CN117590784A - Agricultural unmanned aerial vehicle control module - Google Patents
Agricultural unmanned aerial vehicle control module Download PDFInfo
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- CN117590784A CN117590784A CN202311608528.2A CN202311608528A CN117590784A CN 117590784 A CN117590784 A CN 117590784A CN 202311608528 A CN202311608528 A CN 202311608528A CN 117590784 A CN117590784 A CN 117590784A
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- 239000007921 spray Substances 0.000 claims abstract description 117
- 238000005507 spraying Methods 0.000 claims abstract description 75
- 239000003814 drug Substances 0.000 claims abstract description 63
- 238000004364 calculation method Methods 0.000 claims abstract description 49
- 239000007788 liquid Substances 0.000 claims description 34
- 238000000034 method Methods 0.000 claims description 25
- 239000002245 particle Substances 0.000 claims description 19
- 230000005484 gravity Effects 0.000 claims description 10
- 239000003795 chemical substances by application Substances 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 5
- 230000000994 depressogenic effect Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 abstract description 16
- 239000002699 waste material Substances 0.000 abstract description 16
- 239000003595 mist Substances 0.000 description 28
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- 238000005111 flow chemistry technique Methods 0.000 description 2
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- 235000013399 edible fruits Nutrition 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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Abstract
The application provides an agricultural unmanned aerial vehicle control module, mainly relates to unmanned aerial vehicle control field. The application provides a control module is arranged in spraying the operation and adjusts unmanned aerial vehicle shower nozzle interval, and wherein, control module includes sensing module, and it is used for acquireing agricultural unmanned aerial vehicle's operation data, and sensing module includes quality sensor, altitude sensor and parameter setting module. The control module further comprises a calculation module which calculates the landing time of the fogdrops sprayed by the agricultural unmanned aerial vehicle based on the operation data output by the sensing module, and calculates the first interval of the centrifugal spray heads of the agricultural unmanned aerial vehicle based on the landing time. The driving module drives the centrifugal spray heads to move relatively along the horizontal direction to adjust the distance between the centrifugal spray heads to reach the first distance based on the first distance output by the calculating module. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle control, and more particularly, to an agricultural unmanned aerial vehicle control module.
Background
At present, the agricultural unmanned aerial vehicle has wide application prospect in the aspect of agricultural spraying, and can realize the protection and nutrition regulation of crops. However, the prior art has some drawbacks, and the technical problems to be solved are also gradually highlighted.
At present, most agricultural unmanned aerial vehicles adopt the shower nozzle overall arrangement of fixed interval in spraying operation, and this kind of overall arrangement can't be adjusted according to the growth state and the growing environment of crops, leads to spraying effect poor, medicament waste to it is inconvenient to use. In addition, the flying height of the unmanned aerial vehicle can also influence the nozzle spacing selection. If the flight height is high, a larger nozzle spacing is required to ensure that the liquid medicine can be uniformly sprayed on the target area during the flight. And if the flight height is low, a smaller nozzle spacing is required to ensure even distribution of the sprayed medicament.
How to enable the unmanned aerial vehicle to automatically adjust the distance between the spray heads in the operation process is a key for solving the problems.
Disclosure of Invention
The application provides an agricultural unmanned aerial vehicle control module. The sensing module acquires data sensed by a sensor carried by the unmanned aerial vehicle and the operation parameters set by the parameter setting module; the calculation module uses the data acquired by the sensing module to calculate the optimal nozzle spacing at the unmanned aerial vehicle spraying operation moment; the driving module drives the spray head arm to adjust according to the calculation result of the calculation module, so that the spray head reaches the set first interval. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, make agricultural unmanned aerial vehicle's spraying operation can become more intelligent, high-efficient and accurate, improve the growth quality and the output of crops.
In a first aspect, an agricultural unmanned aerial vehicle control module is provided, the control module is mounted on the agricultural unmanned aerial vehicle, and the agricultural unmanned aerial vehicle further comprises a rotor, a centrifugal nozzle, a liquid storage tank and a driving module; the centrifugal spray head is fixed on one side of the liquid storage tank through the driving module, and the liquid storage tank is used for storing the medicament to be sprayed. The control module comprises a sensing module and a calculating module; specifically, the sensing module is used for acquiring operation data of the agricultural unmanned aerial vehicle, and comprises a quality sensor, a height sensor and a parameter setting module; the system comprises a mass sensor, a height sensor, a parameter setting module and a control module, wherein the mass sensor is used for acquiring a value of the load of the agricultural unmanned aerial vehicle, the height sensor is used for acquiring a value of the flight height of the agricultural unmanned aerial vehicle, and the parameter setting module is used for inputting operation parameters of the agricultural unmanned aerial vehicle. The calculation module calculates the landing time of the fogdrops sprayed by the agricultural unmanned aerial vehicle based on the operation data output by the sensing module, and calculates the first interval of the centrifugal spray heads of the agricultural unmanned aerial vehicle based on the landing time. The driving module drives the centrifugal spray heads to move relatively along the horizontal direction based on the first distance output by the calculating module to adjust the distance between the centrifugal spray heads to reach the first distance.
Based on the technical scheme, the agricultural unmanned aerial vehicle acquires data sensed by the carried sensor and operation parameters set by the parameter setting module through the sensing module, and calculates the optimal nozzle spacing when the unmanned aerial vehicle sprays the operation based on the data acquired by the sensing module through the calculating module; the driving module drives the nozzle arm to adjust the distance between the centrifugal nozzles based on the calculation result of the calculation module, so that the nozzles reach the set first distance. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
It is understood that the first interval includes the distance between the centrifugal spray heads determined according to the current flight height of the unmanned aerial vehicle and operation parameters such as rotor rotation speed, when the interval between two centrifugal spray heads on any horizontal direction is smaller than or equal to the first interval, the medicament sprayed by the two spray heads can be uniformly covered to the operation range below the unmanned aerial vehicle of the spray heads in the environment of room temperature, standard atmospheric pressure and no wind, so that the full coverage of medicament spraying is realized, and the coverage of medicament spraying is improved.
