pest that S2 is detected to infect critical regions, controlling cylinder by controller makes
Partition is mobile to water tank direction, is passed through pure water in medicine-chest, reduces medicine-chest drug concentration, by reducing drug concentration, prevents
The excessively high normal growth for influencing crops and other animals and plants of drug concentration, while after drug concentration reduction, artificial food can be weakened
Toxic action of the used time to human body, while can medicament-saving expenditure cost；
S4: when unmanned plane needs to turn in S1, controlling cylinder by controller in advance keeps partition mobile to water tank direction,
Reduce medicine-chest drug concentration；Unmanned plane movement is slower when due to unmanned plane turning, persistently sprays drug to field corner, holds
Easily cause herbal sprinkling excessive, by reducing drug concentration in advance, the medicament contg for spraying unmanned plane turning in the process is constant,
It prevents herbal sprinkling from excessively impacting to crops and other animal and plant growths, while can reach the purpose of medicament-saving；
S5: unmanned plane will turn completion in S4, restore normally travel, and controlling cylinder by controller makes partition to storage
Chamber direction is mobile, increases medicine-chest drug concentration, and drug concentration is made to restore normal, before unmanned plane turning is completed, increases in advance
Medicine-chest drug concentration, after so that unmanned plane is restored normally travel, drug concentration reaches standard, prevents turning drug concentration mistake
It is low, it can not effectively achieve the purpose that remove insect pest；
Wherein, unmanned plane used in S1 includes medicine-chest 1 and preparation tank 2；The medicine-chest 1 is fixed below unmanned plane；
The preparation tank 2 is fixed on 1 top of medicine-chest, and partition 21 is slidably connected in preparation tank 2；2 outer wall of preparation tank is fixed with
Cylinder 22, the extension end of cylinder 22 penetrates preparation tank 2 and 21 side wall of partition is connected, and cylinder 22 is supplied by external air source, partition 21
Preparation tank 2 is isolated into 24 two parts of water tank 23 and drug storage cabin, left side is drug storage cabin 24, and right side is water tank 23；The medicine-chest 1 pushes up
Portion is opened up there are two feed inlet 11, and feed inlet 11 is connected to medicine-chest 1 with water tank 23 and drug storage cabin 24；In the feed inlet 11
Equipped with fixed plate 111, movable plate 112 and fixed ring 113；The fixed plate 111 is located at 112 top of movable plate, is fixed on charging
11 inner walls of mouth；The movable plate 112 is slidably connected to 11 inner wall of feed inlet；The fixed ring 113 is fixed on 11 inner wall of feed inlet,
And fixed ring 113 is located at 112 lower section of movable plate, is fixed with spring between movable plate 112 and fixed ring 113；The fixed ring 113
Inner circle inner wall is obliquely installed；The movable plate 112 and 111 surface of fixed plate offer through-hole 114, and the dislocation cloth of through-hole 114
It sets, 111 lower surface of fixed plate is close in 112 upper surface of movable plate when initial, seals through-hole 114；When work, when drug in medicine-chest 1
When needing to improve concentration, external air source is controlled to 22 air-breathing of cylinder by controller, shrinks the extension end of cylinder 22, thus band
Dynamic dividing plate 21 moves to left, and squeezes drug in drug storage cabin 24, increase pressure in drug storage cabin 24, so that movable plate 112 be made to move down, makes to lead to
Hole 114 is opened, and drug is entered in medicine-chest 1 by through-hole 114, strength of fluid in medicine-chest 1 is improved, simultaneously because in fixed ring 113
Circle inner wall is obliquely installed, and 113 internal diameter of fixed ring is made to successively decrease under upper, to reinforce impulse force when drug enters medicine-chest 1, is accelerated
The mixing of liquid, is uniformly mixed drug quickly, similarly, when drug needs to dilute in medicine-chest 1, passes through in drug and medicine-chest 1
Controller controls external air source to supplying in cylinder 22, stretches out 22 extension end of cylinder, so that partition 21 be made to move to right, makes water tank 23
Interior water enters in medicine-chest 1, dilutes drug in medicine-chest 1.
