CN113439728A - Self-adaptive unmanned aerial vehicle smoke spraying and mist spraying system and application method thereof - Google Patents
Self-adaptive unmanned aerial vehicle smoke spraying and mist spraying system and application method thereof Download PDFInfo
- Publication number
- CN113439728A CN113439728A CN202110730998.0A CN202110730998A CN113439728A CN 113439728 A CN113439728 A CN 113439728A CN 202110730998 A CN202110730998 A CN 202110730998A CN 113439728 A CN113439728 A CN 113439728A
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- rotor
- spraying
- data
- 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
- 238000005507 spraying Methods 0.000 title claims abstract description 91
- 239000000779 smoke Substances 0.000 title claims abstract description 75
- 238000000034 method Methods 0.000 title claims abstract description 20
- 239000003595 mist Substances 0.000 title claims description 6
- 239000000575 pesticide Substances 0.000 claims abstract description 106
- 238000012544 monitoring process Methods 0.000 claims abstract description 63
- 241000607479 Yersinia pestis Species 0.000 claims abstract description 14
- 238000001228 spectrum Methods 0.000 claims abstract description 14
- 241000894007 species Species 0.000 claims abstract description 3
- 239000003814 drug Substances 0.000 claims description 87
- 239000007921 spray Substances 0.000 claims description 48
- 239000000443 aerosol Substances 0.000 claims description 36
- 239000003795 chemical substances by application Substances 0.000 claims description 34
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 22
- 239000007788 liquid Substances 0.000 claims description 18
- 239000002828 fuel tank Substances 0.000 claims description 14
- 239000003502 gasoline Substances 0.000 claims description 13
- 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 description 12
- 230000009471 action Effects 0.000 claims description 9
- 230000003044 adaptive effect Effects 0.000 claims description 9
- 241000238631 Hexapoda Species 0.000 claims description 7
- 235000019504 cigarettes Nutrition 0.000 claims description 7
- 230000002265 prevention Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 239000000700 radioactive tracer Substances 0.000 claims description 4
- 238000002485 combustion reaction Methods 0.000 claims description 2
- 239000000446 fuel Substances 0.000 claims description 2
- 230000008595 infiltration Effects 0.000 claims description 2
- 238000001764 infiltration Methods 0.000 claims description 2
- 210000003437 trachea Anatomy 0.000 claims description 2
- 241000208125 Nicotiana Species 0.000 claims 2
- 235000002637 Nicotiana tabacum Nutrition 0.000 claims 2
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 7
- 201000010099 disease Diseases 0.000 description 4
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 239000000843 powder Substances 0.000 description 3
- 239000002245 particle Substances 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 241001425726 Vindula arsinoe Species 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000012466 permeate Substances 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Images
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
-
- 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
- A01M13/00—Fumigators; Apparatus for distributing gases
-
- 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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Environmental Sciences (AREA)
- Zoology (AREA)
- Insects & Arthropods (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a self-adaptive unmanned aerial vehicle smoke spraying and spraying pesticide applying system and a using method thereof, wherein the system comprises a multi-rotor monitoring unmanned aerial vehicle (33), a data processing center and a single-rotor pesticide applying unmanned aerial vehicle (1), wherein the multi-rotor monitoring unmanned aerial vehicle (33) is used for monitoring crop species, pest damage level, crop coordinates and area and sending monitoring data to the data processing center through a self-contained wireless transmitting module; the data processing center is used for receiving monitoring data of the multi-rotor monitoring unmanned aerial vehicle (33) and transmitting the processed working data to the single-rotor pesticide applying unmanned aerial vehicle (1); the single-rotor pesticide applying unmanned aerial vehicle (1) is used for receiving working data of the data processing center and applying pesticide according to the working data. During the use, according to the monitoring data of many rotors monitoring unmanned aerial vehicle (33), determine the work data that unmanned aerial vehicle (1) was administered to single rotor. The invention utilizes the spectrum monitoring technology of the unmanned aerial vehicle to be combined with the single-rotor pesticide application unmanned aerial vehicle, thereby improving the pesticide application efficiency and having stronger adaptability.
Description
Technical Field
The invention belongs to the technical field of agricultural and forestry machinery, particularly relates to an unmanned aerial vehicle system in the technical field of plant protection, and particularly relates to a self-adaptive unmanned aerial vehicle smoke spraying and mist spraying pesticide applying system and a using method thereof.
Background
Forest diseases and insect pests are one of important factors for restricting sustainable development of forestry in China, and the economic loss caused by the forest diseases and insect pests reaches more than 250 billion yuan every year, so that the prevention and the control of the diseases and the insect pests are one of important measures for the development of agriculture and forestry. At present, domestic means for preventing and treating plant diseases and insect pests mainly adopt chemical prevention and treatment, namely chemical liquid medicine is sprayed on crops for plant protection, but the traditional plant protection machinery and pesticide application technology cannot meet the development requirements of modern agriculture and forestry in China. According to statistics of agricultural rural departments, the Chinese plant protection machinery in 2017 is mainly provided with a manual sprayer, the manual sprayer comprises more than 20 varieties and more than 80 models, 70-80% of the manual sprayer is in the level of developed countries in the 60-70 th century, besides, farmers are still used to the spraying method of a high-capacity rain spraying method in the 50-60 th century at present, large fog drops can not be retained on crop leaves due to aggregation and run off to soil, and a great amount of pesticide is wasted.
Disclosure of Invention
The invention aims to provide a self-adaptive unmanned aerial vehicle smoke spraying and pesticide applying system and a using method thereof aiming at the problems in the prior art; this self-adaptation unmanned aerial vehicle spouts cigarette spraying pesticide application system is applicable to the forest zone that the traffic is inconvenient, the forest is tall and big, the water source lacks, and the aerosol sprayer spun tiny smog droplet that single rotor wing pesticide application unmanned aerial vehicle carried can suspend in the air for a long time, and it is local to go deep into the space that the droplet of general spraying or the powder that dusts can not reach, and many rotors of cooperation monitoring unmanned aerial vehicle can greatly improve the efficiency and the adaptability of spouting the medicine.
