CN205418119U - Agricultural plant protection unmanned aerial vehicle of rotor - Google Patents
Agricultural plant protection unmanned aerial vehicle of rotor Download PDFInfo
- Publication number
- CN205418119U CN205418119U CN201620265314.9U CN201620265314U CN205418119U CN 205418119 U CN205418119 U CN 205418119U CN 201620265314 U CN201620265314 U CN 201620265314U CN 205418119 U CN205418119 U CN 205418119U
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- rotor
- plant protection
- agricultural plant
- protection unmanned
- unmanned plane
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- 239000007788 liquid Substances 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 210000003850 cellular structure Anatomy 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 238000007789 sealing Methods 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 210000003625 skull Anatomy 0.000 claims description 5
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- 239000003814 drug Substances 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 2
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- 230000010354 integration Effects 0.000 abstract 1
- 238000012876 topography Methods 0.000 abstract 1
- 241000196324 Embryophyta Species 0.000 description 11
- 239000007921 spray Substances 0.000 description 10
- 238000013461 design Methods 0.000 description 6
- 239000003905 agrochemical Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000002917 insecticide Substances 0.000 description 3
- 239000008141 laxative Substances 0.000 description 3
- 230000002475 laxative effect Effects 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 230000001413 cellular effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- 229920001778 nylon Polymers 0.000 description 2
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- 238000005507 spraying Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005255 carburizing Methods 0.000 description 1
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- 238000007796 conventional method Methods 0.000 description 1
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- 230000003247 decreasing effect Effects 0.000 description 1
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- 238000010030 laminating Methods 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
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- 235000011888 snacks Nutrition 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
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- 238000003860 storage Methods 0.000 description 1
- 230000001256 tonic effect Effects 0.000 description 1
- 229940126680 traditional chinese medicines Drugs 0.000 description 1
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Abstract
The utility model discloses an agricultural plant protection unmanned aerial vehicle of rotor has solved mainly that unmanned aerial vehicle realizes inconvenient, the narrow scheduling problem of range of application among the prior art. This agricultural plant protection unmanned aerial vehicle of rotor, its characterized in that includes: frame, vane actuated mechanism, sprinkling system, medical kit, machine carry control system, the medical kit sets up the inside of frame is provided with the import and the export of liquid medicine on it, the machine carries the control system integration and is in in the frame, the sprinkling system includes support arm, shower nozzle, pipe, support arm one end is installed in the frame, the other end outwards extends, the shower nozzle is installed on the support arm, pipe one end with shower nozzle connection, the other end and exit linkage on the medical kit. The utility model has the advantages of simple structure, quality be light, realize convenience, flexible operation, not restricted by the topography.
Description
Technical field
The utility model relates to unmanned air vehicle technique field, specifically, relating to a kind of rotor agricultural plant protection unmanned plane.
Background technology
Conventional method for crops laxative is artificial laxative, but, manually go and buy Chinese medicine, not only efficiency is low, be not suitable for large area operation, and the actual bodily harm to operating personnel is very big, and China there are about 200,000 people every year because of poisoning of spraying insecticide, thousands of deaths according to statistics.In order to overcome the defect of artificial laxative; the unmanned pesticide applicator in agricultural low latitude arises at the historic moment; the unmanned pesticide applicator in agricultural low latitude have simple to operate, spray uniformly, dosage is few, efficiency is high, easy operation, be easy to the features such as information system management; start to develop unmanned plane aviation plant protection dispenser equipment from country in 2006 to start with technology; occur in that with many rotors, single rotor craft aviation plant protection machine as flying platform at present; but presently, there are this problems in this field, such as: structure is complicated, drugloading rate is little, malfunction, the activity duration is short, coverage is narrow.
Utility model content
The purpose of this utility model is to overcome drawbacks described above, it is provided that a kind of simple in construction, realization convenience, rotor agricultural plant protection unmanned plane stable and reliable for performance.