With reference to the first aspect, in certain implementations of the first aspect, the centrifugal spray head includes an atomizing disk that rotates at a high speed such that teeth of an outer edge strike the medicament to be sprayed, and at the high speed of the collision, the medicament to be sprayed is crashed and atomized to form mist droplets and sprayed outward through the centrifugal spray head.
Based on this technical scheme, use the centrifugal nozzle to spray the medicament to carry out automatically regulated to the first interval of centrifugal nozzle, make centrifugal nozzle reach the first interval of setting. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
With reference to the first aspect, in certain implementations of the first aspect, the drive module includes a spray head arm and a slide rail, and the centrifugal spray head is slidably fixed on the slide rail by the spray head arm. The driving module receives the first interval output by the calculating module, and drives the spray nozzle arm to move relatively on the sliding rail along the horizontal direction to adjust the interval of the centrifugal spray nozzle to reach the first interval.
Based on this technical scheme, centrifugal shower nozzle passes through shower nozzle arm sliding fixation and is in the slide rail, and after the drive module received the first interval of calculating module output, drive shower nozzle arm sliding adjustment on the slide rail makes centrifugal shower nozzle reach first interval. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
With reference to the first aspect, in certain implementation manners of the first aspect, the job parameters input by the parameter setting module include: the particle size of the droplets, the rotational speed of the atomizing disk, the radius of the teeth, the density of the agent to be sprayed, the number of rotors, and the diameter of the rotors.
Based on the technical scheme, after the agricultural unmanned aerial vehicle inputs relevant operation parameters, the agricultural unmanned aerial vehicle can automatically adjust the distance between the centrifugal spray heads based on the set operation parameters and combining the operation conditions, so that the spray heads reach the set first distance. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
With reference to the first aspect, in certain implementations of the first aspect, the calculation module calculates the landing time based on job data output by the sensing module. Specifically, the calculating module calculates the air resistance coefficient of the fog drops based on the density of the medicament to be sprayed and the particle size of the fog drops output by the sensing module; the calculation module calculates the wind speed of a downward wind field generated by the rotor wing based on the agricultural unmanned aerial vehicle load quantity, the number of the rotor wings and the diameter of the rotor wings output by the sensing module; the calculation module calculates the landing time based on the flying height of the agricultural unmanned aerial vehicle output by the sensing module and by combining the air resistance coefficient of the fogdrops and the wind speed of the downward-pressing wind field.
Based on the technical scheme, after the agricultural unmanned aerial vehicle inputs relevant operation parameters, the agricultural unmanned aerial vehicle can automatically adjust the distance between the centrifugal spray heads based on the set operation parameters and combining the operation conditions, so that the spray heads reach the set first distance. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
With reference to the first aspect, in certain implementations of the first aspect, the calculation module calculates the first pitch based on a landing time. Specifically, the calculating module calculates the initial speed of spraying the fog drops along the horizontal direction based on the rotating speed of the atomizing disk and the radius of the tooth which are output by the sensing module; the calculating module is used for calculating the spraying distance of the fog drops along the horizontal direction by combining the falling time and the initial speed; the calculating module outputs a first interval based on the distance of spraying of the fog drops along the horizontal direction.
Based on the technical scheme, after the agricultural unmanned aerial vehicle inputs relevant operation parameters, the agricultural unmanned aerial vehicle can automatically adjust the distance between the centrifugal spray heads based on the set operation parameters and the parameters during spraying operation sensed by the sensor, so that the spray heads reach the set first distance. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
With reference to the first aspect, in certain implementations of the first aspect, calculating the fall time includes
Wherein H is the value of the flight height of the agricultural unmanned aerial vehicle, V S For the wind speed of the downward-pressing wind field, mu is the air resistance coefficient, and the landing time t is calculated by obtaining the value H of the flying height of the agricultural unmanned aerial vehicle.
Based on the technical scheme, after the agricultural unmanned aerial vehicle inputs relevant operation parameters, the agricultural unmanned aerial vehicle can automatically adjust the distance between the centrifugal spray heads based on the set operation parameters and the parameters during spraying operation sensed by the sensor, so that the spray heads reach the set first distance. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
With reference to the first aspect, in certain implementations of the first aspect, calculating the spray distance of the mist droplets in the horizontal direction includes
Wherein R is f Is the spraying distance of the fog drops along the horizontal direction, V X For the initial velocity of the fog drops, mu is the air resistance coefficient, t is the landing time, and the spraying distance R of the fog drops along the horizontal direction is calculated based on the landing time t f 。
Based on the technical scheme, after the agricultural unmanned aerial vehicle inputs relevant operation parameters, the agricultural unmanned aerial vehicle can automatically adjust the distance between the centrifugal spray heads based on the set operation parameters and the parameters during spraying operation sensed by the sensor, so that the spray heads reach the set first distance. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
With reference to the first aspect, in certain implementations of the first aspect, outputting the first pitch includes
N≤2R f ，
Wherein N is a first interval, R f Is spray of mist drops along the horizontal directionAnd (5) sprinkling a distance.