The invention aims to solve the problems by the following technical scheme:
the utility model provides a self-adaptation unmanned aerial vehicle spouts cigarette spraying system of giving medicine to poor free of charge which characterized in that: the system comprises a multi-rotor monitoring unmanned aerial vehicle, a data processing center and a single-rotor pesticide application unmanned aerial vehicle, wherein,
the multi-rotor monitoring unmanned aerial vehicle is used for monitoring the crop type, the pest level, the crop coordinate and the area of a destination and sending monitoring data to the data processing center through the wireless transmitting module;
the data processing center is used for receiving the monitoring data of the multi-rotor monitoring unmanned aerial vehicle and transmitting the processed working data to the single-rotor pesticide application unmanned aerial vehicle;
the single-rotor pesticide application unmanned aerial vehicle is used for receiving working data of a data processing center and applying pesticide according to the working data, crops are sprayed in a cruising mode during spraying operation, and the crops are sprayed with smoke at fixed points by a GPS differential system during smoke spraying operation, so that the crops are covered by smoke in a penetrating mode.
Many rotor monitoring unmanned aerial vehicle on have a spectrum camera, the spectrum camera can be sent the monitoring data that includes crop kind, insect pest level, crop coordinate and area that obtain for data processing center through the wireless transmitting module who sets up on many rotor monitoring unmanned aerial vehicle.
The data processing center comprises a wireless receiving module, a control system and a wireless transmitting module, wherein the wireless receiving module is used for receiving monitoring data sent by the wireless transmitting module on the multi-rotor monitoring unmanned aerial vehicle and transmitting the monitoring data to the control system; the control system stores applicable liquid medicine data, applicable pesticide application flight data and tracer coverage rate standard data corresponding to different crop types, pest levels, crop coordinates and areas.
The single-rotor pesticide application unmanned aerial vehicle is characterized in that a pesticide box, a fuel tank, a double-spraying pulse smoke sprayer and an electric air pump are mounted on a supporting frame of the single-rotor pesticide application unmanned aerial vehicle, the pesticide box is used for conveying pesticide to the double-spraying pulse smoke sprayer through a pesticide path pipe with a diaphragm pump, a gas outlet of the electric air pump is communicated with the fuel tank through a fuel tank gas pipe and is communicated with a carburetor through a carburetor gas pipe, the fuel tank is communicated with the carburetor through a fuel pipe with a normally closed electromagnetic valve, the carburetor is communicated with a combustion chamber of the double-spraying pulse smoke sprayer through a flange plate and a pipeline with a spark plug base, the spark plug base is used for mounting a spark plug, and the diaphragm pump, the spark plug, the normally closed electromagnetic valve and the electric air pump are respectively connected with a relay in a flight control system in the single-rotor pesticide application unmanned aerial vehicle through circuits and execute a control instruction of the relay.
The supporting beams of the supporting frame are connected through supporting frame connecting pieces or supporting frame connecting installation pieces; the medicine chest is arranged at the top of the inner cavity of the support frame and is fixed on the support frame through a corresponding buckle structure; the double-spraying pulse smoke sprayer is arranged at the bottom of the inner cavity of the support frame and is fixed on the support frame through a smoke sprayer support piece; the oil tank is located the inner chamber both sides of support frame and is fixed with the side supporting beam of support frame through the hasp from the area of oil tank side, and electronic air pump passes through the air pump connecting piece and installs on the support frame connection installed part.
The inner cavity of the medicine box is divided into a water agent medicine box and an oil agent medicine box by a partition plate, the water agent medicine box and the oil agent medicine box are respectively and correspondingly provided with a diaphragm pump and a medicine outlet hole, and the medicine outlet hole at the bottom of the water agent medicine box and the medicine outlet hole at the bottom of the oil agent medicine box are respectively communicated with the medicine inlet holes in the double-spraying pulse smoke sprayer through corresponding multi-way joints and medicine pipelines after being converged with the same multi-way joint through different medicine pipeline pipes.
The normally closed electromagnetic valve is arranged beside the carburetor, the normally closed electromagnetic valve and the electromagnetic valve connecting piece are fixed through bolts and nuts, and the electromagnetic valve connecting piece and the supporting frame are fixed through the supporting frame connecting installation piece.
The oil tank set up in pairs with the one-to-one double jet pulse aerosol sprayer, be equipped with air inlet and oil-out on the oil tank, the air inlet is located the oil tank lid at oil tank top and is linked together through going out oil tank trachea and electric air pump's gas outlet, the oil-out is located the bottom of oil tank and is linked together through oil pipe and carburetor.
Application method of self-adaptation unmanned aerial vehicle spraying smoke spraying system of giving medicine to poor free of charge, its characterized in that: the method comprises the following steps:
a. the multi-rotor monitoring unmanned aerial vehicle cruises crops according to a planned path, monitors the crops by a spectrum camera in a cruising process, and sends monitoring data comprising crop types, insect pest levels, crop coordinates and areas to a data processing center through a wireless transmitting module;
b. the control system of the data processing center obtains working data of the single-rotor pesticide application unmanned aerial vehicle based on the monitoring data and self-stored applicable liquid medicine data and applicable pesticide application flight data;
c. after the rotor monitoring unmanned aerial vehicle finishes cruising and returns, the data processing center transmits the working data to the single-rotor pesticide application unmanned aerial vehicle through the wireless transmitting module;
d. the inside flight control system of single rotor unmanned aerial vehicle that gives medicine to poor free of charge plans single rotor unmanned aerial vehicle's operation route and flying height according to the work data to through the relay control diaphragm pump among the flight control system, spark plug, normally closed solenoid valve, electronic air pump and the relevant part of two pulse fog machines that spout, make it carry out spraying or the operation of spouting cigarette to different operation condition, to the crop spraying of cruising during the operation of spraying, utilize GPS difference system to spout cigarette to the crop fixed point during the operation of spouting cigarette, make smog infiltration cover the crop.