As one embodiment of the present invention, shaft 12 is rotatably connected in the medicine-chest 1；In 1 top of medicine-chest
Wall offers cavity 13, and rack gear 14 is slidably connected in cavity 13；12 upper end of shaft penetrates the setting of cavity 13, and shaft 12
It is equipped with gear in the part of the surface fixing sleeve of cavity 13, wheel and rack 14 engages；Part of the shaft 12 inside medicine-chest 1
Surface is fixed with the first stirring rod 15 and the second stirring rod 16；First stirring rod 15 and 16 quantity of the second stirring rod are
Two, and be oppositely arranged, the first stirring rod 15 is located at 16 top of the second stirring rod；First stirring rod 15 and the second stirring rod 16
One end far from shaft 12 is equipped with third stirring rod 17；17 quantity of third stirring rod is two, opposite 12 symmetric design of shaft,
And the upper and lower ends of third stirring rod 17 are respectively fixedly connected in one end of corresponding first stirring rod 15 and the second stirring rod 16；Described
One stirring rod 15, the second stirring rod 16 and the equal inclined design of third stirring rod 17, and two 15 inclined direction phases of the first stirring rod
Instead, two 16 inclined directions of the second stirring rod are opposite, two 17 inclined directions of third stirring rod are opposite；When work, external air source
External air source moves to right rack gear 14, to drive shaft to supplying in 14 left side cavity 13 of rack gear while gas supply to cylinder 22
12 rotate counterclockwise, similarly while external air source is to 22 air-breathing of cylinder external air source to 14 left side cavity of rack gear, 13 interior suction
Gas drives shaft 12 to rotate clockwise so that rack gear 14 be made to move to left, and during shaft 12 rotates counterclockwise, drives first to stir
It mixes bar 15, the second stirring rod 16 and third stirring rod 17 to rotate, since the first stirring rod 15, the second stirring rod 16 and third stir
Bar 17 is obliquely installed, and inclined direction is on the contrary, can make drug in 16 rotation process of the first stirring rod 15 and the second stirring rod
It floats up and down, is sufficiently mixed the drug being added and water with original drug, while third stirring rod 17 is obliquely installed, and is being rotated
Cheng Zhongke makes drug or so float, so that the first stirring rod 15 of cooperation and the second stirring rod 16 keep drug more fully mixed, reinforces
Mixed effect；Simultaneously because cavity 13 and the same gas source feed of cylinder 22, keep the moving distance of partition 21 bigger, are passed through in medicine-chest 1
Medical fluid and water it is more, 12 revolving speed of shaft is faster, and turnning circle is bigger, realize according to the controlling of injecting quantity of medical fluid and water stir journey
Degree prevents the raw a large amount of foams of stirred fecund, and stirring is very few to cause medical fluid mixing uneven.
As one embodiment of the present invention, 1 top inner wall of medicine-chest offers supply port 18,18 quantity of supply port
It is two, is respectively communicated to water tank 23 and drug storage cabin 24；Offer the first guide groove 121 in the shaft 12, the first guide groove 121 is in turning
12 top forked arrangement of axis is respectively communicated with supply port 18, and 121 inner wall of the first guide groove of crotch is hinged with oscillating deck 122,
Spring is fixed between oscillating deck 122 and 121 inner wall of the first guide groove of crotch；Second is offered in second stirring rod 16
Guide groove 161；Second stirring rod, 16 lower surface offers water outlet 162, and water outlet 162 is connected to the second guide groove 161, and second leads
Slot 161 is connected to the first guide groove 121, and water outlet 162 is arranged straight down；When work, drug improves concentration process in medicine-chest 1
In, 24 inner part drug of drug storage cabin enters in supply port 18, swings the oscillating deck 122 on the left of 121 crotch of the first guide groove, even
Logical first guide groove 121, drug is entered after the second guide groove 161 by the first guide groove 121 to be sprayed by water outlet 162, can be preferential right
The drug of 1 lower section of medicine-chest carries out raising concentration, can avoid unmanned plane after the completion of reaching insect pest critical regions and turning, drug is dense
Degree improved slowly, caused herbal sprinkling that can not kill to insect pest, while spraying drug by water outlet 162 and cooperating feed inlet
The supplement of multi-faceted drug, the first stirring rod 15 of cooperation, the second stirring rod 16 and third stirring rod 17 are realized in 11 chemical spray
Improve mixing efficiency, with should drug needs to dilute in medicine-chest 1 when, the water in water tank 23 is sprayed by water outlet 162, can be quick
Drug in medicine-chest 1 is diluted, after preventing unmanned plane during the turn and crossing severe affected area, drug concentration can not
It reduces in time, high concentration medicine, which sprays, causes the waste of drug, while influencing the edible of crops and to crops and other are dynamic
Plant growth impacts.