Based on the technical scheme, after the agricultural unmanned aerial vehicle inputs relevant operation parameters, the agricultural unmanned aerial vehicle can automatically adjust the distance between the centrifugal spray heads based on the set operation parameters and the parameters during spraying operation sensed by the sensor, so that the spray heads reach the set first distance. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
With reference to the first aspect, in certain implementations of the first aspect, the method of determining the particle size of the mist droplets includes
d＝An+Bf+C，
Wherein d is the particle size of the fog drops, n is the rotating speed of the atomizing disk, f is the flow rate of the atomizing disk, and A, B, C is the coefficient to be determined; determining the coefficient of uncertainty includes fitting by measuring the value of the droplet size d.
Based on the technical scheme, the value of the coefficient to be determined of the fitting formula is determined by fitting the two dependent variables of the particle size value of the fog drops, the rotating speed of the atomizing disk and the flow of the atomizing disk, which are obtained through experimental tests, so that the calculation formula of the particle size of the fog drops is obtained, and the particle size of the fog drops can be determined according to the rotating speed of the atomizing disk and the flow of the atomizing disk in the operation process of the agricultural unmanned aerial vehicle, thereby determining the drop time of the fog drops and the corresponding spraying distance. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
With reference to the first aspect, in certain implementations of the first aspect, calculating the air resistance coefficient of the mist includes
Wherein mu is the air resistance coefficient, d is the particle size of the fog drops, and ρ is the density of the medicament to be sprayed.
Based on the technical scheme, after the agricultural unmanned aerial vehicle inputs relevant operation parameters, the agricultural unmanned aerial vehicle can automatically adjust the distance between the centrifugal spray heads based on the set operation parameters and the parameters during spraying operation sensed by the sensor, so that the spray heads reach the set first distance. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
With reference to the first aspect, in certain implementations of the first aspect, calculating the wind speed of the down-wind farm includes
Wherein V is S For the wind speed of the downward wind field, M is the number of the rotary wings, D is the diameter of the rotary wings, L is the load value of the agricultural unmanned aerial vehicle, and g is the gravitational acceleration.
Based on the technical scheme, after the agricultural unmanned aerial vehicle inputs relevant operation parameters, the agricultural unmanned aerial vehicle can automatically adjust the distance between the centrifugal spray heads based on the set operation parameters and the parameters during spraying operation sensed by the sensor, so that the spray heads reach the set first distance. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
In a second aspect, the present application provides an agricultural unmanned aerial vehicle, including the agricultural unmanned aerial vehicle control module of the first aspect and any implementation manner of the first aspect.
Drawings
Fig. 1 is a schematic structural diagram of a conventional agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 2 is a schematic view of a spraying operation scene of an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 3 is an agricultural unmanned aerial vehicle provided in an embodiment of the present application.
Fig. 4 is a schematic diagram of data flow processing of an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 5 is a schematic flow chart of automatic adjustment of a centrifugal nozzle spacing according to an embodiment of the present application.
Fig. 6 is a schematic diagram of a method for generating droplets sprayed by an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Fig. 7 is a schematic diagram of stress analysis of droplets during spraying operation of an agricultural unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings.
The terminology used in the description section of the present application is for the purpose of describing particular embodiments of the present application only and is not intended to be limiting of the present application.
The terms "first," "second," "third," and the like in this application are used for distinguishing between similar elements or similar elements having substantially the same function and function, and it should be understood that there is no logical or chronological dependency between "first," "second," and "third," and that there is no limitation on the amount and order of execution.
In the embodiments of the present application, words such as "exemplary," "for example," and the like are used to indicate by way of example, illustration, or description. Any embodiment or design described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, the term use of an example is intended to present concepts in a concrete fashion.
Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
In the present application, "at least one" means one or more, and "a plurality" means two or more.
It should be understood that the specific examples herein are intended only to facilitate a better understanding of the embodiments of the present application by those skilled in the art and are not intended to limit the scope of the embodiments of the present application.
It should also be understood that the various embodiments described in this specification may be implemented alone or in combination, and that the examples herein are not limited in this regard.
Unless defined otherwise, all technical and scientific terms used in the examples of this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to limit the scope of the present application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
In the spraying operation process of agricultural unmanned aerial vehicles in the current market, most unmanned aerial vehicles adopt a nozzle with a fixed interval to realize agricultural operation. Fig. 1 is a schematic view of a common unmanned aerial vehicle structure according to an embodiment of the present application, as shown in fig. 1. In fig. 1, a coordinate system is established with gravity Y as a reference direction, and a side view of the agricultural unmanned aerial vehicle on the plane of the X-Y direction is drawn. Wherein unmanned aerial vehicle that uses has 4 rotor 11, and rotor 11 is through controlling the flight status of rotational speed etc. control unmanned aerial vehicle, and secondly, still has liquid reserve tank 12, and the liquid reserve tank is used for holding the medicament of waiting to spray, can set up agitating unit in the liquid reserve tank 12, makes and waits to spray the medicament and keep even at unmanned aerial vehicle operation in-process. The liquid storage tank 12 and the rotor 11 are arranged on a bearing frame 15, and the bearing frame 15 is further provided with 4 landing brackets 14 for assisting the unmanned aerial vehicle to stably land on the ground. A spraying device is fixed under the liquid storage tank 12, wherein the spraying device comprises at least one group of spray heads 13, each group of spray heads comprises at least two spray heads, the spray heads 13 are fixed on the lower side of the liquid storage tank 12 through mounting arms 16, and liquid guide pipes can be arranged in the mounting arms 16 and used for reversely flowing the spraying agent in the liquid storage tank 12 into the spray heads 13.
However, such a fixed-pitch spray head arrangement may result in poor working efficiency, waste of chemicals, or inconvenience in use due to different crop growth conditions and growth environments.