The using process of the single-rotor pesticide application unmanned aerial vehicle in the step d is as follows:
d1, start two pulse aerosol sprayer that spout, the inside relay of single rotor wing unmanned aerial vehicle that gives medicine to poor free of charge at first controls electronic air pump, spark plug and normally closed solenoid valve work, and the gas that electronic air pump was pumped will divide into two the tunnel through three way connection this moment: one path enters an air inlet of the oil tank through an air pipe of the oil tank), the other path enters a carburetor through an air pipe of the carburetor, the oil tank sends gasoline into an oil pipe from an oil outlet under the pressure of the gas, the gasoline enters the carburetor through the oil pipe, the gasoline and the gas are combined into mist under the action of the carburetor, the dual-jet pulse smoke machine can be ignited and started by igniting through a spark plug, and the electric air pump and the spark plug can be closed through a relay after the dual-jet pulse smoke machine is ignited successfully;
d2, flying the single-rotor pesticide application unmanned aerial vehicle to the designated position according to the operation radius, the flying height and the spraying opportunity determined by the working data;
d3, the successfully started double-spray pulse smoke sprayer can spray high-speed airflow, when spraying is needed, the relay controls the diaphragm pump on one side of the aqueous agent medicine box to be opened, so that the liquid medicine is divided into four paths through the medicine path pipe and the three-way joint and respectively pumped into four medicine inlet holes of the double-spray pulse smoke sprayer, and the liquid medicine can be sprayed under the action of the airflow of the double-spray pulse smoke sprayer; when smoke is required to be sprayed, the relay controls a diaphragm pump on one side of an oil agent box to be opened, so that the liquid medicine is divided into four paths through a medicine path pipe and a three-way joint and is respectively pumped into four medicine inlet holes of the double-spraying pulse smoke sprayer, and the liquid medicine can be sprayed out under the action of air flow of the double-spraying pulse smoke sprayer;
d4, when the work of giving medicine to the poor free of charge is accomplished, relay control normally closed solenoid valve closes, can cut off the oil circuit of double spray pulse aerosol sprayer, thereby single rotor wing unmanned aerial vehicle that gives medicine to the poor free of charge closes double spray pulse aerosol sprayer and return journey.
The using method has a spray leakage prevention mechanism, and the specific process of the spray leakage prevention mechanism is as follows: in order to prevent the occurrence of the spray leakage phenomenon, different tracers are added into the aerosol and the water aerosol, after the single-rotor pesticide application unmanned aerial vehicle executes one round of work, the multi-rotor monitoring unmanned aerial vehicle is started again to carry out cruise monitoring on the crops, the spectrum camera is used for carrying out data comparison on the tracer agents covered by the crops, comparing the monitoring result with a standard value in a data processing center, if the color coverage rate of the crops is less than the standard value, judging that the crop is missed for spraying, recording the position coordinates and the crop type of the missed-spraying crop at the moment, judging whether the missed-spraying is aerosol or water aerosol according to the crop type, counting the data of all the missed-spraying crops, the multi-rotor monitoring unmanned aerial vehicle navigates back and transmits the data of missed spraying to the data processing center, and the data processing center transmits the working data to the flight control system of the single-rotor pesticide application unmanned aerial vehicle through the control system to perform secondary pesticide application on the crops of missed spraying; and after the secondary pesticide application is finished, repeating the steps until no spraying leakage exists.
Compared with the prior art, the invention has the following advantages:
the system of the invention utilizes the spectrum monitoring technology of the unmanned aerial vehicle to be combined with the single-rotor pesticide application unmanned aerial vehicle, thereby improving the pesticide application efficiency and greatly saving the manpower; the double-spraying pulse smoke machine can spray pesticide smoke with the diameter less than 50 mu m, fine smoke droplets can be suspended in the air for a long time, and can be diffused and diffused into branches and leaves of crops very uniformly and deeply reach the space where common sprayed droplets or sprayed powder particles can not reach, and the pulse smoke machine has larger workload and higher efficiency by combining the characteristics of long duration and large downwash wind field of the single-rotor pesticide application unmanned aerial vehicle; the system can automatically switch between oil agent pesticide spraying and water agent pesticide spraying, and can adapt to different operation conditions without additionally replacing a pesticide box; the machine has more connecting pieces, is convenient to disassemble and load pesticide and gasoline; single rotor unmanned aerial vehicle that gives medicine to poor free of charge cooperation many rotors monitor unmanned aerial vehicle, and the degree of automation of giving medicine to poor free of charge is higher.
Drawings
Fig. 1 is one of the structural diagrams of a single-rotor pesticide application drone of the invention;
fig. 2 is a second structural diagram of the single-rotor pesticide spraying unmanned aerial vehicle of the invention;
FIG. 3 is a block diagram of the dual spray pulse fogger of the present invention;
fig. 4 is a structural view of a medicine box of the present invention;
FIG. 5 is a structural view of the electric air pump of the present invention;
FIG. 6 is a structural view of the electric air pump connector of the present invention;
FIG. 7 is a block diagram of the solenoid valve attachment of the present invention;
FIG. 8 is a block diagram of the aerosol support of the present invention;
FIG. 9 is a block diagram of the support bracket attachment mounting of the present invention;
FIG. 10 is a block diagram of the fuel tank of the present invention;
fig. 11 is a flow chart of a pesticide spraying system of the single-rotor pesticide spraying unmanned aerial vehicle of the invention;
fig. 12 is a schematic view of a multi-rotor detecting drone of the present invention;
fig. 13 is a flowchart of the method of use of the adaptive drone aerosol spray application system of the present invention;
fig. 14 is a flow chart of a spray leakage prevention mechanism of a using method of the self-adaptive unmanned aerial vehicle smoke spraying and pesticide applying system of the invention.