To achieve these goals, the technical solution adopted in the utility model is as follows:
A kind of rotor agricultural plant protection unmanned plane, including: frame, rotor mechanism, sprinkling system, medicine-chest, aircraft mounted control system；Described medicine-chest is arranged on the inside of described frame, is provided with the inlet and outlet of liquid；Described aircraft mounted control system is integrated in described frame；Described sprinkling system includes support arm, shower nozzle, conduit, and described support arm one end is arranged in described frame, the other end outwards extends, and described shower nozzle is arranged on described support arm, and described tube at one end is connected with described shower nozzle, the other end is connected with the outlet on described medicine-chest.
Further, described aircraft mounted control system includes microcontroller, minisize gyroscopes, acceleration transducer, atmospheric gas pressure sensor, rotor rotation speed measurement unit, high-precision attitude sensor and GPS module；Described minisize gyroscopes, acceleration transducer, atmospheric gas pressure sensor, rotor rotation speed measurement unit, high-precision attitude sensor and GPS module all with described micro-controller communications.
Further, described medicine-chest includes medicine-chest main body and honeycomb cellular structure member；The cross section of described medicine-chest main body is inverted chamfering cone, and described honeycomb cellular structure member is arranged on the inside of described medicine-chest main body, has some cavities stored for liquid on it.
Further, described shower nozzle includes nozzle body, connects mouth, screen pack, sealing gasket, Quick Release cap and nozzle soon；The described mouth that connects soon is arranged at the top within nozzle body, described screen pack is arranged at the internal one end near described nozzle of described nozzle body, arranging described sealing gasket below described screen pack, described Quick Release cap is arranged on described nozzle body lower end, and described nozzle is arranged on described Quick Release cap.
Further, described shower nozzle also includes anti-barrier film and antidrip cap；Described nozzle body side has interface, and described antidrip cap is arranged on the side of described nozzle body by described interface, is additionally provided with anti-barrier film between described antidrip cap and described interface.
Further, being provided with panel in the upper end of described frame, described aircraft mounted control system is integrated on the panel, is provided with hood skull on the panel.
Further, described rotor mechanism includes that horn, blade and motor, described horn one end are arranged in described frame, and described motor is arranged on described horn, and described blade rotates under the drive of described motor；Described motor is by described microprocessor control.
Further, the protective pipe sleeve protecting described conduit is also included.
Further, described sprinkling system also includes the water pump providing power for liquid output.
Further, it is provided with a pneumatic joint being provided with two delivery outlets in the exit of described water pump, meanwhile, two delivery outlets of this pneumatic joint is also respectively provided with the auxiliary pneumatic joint with two delivery outlets.
Further, described support arm is parallel to each other after being positioned at the lower section of described horn, and the two expansion.
Further, described motor is brushless electric machine.
Further, described support arm is provided with stand-by motor and auxiliary blade.
Compared with prior art, the beneficial effects of the utility model are:
(1) the utility model simple in construction, low cost, realization conveniently, and can complete low-latitude flying operation.
(2) the utility model overall mass is light, turn to landing flexible, can hovering, and spray rate is fast, prevents and treats efficiency high.
(3) the utility model is integrated with record control system, and intelligence degree is high, can automatically plan course line, autonomous by airline operation and can independently relay, after i.e. disconnected medicine of building up one's health by taking tonic, start to continue from disconnected snack made with traditional Chinese medicines and spray, thus the phenomenon decreasing artificial drain spray, respraying.
(4) the utility model band GPS module and high-precision attitude sensor, can realize automatically increasing surely, drift correction, automatic cruising etc..
(5) the utility model is not limited by landform, it is not necessary to landing runway.Maneuverability in-flight, and allowance for depreciation is relatively low, easily maintains, and this reduces resources costs to a great extent.
Accompanying drawing explanation
Fig. 1 is front view of the present utility model.
Fig. 2 is top view of the present utility model.
Fig. 3 is side view of the present utility model.
Fig. 4 is the partial schematic diagram of medicine-chest in the utility model.