Meanwhile, the demand of the market for agricultural unmanned aerial vehicle capable of automatically adjusting the distance between the spray heads is continuously improved. Therefore, in recent years, a spray device capable of automatically adjusting the distance between spray heads becomes one of research hot spots, so that the distance between the spray heads can be automatically adjusted according to actual conditions, and a more flexible, efficient and controllable scheme is provided for agricultural operation.
The spray head structure of the agricultural unmanned aerial vehicle is generally composed of components such as a spray nozzle, a liquid pipe, a sealing ring and the like. The spray head mainly plays a role in spraying the medicament into the air, and the spraying effect and the medicament spraying quality of the spray head have great relation with the designed spray head structure. Examples of commonly used nozzles include fan-shaped nozzles, spherical nozzles, dual-flow nozzles, quad-flow nozzles, etc., which have different spraying effects and coverage areas.
The fan-shaped spray head has a simpler structure and is suitable for occasions with a larger spraying range, such as farmlands, orchards, olive forests and the like. The spherical spray head can be used for 360-degree rotary spraying, and is suitable for small fruit trees with irregular shapes and other scenes. The double-flow spray head and the four-flow spray head can simultaneously carry out mixed spraying of liquid and air, have better spraying effect and medicament utilization efficiency, but have higher manufacturing cost and maintenance difficulty.
The application focuses on research and provides a centrifugal nozzle spacing adjustment method of an agricultural unmanned aerial vehicle, and the centrifugal nozzle is widely applied to the fields of agriculture, gardens, fire protection and the like. The centrifugal spray head mainly comprises a fixed block, a centrifugal rotating mechanism, an atomizing disk and other parts. The principle of spraying is to use centrifugal force to send liquid into nozzle to make it become exciting flow and produce atomized spray. The centrifugal rotating mechanism and the atomizing disc in the internal structure form a central shaft and a rotating part respectively, and when the atomizing disc rotates, the centrifugal force can send liquid to the nozzle to form atomized spray.
The spray effect of a centrifugal spray head is affected by many factors, such as the flow rate of the liquid, gravity, the speed and angle at which the spray head rotates, etc. The application of the fertilizer in agriculture can be used for spraying and fertilizing crops, and has good effect under the condition that the spraying liquid is viscous. The centrifugal spray head is a spray head model with strong practicability, the spray effect is stable, the spray head angle and range are adjustable, the maintenance and management are convenient, the application range is wide, and the spray efficiency in the fields of agriculture, gardens and the like is improved.
The application provides an agricultural unmanned aerial vehicle. The sensing module acquires data sensed by a sensor carried by the unmanned aerial vehicle and the operation parameters set by the parameter setting module; the calculation module uses the data acquired by the sensing module to calculate the optimal nozzle spacing at the unmanned aerial vehicle spraying operation moment; the driving module drives the spray head arm to adjust according to the calculation result of the calculation module, so that the spray head reaches the set first interval. This application can realize spraying the regulation of interval through equipment automatically regulated to promote the coverage that the medicament was sprayed, improve agricultural unmanned aerial vehicle's operating efficiency, reduce medicament waste and cost of labor.
In order to better understand the solution of the embodiment of the present application, a possible operation scenario of the embodiment of the present application will be briefly described with reference to fig. 2.
Fig. 2 is a schematic view of a spraying operation scene of an agricultural unmanned aerial vehicle according to an embodiment of the present application. In the figure, the unmanned aerial vehicle can generate a downward-pressed wind field by rotating the rotor wing in the flight operation process, and the direction parallel to the ground and the X direction are set by taking the gravity direction Y as a reference.
It should be understood that the X direction includes all directions parallel to the ground and perpendicular to the gravitational direction Y, and that only one X direction is schematically shown in the drawings, and does not limit the scope of the present application in any way.
It should be understood that the mist droplets ejected by the centrifugal nozzle are 360-degree encircling, and the drawings are only two-dimensional schematic plan views, and do not limit the protection scope of the application in any way.
It is understood that the first interval includes the distance between the centrifugal spray heads determined according to the current flight height of the unmanned aerial vehicle and operation parameters such as rotor rotation speed, when the interval between two centrifugal spray heads on any horizontal direction is smaller than or equal to the first interval, the medicament sprayed by the two spray heads can be uniformly covered to the operation range below the unmanned aerial vehicle of the spray heads in the environment of room temperature, standard atmospheric pressure and no wind, so that the full coverage of medicament spraying is realized, and the coverage of medicament spraying is improved.
It should be understood that in some embodiments, the first spacing is also referred to as an optimal spacing, an optimal nozzle spacing, etc., which are merely references by name and do not limit the scope of the present application, and the specific scope of protection shall be determined by the claims. The fog drops sprayed by the centrifugal nozzle have an initial velocity V in the X direction X The fog drops do parabolic motion under the combined action of the initial speed in the X direction and the acting force of the wind field superimposed by the gravity of the fog drops. Defining the spraying height of the fog drop as H, and the radius of the fog drop sprayed by the spray head as breadth R f As can be seen from fig. 2, if the agricultural unmanned aerial vehicle is to be ensured to have no spraying dead angle in the spraying process, the spraying uniformity and comprehensiveness are ensured, and the distance N between the two spray heads is less than or equal to twice the width R f N.ltoreq.2R f 。
Fig. 3 is an agricultural unmanned aerial vehicle provided in an embodiment of the present application. In fig. 3, the agricultural unmanned aerial vehicle includes 6 rotors 21 (only 2 are drawn in the figure due to the view angle), and the 6 rotors 21 are symmetrically arranged. Still include liquid reserve tank 22, liquid reserve tank 22 is used for carrying the medicament that needs to spray, and liquid reserve tank 22 and 6 rotor 21 set up on bearing frame 25. A control module 29 and a drive module 28 are arranged under the reservoir 22, the drive module 28 being connected to the spray heads 23, the unmanned aerial vehicle having 4 spray heads 23 (only 2 are shown in the figure due to the view angle). The driving module 28 is used for adjusting the distance between the symmetrical spray heads 23, the driving module 28 comprises an adjusting slide rail 26 and a spray head arm 27, and the driving module 28 is used for adjusting the distance between the symmetrical spray heads 23 through the spray head arm 27 by receiving the driving instruction of the control module 29. Wherein the nozzle arm 27 is further enclosed with a liquid guiding tube for guiding the medicine in the liquid storage tank 22 to the nozzle 23.