Wherein: 1-single rotor unmanned aerial vehicle for pesticide application; 2-a medicine chest; 3, a diaphragm pump; 4, supporting frames; 5, a support frame connecting piece; 6, an oil tank; 7-aerosol sprayer support; 8, an oil pipe; 9-normally closed solenoid valve; 10-a carburetor; 11-a spark plug; 12-double-spraying pulse smoke machine; 13-carburetor air pipe; 14-solenoid valve connection; 15, connecting the support frame with the mounting piece; 16-air pump connection; 17-electric air pump; 18-oil tank air pipe; 19-medicine inlet holes; 20-a spark plug base; 21-a flange plate; 22-a three-way joint; 23-a medicine pipeline; 24-aqueous agent medicine chest; 25-a separator; 26-medicine outlet holes; 27-oil agent box; 28, a motor; 29-air outlet; 30-oil tank cover; 31-an air inlet; 32-oil outlet; 33-multiple rotor monitoring drone; 34-spectral camera.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1-13: the self-adaptive unmanned aerial vehicle smoke spraying and pesticide spraying system generally comprises a multi-rotor monitoring unmanned aerial vehicle 33, a data processing center and a single-rotor pesticide spraying unmanned aerial vehicle 1, wherein the multi-rotor monitoring unmanned aerial vehicle 33 carries a spectrum camera 34 and a wireless transmitting module; the data processing center consists of a wireless receiving module, a control system and a wireless transmitting module, and the control system stores the applicable liquid medicine data, the applicable pesticide application flight data and the tracer coverage rate standard data of common crops; the single-rotor pesticide application unmanned aerial vehicle comprises a single-rotor pesticide application unmanned aerial vehicle 1 and a double-spray pulse smoke sprayer 12. The relay for controlling the relevant parts of the pulse smoke sprayer is embedded in the flight control system inside the single-rotor pesticide application unmanned aerial vehicle 1. The main body of the pulse smoke machine consists of two double-spraying pulse smoke machines 12, an oil tank 6, an air pump 16 and a medicine box 2; the double-jet pulse smoke machine 12 is provided with two medicine inlet holes 19 which are respectively connected with a medicine pipeline 23, a spark plug base 20 which is connected with a spark plug 11 is arranged, and the side surface of the double-jet pulse smoke machine 12 is provided with a flange 21 which is connected with a carburetor 10; the double-spray pulse smoke sprayer 12 is fixed with the bottom of the support frame 4 through an engine support part 7; the oil tank 6 is fixed with the side surface of the support frame 4 through two lock catches on the side surface of the oil tank, the medicine box 2 is fixed above the support frame 4 through two lock catches on the two ends of the medicine box, the medicine box 2 is divided into two parts by an internal partition plate 25, a water agent is put into the water agent medicine box 24 on one side, an oil agent is put into the oil agent medicine box 27 on the other side, the diaphragm pump 3 is fixed on the two sides of the medicine box 2 through a threaded hole respectively for controlling the passage of the oil agent or the water agent, the bottom parts of the water agent medicine box 24 and the oil agent medicine box 27 are respectively provided with a medicine outlet 26, the medicine outlet 26 on the water agent box 24 and the medicine outlet 26 on the oil agent medicine box 27 are respectively connected with the first three-way joint 22 through different medicine pipeline pipes 23, the three-way joint 22 is connected with the second three-way joint 22 through the same medicine pipeline pipe 23, the second three-way joint 22 is connected with the third three-way joint 22 and the fourth three-way joint 22, the third three-way joint 22 and the fourth three-way joint 22 are respectively connected with the double-spray pulse smoke fog through the medicine pipeline pipes 23 and the double-spray smoke-pulse smoke-spray smoke-smoke pipeline 23 respectively corresponding to which are respectively corresponding to each other The medicine inlet holes 19 on the machine 12 are communicated, and four groups of three-way joints 22 are adopted (or a four-way joint and a third and a fourth three-way joints 22 can be adopted); the electric air pump 17 is driven by the motor 28 to pump air out of the air outlet 29, the electric air pump 17 and the air pump connecting piece 16 are fixed through bolts and nuts, and the air pump connecting piece 16 and the support frame 4 are fixed through the support frame connecting mounting piece 15; the normally closed electromagnetic valve 9 is connected with the oil pipe 8 to control the oil circuit to be opened and closed, the normally closed electromagnetic valve 9 and the electromagnetic valve connecting piece 14 are fixed through bolts and nuts, and the electromagnetic valve connecting piece 14 and the support frame 4 are fixed through the support frame connecting installation piece 15.
As shown in fig. 13, when the system of the present invention actually works, the multi-rotor monitoring unmanned aerial vehicle 33 firstly cruises crops according to a planned path, during the cruiser process, the spectrum camera 34 monitors the crops, and sends monitoring data including crop species, pest level, crop coordinates and area to the data processing center through the wireless transmitting module, and the data processing center calculates working data of the single-rotor pesticide applying unmanned aerial vehicle 1 through the control system, including but not limited to a working path, a spraying time of spraying smoke, a diaphragm pump power, a flight height, a start and a stop of a smoke sprayer, and the like; after the multi-rotor monitoring unmanned aerial vehicle 33 cruises and finishes returning, the data processing center transmits the working data to the single-rotor pesticide application unmanned aerial vehicle 1 through the wireless transmitting module; a flight control system in the single-rotor pesticide application unmanned aerial vehicle 1 plans an operation path and a flight height of the single-rotor pesticide application unmanned aerial vehicle 1 according to work data, and controls related components of a diaphragm pump 3, a spark plug 11, a normally closed solenoid valve 9, an electric air pump 17 and a double-spray pulse smoke sprayer 12 through a relay in the flight control system, so that the single-rotor pesticide application unmanned aerial vehicle can carry out spraying or smoke spraying operation according to different operation conditions, crops are sprayed in a cruising mode during spraying operation, and smoke is sprayed to the crops at fixed points by using a GPS differential system during the smoke spraying operation, so that the smoke permeates and covers the crops; the work is performed in the sequence of starting the aerosol sprayer, closing the spark plug and the electric air pump, taking off, applying pesticide, closing the aerosol sprayer and returning.