As one embodiment of the present invention, 15 surface of the first stirring rod is fixed with the rubber needle 3 being evenly arranged；
The rubber needle 3 is hollow setting, and 3 surface of rubber needle offers the stomata 31 being evenly arranged, rubber needle 3 and cylinder 22 with confession
Gas source；When work, rubber needle 3 is driven to rotate in 15 rotation process of the first stirring rod, since a large amount of bubbles can be generated after drug mixing
Foam influences the sprinkling and use of drug, causes the phenomenon of herbal sprinkling unevenness, for rubber needle 3 in rotation, external air source supplies it
Gas can scratch foam by the rotation of rubber needle 3, while when rubber needle 3 is inserted into foam, gas enters in foam, makes foam
Rise brokenly, at the same gas by stomata 31 spray when, brokenly bubble foam can be blown by air-flow, improve the crushing efficiency of foam, to reduce
Foam impacts unmanned plane spray, makes herbal sprinkling more evenly, is beneficial to crop growth, while 31 jet of stomata can match
The mixing that the first stirring rod 15, the second stirring rod 16 and third stirring rod 17 accelerate drug is closed, mixing efficiency is improved, reduces drug
Concentration transformation period, to improve the working efficiency of unmanned plane.
As one embodiment of the present invention, hydrophobic air-guiding film is fixed in the stomata 31；The hydrophobic air-guiding film
It is greater than gas molecule diameter since surface micropore diameter is less than hydrone, can not influences passing through for gas while exclusion of water；Institute
It states hydrophobic air-guiding film and is fixed with the elastic hair 32 being evenly arranged close to the side side of drug；When work, external air source is to rubber
In needle 3 when air-breathing, gas in bubble can be made to be sucked out by 3 surface pores 31 of rubber needle, to make bubble collapse, while foam is inhaled
It can make bubble collapse by the rotating percussion of rubber needle 3 when being attached to rubber 3 surface of needle, can effectively prevent steeping by hydrophobic air-guiding film
Foam drug enters in stomata 31, makes bubble collapse, while the fluxion strap dynamic elasticity hair 32 of gas is shaken, compound rubber needle 3 is gentle
Body is crushed foam.
As one embodiment of the present invention, the two sides side of the partition 21 is fixed with air bag 25；The medicine-chest 1
Side wall is fixed with the spray head 26 being evenly arranged, and spray head 26 is connected to air bag 25, and spray head 26 is located at the bending position at 1 top of medicine-chest
It sets；When work, when partition 21 is moved to 2 side wall of preparation tank, since cylinder 22 supplies, driving partition 21 is mobile, and partition 21 has is moved
Dynamic inertia can play buffer function by air bag 25, reduce impact of the partition 21 to 2 inner wall of preparation tank, prevent partition 21 from hitting
2 side wall of preparation tank causes the damage of preparation tank 2 and partition 21, while when air bag 25 is squeezed, and gas passes through spray in air bag 25
First 26 spray, and 3 jet of gas interactions rubber needle sprayed by spray head 26 can blow brokenly bubble in medicine-chest 1, reduce bubble to medicine
Object influences caused by spraying, and makes herbal sprinkling more evenly.