Fig. 5 is the exploded perspective view of shower nozzle in the utility model.
Wherein, the title corresponding to reference is as follows: 1-blade, 2-motor, 3-horn, 4-hood skull, 5-panel, 6-shower nozzle, 7-support arm, 8-conduit, 9-water pump, 10-frame, 11-medicine-chest, 61-nozzle body, 62-connects mouth soon, the anti-barrier film of 63-, the antidrip cap of 64-, 65-screen pack, 66-sealing gasket, 67-Quick Release cap, 68-nozzle, 111-honeycomb cellular structure member, 112-passage, 113-medicine chest cover, 114-medicine-chest main body.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings.Embodiment of the present utility model includes but not limited to the following example.
Embodiment 1
As Figure 1-3, present embodiments providing a kind of rotor agricultural plant protection unmanned plane, this unmanned plane is a kind of unmanned vehicle handled by radio robot or self presetting apparatus.At fuselage plant protection installed below Special medicine chest, spray boom and shower nozzle, water pump electronic ignitor switch passage is set on remote controller, utilizing driving switch above remote controller to be controlled sprinkling system, it is mainly solving the technical problems that existing unmanned plane structure is complicated, cruising time is short, drugloading rate is little, malfunction etc..
Specifically, above-mentioned rotor agricultural plant protection unmanned plane mainly includes two large divisions: mechanical structure portion and control system part.Wherein, mechanical structure portion includes again frame, rotor mechanism, sprinkling system, medicine-chest.Frame is the load carrier of whole unmanned plane, and frame is frame-like structures, and its material and shape are not particularly limited, it is preferred that frame uses 7075 aircraft aluminum manufactures, and it has the advantage such as high intensity, light weight.
Medicine-chest is arranged in the framework of frame, uses fixture to be fixed.It is provided with the inlet and outlet of liquid on medicine-chest, is provided with corresponding lid at entrance location, mates with sprinkling system at exit position, simultaneously, it is possible to corresponding lid, i.e. medicine chest cover are set；Medicine-chest upper end is additionally provided with passage, in order to liquid.In the present embodiment, sprinkling system includes support arm, shower nozzle, conduit, described support arm one end is arranged in described frame, the other end outwards extends, and described shower nozzle is arranged on described support arm, and described tube at one end is connected with described shower nozzle, the other end is connected with the outlet on described medicine-chest.In the present embodiment, medicine-chest is coupled with shower nozzle by pipeline, water pump (providing loading power), pneumatic joint, each two in fuselage both sides, shower nozzle, total of four shower nozzle.Shower nozzle is positioned at vertical-horizontal direction bottom medicine-chest, and support arm is fixed in frame, and shower nozzle is fixed on support arm, and the 50cm that spacing is standard of shower nozzle and shower nozzle (adjacent shower nozzle), total bar length one meter five, single nozzle angle is at 110 °, and spraying swath can reach 4-6 rice.Conduit may be provided on support arm, it is possible to is arranged on the inside of support arm.Water pump is supplied to shower nozzle by pipeline by extracting the liquid in medicine-chest with remote control switch after being energized, at water delivery side of pump with the 10mm pneumatic joint of an one-to-two separately, shower nozzle is directly given again with the pneumatic joint of two one-to-two 10mmx6mmx6mm, the design of whole sprinkling system is simple and practical, the medication between each shower nozzle can be met uniform, also can meet the pressure between each shower nozzle equal, thus realize crops are carried out plant protection operation, substantially increase agricultural chemicals utilization rate.It should be noted that, a kind of preferred version of above-mentioned size, Position Design, those skilled in the art are on the basis of content disclosed in the present application, it is also possible to make many variations, and these deformation should also be as falling into the protection domain of the application.
In the present embodiment, rotor mechanism includes that horn, blade and motor, described horn one end are arranged in described frame, and described motor is arranged on described horn, and described blade rotates under the drive of described motor.Wherein, motor uses efficient brushless electric machine as power, and fuselage shaking is little, can carry precision instrument, sprays insecticide etc. more accurate.