As shown in fig. 1, 2, 3, 4, 5, and 11, when the single-rotor pesticide application unmanned aerial vehicle 1 works, the dual-spray pulse smoke sprayer 12 is first started, the relay inside the single-rotor pesticide application unmanned aerial vehicle 1 first controls the electric air pump 17, the spark plug 11, and the normally closed solenoid valve 9 to work, at this time, the motor 28 of the electric air pump 17 is started, and the air pumped by the electric air pump 17 is divided into two paths through the three-way connector 22: one path enters an air inlet 31 of an oil tank 6 through an oil tank air pipe 18, the other path enters a carburetor 10 through a carburetor air pipe 13, gasoline is fed into an oil pipe 8 from an oil outlet 32 by the oil tank 6 under the pressure of the gas, the gasoline enters the carburetor 8 through the oil pipe 8, under the action of the carburetor 10, the gasoline and the gas are combined into mist, the dual-jet pulse smoke machine 12 can be ignited and started through ignition of a spark plug 11, and an electric air pump 17 and the spark plug 11 can be closed through a relay after the dual-jet pulse smoke machine 12 is ignited successfully; the single-rotor pesticide application unmanned aerial vehicle 1 flying off flies to a designated position according to the operation radius, the flying height and the spraying time determined by the working data; the successfully started double-spray pulse smoke sprayer 12 can spray high-speed airflow, when spraying is needed, a relay controls the diaphragm pump 3 on one side of the water aqua pesticide box 24 to be opened, so that the pesticide liquid is divided into four paths through the pesticide path pipe 23 and the three-way joint 22 and is respectively pumped into the four pesticide inlet holes 19 of the double-spray pulse smoke sprayer 12, and the pesticide liquid can be sprayed under the action of the airflow of the double-spray pulse smoke sprayer 12; when the smoke needs to be sprayed, the relay controls the diaphragm pump 3 on one side of the oil agent box 27 to be opened, so that the liquid medicine is divided into four paths through the medicine path pipe 23 and the three-way joint 22 and is respectively pumped into the four medicine inlet holes 19 of the double-spraying pulse smoke machine 12, and the liquid medicine can be sprayed out under the action of the airflow of the double-spraying pulse smoke machine 12; when the work of giving medicine to poor free of charge is accomplished, relay control normally closed solenoid valve 9 closes, can cut off the oil circuit of double spray pulse aerosol sprayer 12, and single rotor wing unmanned aerial vehicle 1 that gives medicine to poor free of charge thus closes double spray pulse aerosol sprayer 12 and return.
In order to prevent the occurrence of the miss-spraying phenomenon, different tracers are added into the aerosol and the water aerosol, when the single-rotor pesticide applying unmanned aerial vehicle 1 finishes one round of work, the multi-rotor monitoring unmanned aerial vehicle 33 is started again to carry out cruise monitoring on crops, a spectrum camera is used for carrying out data comparison on the tracers covered by the crops, the monitoring result is compared with a standard value in a data processing center, if the color coverage rate of the crops is less than the standard value, the miss-spraying is judged, the position coordinates and the crop types of the miss-spraying crops are recorded at the moment, whether the miss-spraying is the aerosol or the water aerosol is judged according to the crop types, after counting the data of all the miss-spraying crops, the multi-rotor monitoring unmanned aerial vehicle 33 navigates back and transmits the miss-spraying data to the data processing center, and the data processing center transmits the working data to a flight control system of the single-rotor pesticide applying unmanned aerial vehicle 1 through a control system, secondary pesticide application is carried out on the crops which are not sprayed; and after the secondary pesticide application is finished, repeating the steps until no spraying leakage exists. If no spraying missing crop exists, no data is transmitted.
The system of the invention utilizes the spectrum monitoring technology of the unmanned aerial vehicle to be combined with the single-rotor pesticide application unmanned aerial vehicle 1, thereby improving the pesticide application efficiency and greatly saving the manpower; the double-spraying pulse smoke machine 12 can spray pesticide smoke with the diameter smaller than 50 mu m, fine smoke droplets can be suspended in the air for a long time, and can be uniformly diffused and diffused into branches and leaves of crops to penetrate into gaps where common sprayed droplets or sprayed powder particles can not reach, and the pulse smoke machine has larger workload and higher efficiency by combining the characteristics of long duration and large lower washing wind field of the single-rotor pesticide application unmanned aerial vehicle 1; the system can automatically switch between oil agent pesticide spraying and water agent pesticide spraying, and can adapt to different operation conditions without additionally replacing a pesticide box; the machine has more connecting pieces, is convenient to disassemble and load pesticide and gasoline; single rotor unmanned aerial vehicle 1 that gives medicine to cooperates many rotor monitoring unmanned aerial vehicle 33, and the automation degree of giving medicine to is higher.
The above embodiments are only for illustrating the technical idea of the present invention, and the protection scope of the present invention cannot be limited thereby, and any modification made on the basis of the technical scheme according to the technical idea proposed by the present invention falls within the protection scope of the present invention; the technology not related to the invention can be realized by the prior art.
Claims (11)
1. The utility model provides a self-adaptation unmanned aerial vehicle spouts cigarette spraying system of giving medicine to poor free of charge which characterized in that: the system comprises a multi-rotor monitoring unmanned aerial vehicle (33), a data processing center and a single-rotor pesticide application unmanned aerial vehicle (1),
the multi-rotor monitoring unmanned aerial vehicle (33) is used for monitoring the crop species, the pest level, the crop coordinate and the area of a destination and sending monitoring data to the data processing center through a self-contained wireless transmitting module;
the data processing center is used for receiving monitoring data of the multi-rotor monitoring unmanned aerial vehicle (33) and transmitting the processed working data to the single-rotor pesticide applying unmanned aerial vehicle (1);
single rotor unmanned aerial vehicle (1) that gives medicine to poor free of charge for receive data processing center's working data and give medicine to poor free of charge according to working data, to crop spraying of cruising during the spraying operation, utilize GPS difference system to the fixed point tobacco spraying of crop during the tobacco spraying operation, make smog infiltration cover the crop.