It should be understood that in one possible embodiment provided in this application, the number of rotor wings 21 and spray heads 27, etc. are only illustrative, and should not be construed as limiting the application, and the claims should be looked to in order to avoid excessive torque.
It should be understood that the number of slide rails 26 and the number of nozzle arms 27 are related to the number of nozzles 26, and are set according to actual situations in practical use, and the present application is not limited thereto, and the claims should be based on the specific protection scope.
It should be understood that fig. 3 is a schematic view of an X-Y direction plane, the number of parts shown is only illustrative, and the embodiment of the present application uses the X-Y direction plane as a reference, and describes the automatic adjustment manner and the structure of the device between the symmetrical nozzles 23, and does not limit the present application, and the specific protection scope is set forth in the claims. It should also be understood that, in the scenario of multiple pairs of symmetrical nozzles, multiplexing the technical solution of the present application should also be within the protection scope of the present application.
Fig. 4 is a schematic diagram of data flow processing of an agricultural unmanned aerial vehicle according to an embodiment of the present application. The control module 29 of the present application includes a sensing module and a calculating module, where the sensing module is configured to obtain sensing data of a sensing device carried by the unmanned aerial vehicle and set operation parameters. The unmanned aerial vehicle is provided with a quality sensor, a height sensor and a parameter setting module; the quality sensor is used for measuring the total load of the unmanned aerial vehicle, the height sensor is used for measuring the flying height of the unmanned aerial vehicle during flying operation, the parameter setting module is used for inputting operation parameters before the unmanned aerial vehicle operates, and the operation parameters of the unmanned aerial vehicle include but are not limited to: the rotation speed of the atomizing disk, the radius of the atomizing disk, the medicament flow rate of the atomizing disk, the number of the rotor wings, the diameter of the rotor wings and the like. The calculation module calculates the optimal nozzle spacing at the sampling time of the sensing module through the data value acquired by the sensing module, and outputs the calculation result to the driving module 28, and the driving module 28 adjusts the spacing between the two nozzles 23 in the horizontal direction by driving the nozzle arm 27 according to the calculation value of the calculation module.
It should be appreciated that the sensing and computing modules may sense and calculate in real time, and as the mass of the tank 22 changes over time during the unmanned aerial vehicle spraying operation, sampling periods may be set, the results of the sampling for each sampling period or for each few sampling periods may be calculated, and the nozzle spacing adjusted by the drive module 28. The application is not particularly limited thereto, and the specific scope of protection shall be determined by the claims.
The pitch adjustment procedure for the unmanned aerial vehicle will be described below with reference to fig. 5 to 7.
Fig. 5 is a schematic flow chart of automatic adjustment of a centrifugal nozzle spacing according to an embodiment of the present application. The method of confirming the centrifugal nozzle spacing of the present application will be explained below in conjunction with fig. 5.
S201: fitting the relation between the particle diameter d of the sprayed fog drops and the rotating speed n and flow f of the atomizing disk, and calculating the initial speed V of the fog drops along the first direction by a calculating module X 。
When the centrifugal spray head sprays, the liquid medicine is atomized and thrown out by the high-speed rotating atomizing disk. The thrown fogdrop has the initial velocity V in the horizontal direction X And is acted by a rotor wing down-pressure wind field to be brought to the ground. The centrifugal atomizing disk rotates at a high speed, so that teeth on the outer edge of the atomizing disk collide with the liquid medicine, and the liquid is crashed and atomized under the high-speed collision. Here, the broken droplets are approximated to spheres, and the particle diameter of the droplets is defined as d, the rotational speed of the atomizing disk is n, and the flow rate of the chemical is f. The particle diameter d of the mist droplets which are atomized by impact is related to the rotating speed n of the atomizing disk and the flow f of the medicament, and the relation formula is as follows:
d＝An+Bf+C (1)
Wherein A, B, C is the coefficient to be determined. The rotating speed n of the atomizing disk and the flow f of the medicament are known quantities which can be obtained through the machine setting of the unmanned aerial vehicle, the specific value of the undetermined coefficient of A, B, C can be determined through multiple experiments before the actual operation of the unmanned aerial vehicle, the value of the undetermined coefficient can be fitted according to the value of the particle size d which is actually measured and the set rotating speed n and the flow f, and the more accurate value of the undetermined coefficient A, B, C can be obtained after the multiple experiments and the multiple fitting average.
The technical method is suitable for unmanned aerial vehicles with different models and different parameters and spray heads with different parameters, before the unmanned aerial vehicle flies and sprays, the diameter d of the fog drops sprayed by the spray heads of the unmanned aerial vehicle can be obtained through calculation of the rotating speed n brought into an atomizing disk by a formula (1) and the flow f of the medicament, and the diameter d of the fog drops is input into a parameter setting module, so that a subsequent calculation module can obtain parameter values to calculate other values.
The centrifugal atomizing disk rotates at a high speed, so that teeth on the outer edge of the atomizing disk collide with the liquid medicine, the liquid is crashed and atomized under the high-speed collision, and fog drops are sprayed at an initial speed in the horizontal direction. It can be approximately understood here that the initial velocity V of droplet ejection X The same as the speed of movement of the teeth at the rim of the atomizer disk. The initial velocity V for mist droplets will be described below in connection with fig. 6 X Is described with respect to the determination and calculation of (a).