In the present embodiment, the fastening unit that mechanical structure portion uses all uses 12.9 grade high-strength CARBURIZING FURNACE FOR STAINLESS FASTENER nuts, is suitable for the use environment that intensity is complicated.Auxiliary component uses Carbon fibe material to make.The present embodiment is by adjusting inner supporting structure, effectively reduce the whole height of unmanned plane, unmanned plane entirety is made to seem more flat, this design is greatly saved the demand of internal volume aboard, especially in the design of type aircraft, the space of internal body is the most valuable, and this Curve guide impeller just meets the design requirement of novel agricultural plant protection type aircraft, expand the range of unmanned plane, compared with fixed wing aircraft, the utility model carries out VTOL without specific take-off venue, fixed high hovering can be pinpointed in real time, it is more beneficial for obtaining the longer hang time for effective operation.In the present embodiment, flusher has self-stabilization function, it is ensured that spray the most perpendicular to the ground.
The present embodiment is provided with panel in the upper end of frame, it is preferred that panel uses Carbon fibe to make.Aircraft mounted control system is then integrated on panel; because aircraft mounted control system relates to electric component more, therefore on this basis, the present embodiment is provided with a hood skull on panel; hood skull has shock resistance, the function such as waterproof, thus plays a good protection aircraft mounted control system.
In the present embodiment, aircraft mounted control system includes microcontroller, minisize gyroscopes, acceleration transducer, atmospheric gas pressure sensor, rotor rotation speed measurement unit, high-precision attitude sensor and GPS module；Described minisize gyroscopes, acceleration transducer, atmospheric gas pressure sensor, rotor rotation speed measurement unit, high-precision attitude sensor and GPS module all with described micro-controller communications.
The unmanned plane that the present embodiment is provided can realize half autonomous landing, is switched under gesture mode or GPS gesture mode, only needs simple that pilot oil door rod amount can the steady landing of easy manipulation helicopter.
Additionally, the unmanned plane that the present embodiment is provided is also equipped with following functions:
(1) lost-control protection, helicopter can hover in original place losing remote signal when automatically, the recovery of waiting signal.
(2) fuselage attitude autobalance, rocking bar correspondence fuselage attitude, maximum oblique attitude 45, it is suitable for the high maneuver flare maneuver of dexterity.
(3) GPS gesture mode, is accurately positioned and height locking, even if at strong wind weather, the precision of hovering is also unaffected.
Embodiment 2
As shown in Figure 4, medicine-chest, on the basis of embodiment 1, is improved by the present embodiment, traditional medicine-chest is square medicine-chest, and its existing defects is as follows: along with in medicine-chest, liquid sprays fewer and fewer, liquid level is gradually reduced, cause rocking very big, affect the normal smooth flight work of aircraft.For drawbacks described above, the present embodiment devises one can antihunt medicine-chest, its concrete structure is as follows: medicine-chest includes medicine-chest main body and honeycomb cellular structure member, wherein, the cross section of medicine-chest main body is inverted chamfering cone, chamfering cone refers to the tapering chamfering at cone, thus constitutes smooth or with radian face, in this, as the bottom surface of medicine-chest.Honeycomb cellular structure member refers to, in cellular structural member, cellular structural member has some cavities, and wherein, cavity refers to the cavity of communicating structure part, has barrier rib between adjacent cavity, and cavity can be that storage liquid (agricultural chemicals) provides space.By above-mentioned setting, rocking of liquid is limited by honeycomb cellular structure member all the time, and therefore, in flight course, no matter how liquid level declines, and internal liquid, all without there being big rocking, so that more steady and smooth of flying, improves stability and the safety coefficient of aircraft.Honeycomb cellular structure member is set to most preferably with medicine-chest internal cavity of fitting, and according to different demands, consideration, honeycomb cellular structure member can also adjust with the laminating degree of medicine-chest internal cavity.