2. The adaptive unmanned aerial vehicle aerosol spray application system of claim 1, wherein: many rotor monitoring unmanned aerial vehicle (33) on have spectrum camera (34), spectrum camera (34) can be with the monitoring data that includes crop kind, insect pest level, crop coordinate and area that obtain send for data processing center through the wireless transmitting module who sets up on many rotor monitoring unmanned aerial vehicle (33).
3. The adaptive unmanned aerial vehicle aerosol spray application system of claim 1, wherein: the data processing center comprises a wireless receiving module, a control system and a wireless transmitting module, wherein the wireless receiving module is used for receiving monitoring data sent by the wireless transmitting module on the multi-rotor monitoring unmanned aerial vehicle (33) and transmitting the monitoring data to the control system; the control system stores applicable liquid medicine data, applicable pesticide application flight data and tracer coverage rate standard data corresponding to different crop types, pest levels, crop coordinates and areas.
4. The adaptive unmanned aerial vehicle aerosol spray application system of claim 1, wherein: the single-rotor pesticide applying unmanned aerial vehicle (1) is characterized in that a pesticide box (2), a fuel tank (6), a double-spray pulse smoke machine (12) and an electric air pump (17) are installed on a support frame (4), the pesticide box (2) is used for delivering pesticide to the double-spray pulse smoke machine (12) through a pesticide path pipe (23) provided with a diaphragm pump (3), a gas outlet (29) of the electric air pump (17) is communicated with the fuel tank (6) through a fuel tank gas pipe (18) and communicated with a carburetor (10) through a carburetor gas pipe (13), the fuel tank (6) is communicated with the carburetor (10) through a fuel pipe (8) provided with a normally closed electromagnetic valve (9), the carburetor (10) is communicated with a combustion chamber of the double-spray pulse smoke machine (12) through a flange plate (21) and a pipeline provided with a spark plug base (20), the spark plug base (20) is used for installing a spark plug (11), and the diaphragm pump (3), The spark plug (11), the normally closed solenoid valve (9) and the electric air pump (17) are respectively connected with a relay in a flight control system in the single-rotor pesticide application unmanned aerial vehicle (1) through lines and execute a control instruction of the relay.
5. The adaptive unmanned aerial vehicle aerosol spray application system of claim 4, wherein: the supporting beams of the supporting frame (4) are connected through a supporting frame connecting piece (5) or a supporting frame connecting installation piece (15); the medicine chest (2) is arranged at the top of the inner cavity of the support frame (4) and is fixed on the support frame (4) through a corresponding buckle structure; the double-spray pulse smoke sprayer (12) is arranged at the bottom of the inner cavity of the support frame (4) and is fixed on the support frame (4) through a smoke sprayer support piece (7); the oil tank (6) is positioned on two sides of the inner cavity of the support frame (4) and is fixed with the side support beam of the support frame (4) through the lock catch arranged on the side of the oil tank (6), and the electric air pump (17) is arranged on the support frame connecting and installing part (15) through the air pump connecting piece (16).
6. The adaptive unmanned aerial vehicle aerosol spray application system of claim 4, wherein: the inner chamber of medical kit (2) is divided into water agent medical kit (24) and oil agent medical kit (27) by baffle (25), and water agent medical kit (24) and oil agent medical kit (27) correspond configuration diaphragm pump (3) and go out medicine hole (26) respectively, and after going out medicine hole (26) of water agent medical kit (24) bottom and the play medicine hole (26) of oil agent medical kit (27) bottom met with same many through-connections through different medicine way pipes (23) tandem, the rethread was linked together with income medicine hole (19) on two pulse fog machines (12) of spouting respectively through corresponding many through-connections and medicine way pipe (23).
7. The adaptive unmanned aerial vehicle aerosol spray application system of claim 4, wherein: the normally closed solenoid valve (9) is arranged beside the carburetor (10), the normally closed solenoid valve (9) and the solenoid valve connecting piece (14) are fixed through bolts and nuts, and the solenoid valve connecting piece (14) and the support frame (4) are fixed through a support frame connecting and mounting piece (15).
8. The adaptive unmanned aerial vehicle aerosol spray application system of claim 4, wherein: the fuel tank (6) set up in pairs and with one-to-one double-spraying pulse aerosol sprayer (12), be equipped with air inlet (31) and oil-out (32) on fuel tank (6), air inlet (31) are located on fuel tank cap (30) at fuel tank (12) top and are linked together through gas outlet (29) of oil tank trachea (18) and electronic air pump (17), oil-out (32) are located the bottom of fuel tank (6) and are linked together through oil pipe (8) and carburetor (10).
9. The use method of the adaptive unmanned aerial vehicle aerosol spray application system of claims 1-8, wherein: the method comprises the following steps:
a. the multi-rotor monitoring unmanned aerial vehicle (33) cruises crops according to a planned path, a spectrum camera (34) monitors the crops in the crusing process, and monitoring data including crop types, pest levels, crop coordinates and areas are sent to a data processing center through a wireless transmitting module;
b. the control system of the data processing center obtains working data of the single-rotor pesticide application unmanned aerial vehicle (1) based on the monitoring data, the self-stored applicable liquid medicine data and the applicable pesticide application flight data;
c. after the rotor monitoring unmanned aerial vehicle (33) finishes cruising and sails backwards, the data processing center transmits the working data to the single-rotor pesticide application unmanned aerial vehicle (1) through the wireless transmitting module;
d. the flight control system inside the single-rotor pesticide application unmanned aerial vehicle (1) plans the operation path and the flight height of the single-rotor pesticide application unmanned aerial vehicle (1) according to the work data, and controls the diaphragm pump (3), the spark plug (11), the normally closed solenoid valve (9), the electric air pump (17) and the related components of the double-spray pulse smoke machine (12) through the relay in the flight control system, so that the spraying or smoke spraying operation is carried out according to different operation conditions, the crops are sprayed during the spraying operation in a cruising mode, the crops are sprayed at fixed points by the GPS difference system during the smoke spraying operation, and the crops are covered by smoke in a permeating mode.