Fig. 6 is a schematic diagram of a method for generating droplets sprayed by an agricultural unmanned aerial vehicle according to an embodiment of the present application. Defining the rotation radius of the teeth on the atomizing disk as R and the rotation speed as n; wherein the unit of the radius R is millimeter mm, the unit of the rotating speed n is rpm, the rotation of the atomizing disk can be approximately uniform circular motion, and the initial speed V of mist spraying can be obtained according to a linear speed calculation formula of uniform circular motion X (i.e., the linear velocity of the teeth on the atomizing disk) is:
the mist drops, when being sprayed from the teeth on the atomizing disk in a rotating manner, have an initial velocity V parallel to the ground X The mist is also subjected to air resistance in the horizontal direction, so that the movement speed of the mist in the X direction is also gradually reduced.
The calculation module obtains parameter values from the sensing module by setting the rotation radius R and the rotation speed n of the teeth on the atomizing disk through the parameter setting module, and calculates the initial speed V of mist spraying by using the formula (2) X Is a value of (2).
S202: the calculation module calculates the air resistance coefficient mu of the fog drops.
The movement trace and the stress condition of the mist drop are analyzed with reference to fig. 7.
Fig. 7 is a schematic diagram of stress analysis of droplets during spraying operation of an agricultural unmanned aerial vehicle according to an embodiment of the present application. Here, the mist is approximately regarded as a sphere, the diameter of the mist is d, and the mist has an initial velocity V in the X direction when the mist is sprayed from the nozzle X And receives an air resistance f in a direction opposite to the initial speed X Is effective in (1). In the gravity direction Y, the fog drops are subjected to self gravity mg and acting force f of wind field generated by unmanned plane rotor wing Y Under the combined action of the two components, the fog drops drop to the ground, the initial velocity of the fog drops in the Y direction is V Y At the moment when the mist drops are just sprayed, i.e. t=0, the initial velocity V of the mist drops in the Y direction Y ＝0。
The fog drops are approximately spherical, the diameter of the fog drops is defined as d, and the liquid density of the spraying agent is ρ; then the air resistance coefficient μ of the mist droplets can be calculated as:
the calculation module obtains the parameter value from the sensing module by inputting the liquid density ρ of the spray into the parameter setting module, and calculates the value of the air resistance coefficient μ of the mist droplets using formula (3).
S203: the calculation module calculates the wind speed V of a downward wind field generated by the rotor wing S 。
Defining the speed of a downward wind field of a rotor wing of the unmanned aerial vehicle as V S The load of the unmanned aerial vehicle is L, the number of the unmanned aerial vehicle rotors is M, and the diameter of the unmanned aerial vehicle rotors is D, so that the wind degree V of a down-draft wind field of the unmanned aerial vehicle can be calculated under the conditions of the temperature of 25 ℃ and standard atmospheric pressure S The method comprises the following steps:
wherein g is gravitational acceleration.
By taking the load of the unmanned aerial vehicle as L and the number of unmanned aerial vehicle rotorsFor M, the rotor diameter of the unmanned aerial vehicle is the D input parameter setting module, the calculation module obtains parameter values from the sensing module, and the wind speed V of the unmanned aerial vehicle down-pressing wind field is calculated by using formula (4) S Is a value of (2).
The fog drops do parabolic motion under the action of the wind field, and the initial velocity V in the horizontal direction X direction X At air resistance f X Is slowed down under the action of the device and is subjected to deceleration movement; initial velocity in gravity direction Y is 0, acting force f in wind field Y And under the action of self gravity mg, making acceleration movement; the overall fog drop makes parabolic motion. If the air resistance coefficient is μ, the mist drops receive an air resistance f in the horizontal direction X X The method comprises the following steps:
f X ＝μmV X 2 (5)
in the gravity direction Y, the initial velocity V of the mist drops Y =0, under the action of the downward wind field, the mist drops receive air resistance f Y The method comprises the following steps:
f Y ＝μm·(V S -V Y ) 2 (6)
wherein m is the mass of the fog drops.
Due to the air resistance f of the mist drops under the action of the downward wind field in actual condition Y Much greater than the own weight, so in order to simplify the calculation effort, the influence of the own weight acceleration to which the mist drops are subjected is neglected here. Therefore, a parameter equation of the flight trajectory of the fog drops under the action of the wind field can be obtained:
as can be seen in connection with FIG. 2, R f The width of spray for the fog drops, H is the drop height of the fog drops.
S204: and acquiring the operation height H of the unmanned aerial vehicle, and calculating the drop time t by a calculation module.
The method comprises the steps that a height sensor is used for acquiring a height parameter H of the unmanned aerial vehicle to fly, and a calculation module is used for acquiring parameter information in a sensing module to enable the unmanned aerial vehicle to press down a wind speed V of a wind field S And (3) substituting the value of the air resistance coefficient mu of the fog drops and the value of the flying height H of the unmanned aerial vehicle into a formula (8) to calculate the value of the movement time t of the fog drops from spraying to landing on the ground.
S205: according to the drop time t of the fog drops, the calculation module calculates the spraying distance R of the fog drops along the first direction f 。
The calculating module calculates the initial velocity V of the fog drops in the previous step through the formula (2) X The value of the air resistance coefficient mu calculated by the formula (3) and the value of the drop time t calculated by the formula (8) are substituted into the formula (7), and the calculation module calculates the spraying distance R of the drop along the first direction f Is a value of (2).