When work, the drug after being pre-mixed is passed through in the medicine-chest of unmanned plane carrying, then by pure infusion of medicine drug storage cabin
In 24, pure water injects in water tank 23, and starting unmanned plane sprays；The camera of unmanned plane carries out whole prison during spray
Control, when unmanned plane camera takes vegetation color difference in somewhere in field, judges whether it is the overweight area of insect pest by system
Critical regions are infected if insect pest in domain, then controller control cylinder 22 makes partition 21 to 24 partial movement of drug storage cabin, make pure drug
It injects in medicine-chest 1, improves 1 drug concentration of medicine-chest, after unmanned plane is that will extend over the insect pest that S2 is detected to infect critical regions,
Controlling cylinder 22 by controller keeps partition 21 mobile to 23 direction of water tank, is passed through pure water in medicine-chest 1, reduces by 1 Chinese medicine of medicine-chest
Object concentration, by reduce drug concentration, when unmanned plane needs to turn, in advance by controller control cylinder 22 make partition 21 to
23 direction of water tank is mobile, reduces by 1 drug concentration of medicine-chest；By that will turn completion in unmanned plane, restores normally travel, pass through control
Device control cylinder 22 processed keeps partition 21 mobile to 24 direction of drug storage cabin, increases 1 drug concentration of medicine-chest, restores drug concentration just
Often；
When drug needs to improve concentration in medicine-chest 1, external air source is controlled to 22 air-breathing of cylinder by controller, makes cylinder
22 extension end is shunk, to move to left with dynamic dividing plate 21, squeezes drug in drug storage cabin 24, increase pressure in drug storage cabin 24, from
And movable plate 112 is moved down, open through-hole 114, drug is entered in medicine-chest 1 by through-hole 114, and it is dense to improve liquid in medicine-chest 1
Degree when drug needs to dilute in medicine-chest 1, controls external air source to supplying in cylinder 22 by controller, stretches out cylinder 22
End is stretched out, so that partition 21 be made to move to right, enters water in water tank 23 in medicine-chest 1, dilutes drug in medicine-chest 1, external air source is to gas
External air source moves to right rack gear 14, to drive shaft 12 inverse to supplying in 14 left side cavity 13 of rack gear while cylinder 22 supplies
Hour hands rotation, similarly while external air source is to 22 air-breathing of cylinder external air source to air-breathing in 14 left side cavity 13 of rack gear, from
And rack gear 14 is moved to left, and drive shaft 12 to rotate clockwise, during drug improves concentration in medicine-chest 1,24 inner part of drug storage cabin
Drug enters in supply port 18, swings the oscillating deck 122 on the left of 121 crotch of the first guide groove, is connected to the first guide groove 121, medicine
Object is entered after the second guide groove 161 by the first guide groove 121 to be sprayed by water outlet 162, when drug needs to dilute in medicine-chest 1,
Water in water tank 23 is sprayed by water outlet 162, can be quickly diluted to drug in medicine-chest 1, the first stirring rod 15 rotated
Rubber needle 3 is driven to rotate in journey, for rubber needle 3 in rotation, external air source supplies it, and gas enters in foam, and foam is made to rise
Broken, external air source by 3 surface pores 31 of rubber needle in rubber needle 3 to when air-breathing, can making gas in bubble be sucked out, while gas
Fluxion strap dynamic elasticity hair 32 shake, when partition 21 is moved to 2 side wall of preparation tank, buffer function, gas can be played by air bag 25
When capsule 25 is squeezed, gas is sprayed by spray head 26 in air bag 25.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the above embodiments and description only illustrate the principle of the present invention,
Without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes and improvements are all fallen
Enter in scope of the claimed invention.The scope of the present invention is defined by the appended claims and its equivalents.