10. Use according to claim 9, characterized in that: the using process of the single-rotor pesticide application unmanned aerial vehicle (1) in the step d is as follows:
d1, start two pulse aerosol sprayer (12) that spout, single rotor wing pesticide application unmanned aerial vehicle (1) inside relay at first control electronic air pump (17), spark plug (11) and normally closed solenoid valve (9) work, and the gas that electronic air pump (17) pumped will divide into two the tunnel through three way connection (22) this moment: one path of the gasoline enters an air inlet 31 of the oil tank (6) through an oil tank air pipe (18), the other path of the gasoline enters the carburetor (10) through a carburetor air pipe (13), the gasoline is fed into an oil pipe (8) from an oil outlet (32) by the oil tank (6) under the pressure of gas, the gasoline enters the carburetor (8) through the oil pipe (8), under the action of the carburetor (10), the gasoline and the gas are combined into mist, the dual-jet pulse smoke machine (12) can be ignited and started through ignition of a spark plug (11), and the electric air pump (17) and the spark plug (11) can be closed through a relay after the dual-jet pulse smoke machine (12) is ignited successfully;
d2, flying the single-rotor pesticide application unmanned aerial vehicle (1) to the designated position according to the operation radius, the flying height and the spraying opportunity determined by the working data;
d3, the successfully started double-spray pulse smoke sprayer (12) can spray high-speed airflow, when spraying is needed, the relay controls the diaphragm pump (3) on one side of the water agent pesticide box (24) to be opened, so that the pesticide liquid is divided into four paths through the pesticide path pipe (23) and the three-way joint (22) and is respectively pumped into four pesticide inlet holes (19) of the double-spray pulse smoke sprayer (12), and the pesticide liquid can be sprayed under the action of the airflow of the double-spray pulse smoke sprayer (12); when the cigarette needs to be sprayed, the relay controls the diaphragm pump (3) on one side of the oil agent box (27) to be opened, so that the liquid medicine is divided into four paths through the medicine path pipe (23) and the three-way joint (22) and respectively pumped into four medicine inlet holes (19) of the double-spraying pulse smoke machine (12), and the liquid medicine can be sprayed out under the action of the air flow of the double-spraying pulse smoke machine (12);
d4, when the work of giving medicine to the poor free of charge is accomplished, relay control normally closed solenoid valve (9) are closed, can cut off the oil circuit of double spray pulse aerosol sprayer (12), thereby single rotor wing unmanned aerial vehicle (1) of giving medicine to the poor free of charge closes double spray pulse aerosol sprayer (12) and returns.
11. Use according to claim 9, characterized in that: the using method has a spray leakage prevention mechanism, and the specific process of the spray leakage prevention mechanism is as follows: in order to prevent the occurrence of the phenomenon of missed spraying, different tracers are added into the aerosol and the water aerosol, when the single-rotor pesticide applying unmanned aerial vehicle (1) finishes one round of work, the multi-rotor monitoring unmanned aerial vehicle (33) is restarted to carry out cruise monitoring on crops, a spectrum camera is used for carrying out data comparison on the tracers covered by the crops, the monitoring result is compared with a standard value in a data processing center, if the color coverage rate of the crops is less than the standard value, the missed spraying is judged, the position coordinates and the crop types of the missed spraying crops are recorded at the moment, whether the missed spraying is the aerosol or the water aerosol is judged according to the crop types, after the data of all the missed spraying crops are counted, the multi-rotor monitoring unmanned aerial vehicle (33) navigates back and transmits the data of the missed spraying to the data processing center, and the data are transmitted to a flight control system of the single-rotor pesticide applying unmanned aerial vehicle (1) through a control system, secondary pesticide application is carried out on the crops which are not sprayed; and after the secondary pesticide application is finished, repeating the steps until no spraying leakage exists.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110730998.0A CN113439728A (en) | 2021-06-30 | 2021-06-30 | Self-adaptive unmanned aerial vehicle smoke spraying and mist spraying system and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110730998.0A CN113439728A (en) | 2021-06-30 | 2021-06-30 | Self-adaptive unmanned aerial vehicle smoke spraying and mist spraying system and application method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113439728A true CN113439728A (en) | 2021-09-28 |
Family
ID=77814196
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110730998.0A Pending CN113439728A (en) | 2021-06-30 | 2021-06-30 | Self-adaptive unmanned aerial vehicle smoke spraying and mist spraying system and application method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113439728A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104311A (en) * | 2021-11-11 | 2022-03-01 | 北京卓翼智能科技有限公司 | Carry on XT2 major control system unmanned aerial vehicle |
| CN116880570A (en) * | 2023-09-06 | 2023-10-13 | 中联金冠信息技术(北京)有限公司 | Unmanned aerial vehicle wireless directional navigation system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202715498U (en) * | 2012-05-01 | 2013-02-06 | 南通市广益机电有限责任公司 | Remote air supply mist and smoke spraying machine |
| CN106564599A (en) * | 2016-11-22 | 2017-04-19 | 江苏蒲公英无人机有限公司 | Plant protection method for unmanned aerial vehicle based on multispectral remote sensing |