S206: spray distance R according to the first direction f The calculation module outputs the value of the unmanned aerial vehicle nozzle spacing N.
As can be seen from fig. 2, in order to ensure that the agent sprayed by the unmanned aerial vehicle is uniform and has no dead angle, the distance N between the spray heads of the unmanned aerial vehicle should satisfy the diffusion distance R of the mist droplets less than or equal to two times f N.ltoreq.2R f 。
The calculating module calculates the spraying distance R of the fog drops along the first direction according to the step S205 f And outputting the value of the interval N of the unmanned aerial vehicle spray heads to the driving module.
It is understood that in unmanned aerial vehicle operation process, unmanned aerial vehicle can adjust the fly height according to factors such as the height of crops, planting density, and unmanned aerial vehicle will be according to the interval of fly height adjustment centrifugal nozzle, guarantee that the fogdrop that the medicament sprayed is even, no dead angle.
It should be understood that the present application may be applied to a multi-nozzle unmanned aerial vehicle, and the present application may be used to determine a distance between two nozzles in any horizontal direction, and the specific protection scope should be set forth in the claims, which is not particularly limited in this application.
S207: the driving module 28 drives the nozzle arm 27 to adjust the nozzle spacing of the unmanned aerial vehicle according to the spacing value output by the calculating module.
The driving module 28 drives the mechanical structure of the nozzle arm 27 to adjust to a proper interval in the horizontal direction on the slide rail 26 according to the value of the nozzle interval N outputted by the calculating module.
It should be understood that the adjustment of the set of nozzle arms 27 on the slide rails 26 is symmetrical, with the central axis of the mechanical structure of the unmanned aerial vehicle as the symmetry axis, and the adjustment is opposite, which is not particularly limited in this application, and the claims of the specific scope of protection shall be given.
It should be understood that the value of the nozzle spacing N output by the calculating module is calculated according to the load L of the unmanned aerial vehicle at the sampling time and the flying height H of the unmanned aerial vehicle at the sampling time, so that the value of the nozzle spacing N output by the calculating module is the most suitable nozzle spacing at the sampling time.
In a possible implementation manner, in an actual operation process, the unmanned aerial vehicle sprays the chemical at the same height for the same crop planted in the same area, and the chemical quality carried by the unmanned aerial vehicle is in linear change, so that the calculation module can calculate the linear change of the load L according to the flow f of the sprayed chemical, and further calculate the influence of the load L on the spray head interval N. Such linear calculation is all the prior art, and a person skilled in the art can implement the method according to the technical scheme of the present application in combination with the prior art, and should be included in the protection scope of the present application, which is not described in detail herein.
In a possible implementation manner, in the actual operation process, the unmanned aerial vehicle is aimed at different crop planting areas, in the continuous operation scene of needing to spray the same medicament, the adjustment of the flying height can be carried out in the flight process, the sensing module can also be internally provided with a trigger module, when the distance between the spray heads is required to be readjusted in the unmanned aerial vehicle height adjustment, a first message is sent to the trigger module through the terminal equipment, the trigger module triggers the sensing module to acquire the flying height H of the unmanned aerial vehicle at the current moment, and the height information H value is sent to the calculation module, and the calculation module calculates the distance N between the spray heads according to the current height value and adjusts the distance N through the driving module 28. Such triggering modes are all in the prior art, and can be realized by combining the prior art according to the technical scheme of the application, and are included in the protection scope of the application, and the application is not repeated.
As a non-limiting example, in one possible embodiment, the speed of the atomizing disk is in the range of 1000rpm to 16000rpm, the radius R of the atomizing disk is 42mm, the drone has 6 rotors, and the diameter of the rotors is 1030mm. The total flying load of the unmanned aerial vehicle is 120kg. The values of the coefficients to be determined A, B, C can be determined after the coefficients are actually measured and fitted through experiments. After the value of the coefficient A, B, C to be determined is determined, the particle diameter D of the fog drops can be calculated, the particle diameter D of the fog drops, the rotation radius R of the atomization disc, the rotation speed n of the atomization disc, the liquid density rho of the agent, the number M of unmanned aerial vehicle rotors and the diameter D of the unmanned aerial vehicle rotors are input to a parameter setting module, a quality sensor inputs the measured unmanned aerial vehicle load L to a sensing module, and a height sensor inputs the measured unmanned aerial vehicle flying height H to the sensing module. The calculation module performs calculation by acquiring the data value sampled in the sensing module. When the flying height H of the unmanned aerial vehicle is 3m, the calculation module calculates the breadth R f If the value of (2) is 750mm, the distance N to the spray heads of the driving module is 1500mm, and the driving module 28 drives the spray head arm 27 to adjust the relative direction on the slide rail 26 so that the distance between the two spray heads is 1500mm.
The method in the embodiments of the present application, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium, and based on such understanding, the technical solution or part of the technical solution of the present application may be embodied in the form of a software product stored in a storage medium, where the computer software product includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. The storage medium includes at least: a U-disk, a removable hard disk, a read-only memory (ROM), a random access memory (random access memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (13)
1. The utility model provides an agricultural unmanned aerial vehicle control module, its characterized in that installs in agricultural unmanned aerial vehicle, agricultural unmanned aerial vehicle still includes rotor, centrifugal shower nozzle, liquid reserve tank and drive module, centrifugal shower nozzle passes through drive module is fixed in liquid reserve tank one side, the liquid reserve tank is used for storing and waits to spray the medicament, control module includes:
the sensing module is used for acquiring operation data of the agricultural unmanned aerial vehicle and comprises a quality sensor, a height sensor and a parameter setting module, wherein the quality sensor is used for acquiring a value of the load of the agricultural unmanned aerial vehicle, the height sensor is used for acquiring a value of the flight height of the agricultural unmanned aerial vehicle, and the parameter setting module is used for inputting operation parameters of the agricultural unmanned aerial vehicle;
the calculation module is used for calculating the landing time of the fogdrops sprayed by the agricultural unmanned aerial vehicle based on the operation data output by the sensing module, and calculating the first interval of the centrifugal spray heads of the agricultural unmanned aerial vehicle based on the landing time;
the driving module is used for driving the centrifugal spray heads to move relatively along the horizontal direction to adjust the distance between the centrifugal spray heads to reach the first distance based on the first distance output by the calculating module.