Claims (6)
1. a kind of intelligence plant protection drone and its herbal sprinkling control method, it is characterised in that: method includes the following steps:
S1: the drug after being pre-mixed being passed through in the medicine-chest of unmanned plane carrying, then by pure infusion of medicine drug storage cabin, pure water is infused
Enter in water tank, starting unmanned plane sprays；
S2: in S1 after unmanned plane starting, the camera of unmanned plane carries out complete monitoring during spray, when unmanned plane camera
When taking vegetation color difference in somewhere in field, the overweight region of insect pest is judged whether it is by system, is infected if insect pest tight
Weight region, then controller control cylinder makes partition to drug storage cabin partial movement, improves medicine-chest drug concentration；
S3: after unmanned plane is that will extend over the insect pest that S2 is detected to infect critical regions, controlling cylinder by controller makes partition
It is mobile to water tank direction, reduce medicine-chest drug concentration；
S4: when unmanned plane needs to turn in S1, controlling cylinder by controller in advance keeps partition mobile to water tank direction, reduces
Medicine-chest drug concentration；
S5: unmanned plane will turn completion in S4, restore normally travel, and controlling cylinder by controller makes partition to drug storage cabin
Direction is mobile, increases medicine-chest drug concentration, and drug concentration is made to restore normal；
Wherein, unmanned plane used in S1 includes medicine-chest (1) and preparation tank (2)；The medicine-chest (1) is fixed under unmanned plane
Side；The preparation tank (2) is fixed at the top of medicine-chest (1), and slidably connects partition (21) in preparation tank (2)；The preparation tank
(2) outer wall is fixed with cylinder (22), and the extension end of cylinder (22) penetrates preparation tank (2) and partition (21) side wall is connected cylinder (22)
It is supplied by external air source, preparation tank (2) is isolated into water tank (23) and drug storage cabin (24) two parts by partition (21)；The medicine-chest
(1) top is opened up there are two feed inlet (11), and feed inlet (11) makes medicine-chest (1) and water tank (23) and drug storage cabin (24) even respectively
It is logical；Fixed plate (111), movable plate (112) and fixed ring (113) are equipped in the feed inlet (11)；Fixed plate (111) position
Above movable plate (112), it is fixed on feed inlet (11) inner wall；The movable plate (112) is slidably connected in feed inlet (11)
Wall；The fixed ring (113) is fixed on feed inlet (11) inner wall, and fixed ring (113) is located at below movable plate (112), mobile
Spring is fixed between plate (112) and fixed ring (113)；Fixed ring (113) the inner circle inner wall is obliquely installed；The movable plate
(112) it is offered through-hole (114) with fixed plate (111) surface, and through-hole (114) dislocation arrangement, movable plate (112) when initial
Fixed plate (111) lower surface is close in upper surface, seals through-hole (114).
2. a kind of intelligent plant protection drone according to claim 1 and its herbal sprinkling control method, it is characterised in that: institute
It states in medicine-chest (1) and is rotatably connected to shaft (12)；Medicine-chest (1) top inner wall offers cavity (13), sliding in cavity (13)
It is dynamic to be connected with rack gear (14)；Shaft (12) upper end penetrates cavity (13) setting, and shaft (12) is in the part of cavity (13)
Surface fixing sleeve is equipped with gear, wheel and rack (14) engagement；The shaft (12) is connected in the internal part of the surface of medicine-chest (1)
There are the first stirring rod (15) and the second stirring rod (16)；First stirring rod (15) and the second stirring rod (16) quantity are
Two, and be oppositely arranged, the first stirring rod (15) is located above the second stirring rod (16)；First stirring rod (15) and second is stirred
It mixes bar (16) and is equipped with third stirring rod (17) far from the one end of shaft (12)；Third stirring rod (17) quantity is two, relatively
Shaft (12) symmetric design, and the upper and lower ends of third stirring rod (17) are respectively fixedly connected in corresponding first stirring rod (15) and second
One end of stirring rod (16)；First stirring rod (15), the second stirring rod (16) and third stirring rod (17) equal inclined design,
And two the first stirring rod (15) inclined directions are opposite, two the second stirring rod (16) inclined directions are opposite, two third stirrings
Bar (17) inclined direction is opposite.
3. a kind of intelligent plant protection drone according to claim 1 and its herbal sprinkling control method, it is characterised in that: institute
It states medicine-chest (1) top inner wall to offer supply port (18), supply port (18) quantity is two, is respectively communicated to water tank (23) and drug storage
Cabin (24)；It is offered the first guide groove (121) in the shaft (12), the first guide groove (121) forked arrangement above shaft (12),
It is respectively communicated with supply port (18), and the first guide groove (121) inner wall of crotch is hinged with oscillating deck (122), oscillating deck (122)
Spring is fixed between the first guide groove (121) inner wall of crotch；The second guide groove is offered in second stirring rod (16)
(161)；Second stirring rod (16) lower surface offers water outlet (162), and water outlet (162) is connected to the second guide groove (161),
Second guide groove (161) is connected to the first guide groove (121), and water outlet (162) is arranged straight down.