Embodiment 3
As shown in Figure 5, the present embodiment is on the basis of embodiment 1 or embodiment 2, is further improved shower nozzle, specifically, in the present embodiment, shower nozzle includes nozzle body, connects mouth, anti-barrier film, antidrip cap, screen pack, sealing gasket, Quick Release cap and nozzle soon.Shower nozzle be the hard tube of antidrip function and flexible pipe all compatible in walk sprinkler head, nozzle body uses high-strength nylon, nozzle is made of copper, intensity and toughness are more preferable, 50 mesh or 80 height of eye quality stainless steel filter screen can be equipped with simultaneously, be difficult to block up, droplet is thin, atomization uniformly, be greatly improved the utilization rate of agricultural chemicals.Additionally, very convenient when replacing or washer jet, screen pack, only Quick Release cap need to be turned 1/4 and enclose；Nozzle can also arbitrarily adjust spray angle.Nozzle body is made up of with copper high-strength nylon, perfect in workmanship, durable in use.The shower nozzle that the present embodiment is provided is the most durable in use indeformable, and the manufacture craft of nozzle is more finer than what conventional plastic shower nozzle can do, and atomizing effect is more preferable.
The annexation of above-mentioned each parts is as follows: connects mouth soon and is arranged at the top within nozzle body, screen pack is arranged at the internal one end near nozzle of nozzle body, arranging sealing gasket below screen pack, Quick Release cap is arranged on nozzle body lower end, and nozzle is arranged on Quick Release cap；Nozzle body side has interface, and antidrip cap is arranged on the side of nozzle body by interface, is additionally provided with anti-barrier film between antidrip cap and interface.
The shower nozzle that the present embodiment is provided is following (fly shower nozzle with agriculture in table and represent the shower nozzle that the present embodiment is provided) with the contrast of traditional sprinkler heads:
Table 1 Products and the performance comparison of traditional product
| Project | Agriculture flies shower nozzle | Traditional sprinkler heads |
| Water-aspirator pressure | 1MPA | 1MPA |
| Pump power | 45W | 45W |
| Electric current | 3.5A | 3.5A |
| Water tank | 5L | 5L |
| Flow | 0.8-1.2L/MIN | 2L/MIN |
| Actual spray insecticide the time | 8 minutes | 5 minutes |
It is demonstrated experimentally that it is 2.5 times of traditional sprinkler heads atomizing effect that agriculture flies shower nozzle.
According to above-described embodiment, the utility model just can be realized well.What deserves to be explained is; on the premise of above-mentioned design principle; for solving same technical problem; even if some made on architecture basics disclosed in the utility model are without substantial change or polishing; the essence of the technical scheme used is still as the utility model, therefore it should also be as in protection domain of the present utility model.
Claims (10)
1. a rotor agricultural plant protection unmanned plane, it is characterised in that including: frame, rotor mechanism, sprinkling system, medicine-chest, aircraft mounted control system；Described medicine-chest is arranged on the inside of described frame, is provided with the inlet and outlet of liquid；Described aircraft mounted control system is integrated in described frame；Described sprinkling system includes support arm, shower nozzle, conduit, described support arm one end is arranged in described frame, the other end can outwards extend, described shower nozzle is arranged on described support arm, and described tube at one end is connected with described shower nozzle, the other end is connected with the outlet on described medicine-chest.
Rotor agricultural plant protection unmanned plane the most according to claim 1, it is characterized in that, described aircraft mounted control system includes microcontroller, minisize gyroscopes, acceleration transducer, atmospheric gas pressure sensor, rotor rotation speed measurement unit, high-precision attitude sensor and GPS module；Described minisize gyroscopes, acceleration transducer, atmospheric gas pressure sensor, rotor rotation speed measurement unit, high-precision attitude sensor and GPS module all with described micro-controller communications.