| CN106956778A (en) * | 2017-05-23 | 2017-07-18 | 广东容祺智能科技有限公司 | A kind of unmanned plane pesticide spraying method and system |
| CN206612069U (en) * | 2017-02-23 | 2017-11-07 | 安阳全丰生物科技有限公司 | A kind of aerosol spraying spraying system suitable for unmanned plane |
| CN108174726A (en) * | 2017-12-13 | 2018-06-19 | 巴州极飞农业航空科技有限公司 | Herbicidal methods |
| CN109329258A (en) * | 2018-12-19 | 2019-02-15 | 南京林业大学 | A kind of intermittent combustion aerosol spraying system of UAV flight |
| CN210027925U (en) * | 2019-02-03 | 2020-02-07 | 南京林业大学 | Remote ignition parallel type pulse smoke sprayer based on unmanned aerial vehicle platform |
| CN110816842A (en) * | 2019-09-30 | 2020-02-21 | 南京欧泰物联网科技有限公司 | Monitoring device for preventing and treating agricultural diseases and insect pests and preventing and treating method thereof |
| CN112560623A (en) * | 2020-12-08 | 2021-03-26 | 北京大学深圳研究生院 | Unmanned aerial vehicle-based rapid mangrove plant species identification method |
| CN112580493A (en) * | 2020-12-16 | 2021-03-30 | 广东省林业科学研究院 | Plant identification method, device and equipment based on unmanned aerial vehicle remote sensing and storage medium |
| CN113016758A (en) * | 2021-03-01 | 2021-06-25 | 王�华 | Unmanned aerial vehicle that navigates back automatically without medicine with distinguish medicine function |
-
2021
- 2021-06-30 CN CN202110730998.0A patent/CN113439728A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202715498U (en) * | 2012-05-01 | 2013-02-06 | 南通市广益机电有限责任公司 | Remote air supply mist and smoke spraying machine |
| CN106564599A (en) * | 2016-11-22 | 2017-04-19 | 江苏蒲公英无人机有限公司 | Plant protection method for unmanned aerial vehicle based on multispectral remote sensing |
| CN206612069U (en) * | 2017-02-23 | 2017-11-07 | 安阳全丰生物科技有限公司 | A kind of aerosol spraying spraying system suitable for unmanned plane |
| CN106956778A (en) * | 2017-05-23 | 2017-07-18 | 广东容祺智能科技有限公司 | A kind of unmanned plane pesticide spraying method and system |
| CN108174726A (en) * | 2017-12-13 | 2018-06-19 | 巴州极飞农业航空科技有限公司 | Herbicidal methods |
| CN109329258A (en) * | 2018-12-19 | 2019-02-15 | 南京林业大学 | A kind of intermittent combustion aerosol spraying system of UAV flight |
| CN210027925U (en) * | 2019-02-03 | 2020-02-07 | 南京林业大学 | Remote ignition parallel type pulse smoke sprayer based on unmanned aerial vehicle platform |
| CN110816842A (en) * | 2019-09-30 | 2020-02-21 | 南京欧泰物联网科技有限公司 | Monitoring device for preventing and treating agricultural diseases and insect pests and preventing and treating method thereof |
| CN112560623A (en) * | 2020-12-08 | 2021-03-26 | 北京大学深圳研究生院 | Unmanned aerial vehicle-based rapid mangrove plant species identification method |
| CN112580493A (en) * | 2020-12-16 | 2021-03-30 | 广东省林业科学研究院 | Plant identification method, device and equipment based on unmanned aerial vehicle remote sensing and storage medium |
| CN113016758A (en) * | 2021-03-01 | 2021-06-25 | 王�华 | Unmanned aerial vehicle that navigates back automatically without medicine with distinguish medicine function |
Non-Patent Citations (3)
| Title |
|---|
| 王昌陵等: "基于仿真果园试验台的植保无人机施药雾滴飘移测试方法与试验", 《农业工程学报》 * |
| 王昌陵等: "基于空间质量平衡法的植保无人机施药雾滴沉积分布特性测试", 《农业工程学报》 * |
| 陈青等: "无人植保喷烟机的设计及试验研究", 《中国农机化学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104311A (en) * | 2021-11-11 | 2022-03-01 | 北京卓翼智能科技有限公司 | Carry on XT2 major control system unmanned aerial vehicle |
| CN116880570A (en) * | 2023-09-06 | 2023-10-13 | 中联金冠信息技术(北京)有限公司 | Unmanned aerial vehicle wireless directional navigation system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113439728A (en) | Self-adaptive unmanned aerial vehicle smoke spraying and mist spraying system and application method thereof | |
| CN203946276U (en) | Single rotor plant protection unmanned plane pesticide spraying system | |
| CN103723275B (en) | A kind of unmanned plane is with spraying device for administration of drugs | |
| CN107444627B (en) | Modularization plant protection unmanned aerial vehicle | |
| CN107517944A (en) | More rotor smoke-type plant protection unmanned planes | |
| CN108669055A (en) | A kind of pesticide spraying helicopter | |
| CN210027925U (en) | Remote ignition parallel type pulse smoke sprayer based on unmanned aerial vehicle platform | |
| CN105083555A (en) | Pesticide spraying system for single-rotor unmanned plant protection helicopter | |
| CN106954612B (en) | Mist sprayer mounted on unmanned aerial vehicle | |
| CN210258847U (en) | Unmanned aerial vehicle formula atomizing machine and unmanned aerial vehicle atomizing sprinkling system | |
| CN207029556U (en) | Multipurpose self-insurance unmanned plane | |
| CN206200987U (en) | Robot is administered on a kind of grassland | |
| CN109601522A (en) | The compound bird repellent method of physical chemistry based on unmanned aerial vehicle platform | |
| CN209563388U (en) | A kind of intermittent combustion smoking apparatus of UAV flight | |
| CN216493004U (en) | Natural rubber tree system of dusting that unmanned aerial vehicle used | |
| CN217657864U (en) | Plant protection spraying unmanned aerial vehicle | |
| CN212993986U (en) | Pesticide or liquid hypertrophy area three-dimensional spraying device | |
| CN108669037A (en) | A kind of unmanned plane of Novel fruit-tree spraying pesticide | |
| CN202819404U (en) | Impulse type smoke water spraying machine | |
| CN112371377A (en) | Plant protection unmanned aerial vehicle's hydrojet head | |
| CN209934998U (en) | A centrifugal nozzle for unmanned aerial vehicle | |
| CN112868632A (en) | Plant protection unmanned aerial vehicle powder spraying device | |
| CN109329258B (en) | Pulse combustion smoke spraying system carried by unmanned aerial vehicle | |
| CN2547418Y (en) | Spraying machine | |
| CN209806933U (en) | Crawler-type parallel three-nozzle pulse smoke sprayer |
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 |
Application publication date: 20210928 |
|
| RJ01 | Rejection of invention patent application after publication |