4. a kind of intelligent plant protection drone according to claim 2 and its herbal sprinkling control method, it is characterised in that: institute
It states the first stirring rod (15) surface and is fixed with the rubber needle (3) being evenly arranged；The rubber needle (3) is hollow setting, and rubber
Needle (3) surface offers the stomata (31) being evenly arranged, rubber needle (3) and cylinder (22) same to air supply source.
5. a kind of intelligent plant protection drone according to claim 4 and its herbal sprinkling control method, it is characterised in that: institute
It states in stomata (31) and is fixed with hydrophobic air-guiding film；The hydrophobic air-guiding film is greater than gas since surface micropore diameter is less than hydrone
Molecular diameter can not influence passing through for gas while exclusion of water；The hydrophobic air-guiding film is connected close to the side side of drug
There is the elastic hair (32) being evenly arranged.
6. a kind of intelligent plant protection drone according to claim 1 and its herbal sprinkling control method, it is characterised in that: institute
The two sides side for stating partition (21) is fixed with air bag (26)；Medicine-chest (1) side wall is fixed with the spray head (27) being evenly arranged,
Spray head (27) is connected to air bag (26), and spray head (27) is located at the bending position at the top of medicine-chest (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910681050.3A CN110341959A (en) | 2019-07-26 | 2019-07-26 | A kind of intelligence plant protection drone and its herbal sprinkling control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910681050.3A CN110341959A (en) | 2019-07-26 | 2019-07-26 | A kind of intelligence plant protection drone and its herbal sprinkling control method |
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| Publication Number | Publication Date |
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| CN110341959A true CN110341959A (en) | 2019-10-18 |
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ID=68180259
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910681050.3A Withdrawn CN110341959A (en) | 2019-07-26 | 2019-07-26 | A kind of intelligence plant protection drone and its herbal sprinkling control method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111296390A (en) * | 2020-04-03 | 2020-06-19 | 安徽省华腾农业科技有限公司 | Agricultural pesticide spraying equipment for helping liquid medicine to keep medicine property |
| CN113401345A (en) * | 2021-05-11 | 2021-09-17 | 周新城 | Pesticide sprays plant protection unmanned aerial vehicle |
| CN113396886A (en) * | 2021-06-23 | 2021-09-17 | 江苏一电航空技术有限公司 | Plant protection unmanned aerial vehicle with medicine structure is spouted to high efficiency |
| CN113854264A (en) * | 2021-09-13 | 2021-12-31 | 周新城 | Plant protection unmanned aerial vehicle medical kit |
| CN115606568A (en) * | 2022-10-27 | 2023-01-17 | 安徽省农业科学院植物保护与农产品质量安全研究所 | Unmanned aerial vehicle for preventing and controlling gibberellic disease and automatically diluting and spraying field agents |
-
2019
- 2019-07-26 CN CN201910681050.3A patent/CN110341959A/en not_active Withdrawn
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111296390A (en) * | 2020-04-03 | 2020-06-19 | 安徽省华腾农业科技有限公司 | Agricultural pesticide spraying equipment for helping liquid medicine to keep medicine property |
| CN113401345A (en) * | 2021-05-11 | 2021-09-17 | 周新城 | Pesticide sprays plant protection unmanned aerial vehicle |
| CN113396886A (en) * | 2021-06-23 | 2021-09-17 | 江苏一电航空技术有限公司 | Plant protection unmanned aerial vehicle with medicine structure is spouted to high efficiency |
| CN113396886B (en) * | 2021-06-23 | 2023-11-24 | 湖南振业科技农业有限公司 | Plant protection unmanned aerial vehicle with high-efficient medicine structure of spouting |
| CN113854264A (en) * | 2021-09-13 | 2021-12-31 | 周新城 | Plant protection unmanned aerial vehicle medical kit |
| CN115606568A (en) * | 2022-10-27 | 2023-01-17 | 安徽省农业科学院植物保护与农产品质量安全研究所 | Unmanned aerial vehicle for preventing and controlling gibberellic disease and automatically diluting and spraying field agents |
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Application publication date: 20191018 |