2. The agricultural unmanned aerial vehicle control module of claim 1, wherein the centrifugal spray head comprises an atomizing disk that rotates at a high speed to cause teeth on an outer edge to strike the agent to be sprayed, and at the high speed the agent to be sprayed is bumped and atomized to form the droplets and sprayed outward through the centrifugal spray head.
3. The agricultural unmanned aerial vehicle control module of claim 1, wherein the drive module comprises a spray head arm and a slide rail, the centrifugal spray head is slidably secured to the slide rail by the spray head arm,
the driving module receives the first interval output by the calculating module, and drives the nozzle arm to move relatively on the sliding rail along the horizontal direction to adjust the interval of the centrifugal nozzle to reach the first interval.
4. The agricultural unmanned aerial vehicle control module of claim 2, wherein the operating parameters input by the parameter setting module comprise:
the particle size of the droplets, the rotational speed of the atomizing disk, the radius of the teeth, the density of the agent to be sprayed, the number of rotors, and the diameter of the rotors.
5. The agricultural unmanned aerial vehicle control module of any one of claims 1 to 4, the calculation module calculating the landing time based on the job data output by the sensing module, further comprising:
the calculation module calculates the air resistance coefficient of the fog drops based on the density of the medicament to be sprayed and the particle size of the fog drops output by the sensing module;
the calculation module calculates the wind speed of a downward wind field generated by the rotor wing based on the agricultural unmanned aerial vehicle load output by the sensing module, the number of the rotor wings and the diameter of the rotor wings;
the calculation module calculates the landing time based on the flying height of the agricultural unmanned aerial vehicle output by the sensing module and combining the air resistance coefficient of the fogdrops and the wind speed of the downward-pressing wind field.
6. The agricultural unmanned aerial vehicle control module of any of claims 2 to 4, the calculation module calculating the first pitch based on the landing time, further comprising:
the calculating module calculates the initial speed of spraying the fog drops along the horizontal direction based on the rotating speed of the atomizing disk and the radius of the tooth which are output by the sensing module;
The calculation module is used for calculating the spraying distance of the fog drops along the horizontal direction by combining the landing time and the initial speed;
the calculation module outputs the first interval based on the distance of spraying of the fog drops along the horizontal direction.
7. The agricultural unmanned aerial vehicle control module of any one of claims 1 to 4, wherein calculating the landing time comprises:
wherein H is the value of the flight height of the agricultural unmanned aerial vehicle, V S And (3) calculating the landing time t by acquiring the value H of the flight height of the agricultural unmanned aerial vehicle for the wind speed of the downward-pressing wind field, wherein mu is the air resistance coefficient.
8. The agricultural unmanned aerial vehicle control module of any of claims 1 to 4, wherein calculating the spray distance of the fog drops in the horizontal direction comprises:
wherein R is f V for the spraying distance of the fog drops along the horizontal direction X For the initial velocity of the fog drops, mu is an air resistance coefficient, t is the landing time, and the spraying distance R of the fog drops along the horizontal direction is calculated based on the landing time t f 。
9. The agricultural unmanned aerial vehicle control module of any one of claims 1 to 4, wherein outputting the first pitch comprises:
N≤2R f
Wherein N is the first spacing, R f And the spraying distance of the fog drops along the horizontal direction is set.
10. The agricultural unmanned aerial vehicle control module of any of claims 2 to 4, wherein the method of determining the particle size of the fog droplets comprises:
d＝An+Bf+C
wherein d is the particle size of the fog drops, n is the rotating speed of the atomizing disk, f is the flow rate of the atomizing disk, and A, B, C is the coefficient to be determined; determining the undetermined coefficient comprises fitting by actually measuring the value of the droplet size d.
11. The agricultural unmanned aerial vehicle control module of any of claims 1 to 4, wherein calculating the air resistance coefficient of the fog drops comprises:
wherein mu is the air resistance coefficient, d is the particle size of the fog drops, and ρ is the density of the medicament to be sprayed.
12. The agricultural unmanned aerial vehicle control module of claim 5, wherein calculating the wind speed of the depressed wind field comprises:
wherein V is S And for the wind speed of the downward wind field, M is the number of the rotary wings, D is the diameter of the rotary wings, L is the value of the load of the agricultural unmanned aerial vehicle, and g is gravity acceleration.
13. An agricultural unmanned aerial vehicle, comprising:
The agricultural unmanned aerial vehicle control module of any of claims 1 to 12.
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| CN113589846A (en) * | 2021-08-27 | 2021-11-02 | 河北农业大学 | System and method for droplet control under wind field monitoring based on unmanned aerial vehicle pesticide spraying |
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| CN105707040A (en) * | 2016-01-29 | 2016-06-29 | 北京农业智能装备技术研究中心 | Accurate aerial spraying control system and method for aircraft |
| CN109677615A (en) * | 2019-01-31 | 2019-04-26 | 临沂大学 | A kind of plant protection drone |
| WO2021098162A1 (en) * | 2019-11-21 | 2021-05-27 | 华南农业大学 | Spray anti-drifting device for agricultural unmanned aerial vehicle and use method |
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