Rotor agricultural plant protection unmanned plane the most according to claim 2, it is characterised in that be provided with panel in the upper end of described frame, described aircraft mounted control system is integrated on the panel, is provided with hood skull on the panel.
Rotor agricultural plant protection unmanned plane the most according to claim 3, it is characterized in that, described rotor mechanism includes horn, blade, electricity mediation motor, and described horn one end is arranged in described frame, described motor is arranged on described horn, and described blade rotates under the drive of described motor；Described motor is by described microprocessor control.
Rotor agricultural plant protection unmanned plane the most according to claim 1, it is characterised in that described medicine-chest includes medicine-chest main body and honeycomb cellular structure member；The cross section of described medicine-chest main body is inverted chamfering cone, and described honeycomb cellular structure member is arranged on the inside of described medicine-chest main body, has some cavities stored for liquid on it.
6. according to the rotor agricultural plant protection unmanned plane described in any one of claim 1-5, it is characterised in that described sprinkling system also includes the water pump providing power for liquid output.
Rotor agricultural plant protection unmanned plane the most according to claim 6, it is characterized in that, it is provided with a pneumatic joint being provided with two delivery outlets in the exit of described water pump, meanwhile, two delivery outlets of this pneumatic joint is also respectively provided with the auxiliary pneumatic joint with two delivery outlets.
Rotor agricultural plant protection unmanned plane the most according to claim 1, it is characterised in that described shower nozzle includes nozzle body, connects mouth, screen pack, sealing gasket, Quick Release cap and nozzle soon；The described mouth that connects soon is arranged at the top within nozzle body, described screen pack is arranged at the internal one end near described nozzle of described nozzle body, arranging described sealing gasket below described screen pack, described Quick Release cap is arranged on described nozzle body lower end, and described nozzle is arranged on described Quick Release cap.
Rotor agricultural plant protection unmanned plane the most according to claim 8, it is characterised in that described shower nozzle also includes anti-barrier film and antidrip cap；Described nozzle body side has interface, and described antidrip cap is arranged on the side of described nozzle body by described interface, is additionally provided with anti-barrier film between described antidrip cap and described interface.
Rotor agricultural plant protection unmanned plane the most according to claim 1, it is characterised in that be provided with stand-by motor and auxiliary blade on described support arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620265314.9U CN205418119U (en) | 2016-04-01 | 2016-04-01 | Agricultural plant protection unmanned aerial vehicle of rotor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620265314.9U CN205418119U (en) | 2016-04-01 | 2016-04-01 | Agricultural plant protection unmanned aerial vehicle of rotor |
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| CN205418119U true CN205418119U (en) | 2016-08-03 |
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| CN201620265314.9U Expired - Fee Related CN205418119U (en) | 2016-04-01 | 2016-04-01 | Agricultural plant protection unmanned aerial vehicle of rotor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857612A (en) * | 2016-04-01 | 2016-08-17 | 南充驭云创新科技有限公司 | Rotor wing agricultural unmanned aerial vehicle for plant protection |
| CN106155088A (en) * | 2016-08-17 | 2016-11-23 | 浙江经济职业技术学院 | Stable centre-of-gravity device that major-minor medicine-chest combines and method and unmanned plane |
| CN107232166A (en) * | 2017-07-07 | 2017-10-10 | 叶国年 | A kind of pesticide spraying device of unmanned plane |
| CN109552633A (en) * | 2018-12-18 | 2019-04-02 | 南京航空航天大学 | Middle-size and small-size rotor wing unmanned aerial vehicle for pesticide spraying operation |
-
2016
- 2016-04-01 CN CN201620265314.9U patent/CN205418119U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105857612A (en) * | 2016-04-01 | 2016-08-17 | 南充驭云创新科技有限公司 | Rotor wing agricultural unmanned aerial vehicle for plant protection |
| CN106155088A (en) * | 2016-08-17 | 2016-11-23 | 浙江经济职业技术学院 | Stable centre-of-gravity device that major-minor medicine-chest combines and method and unmanned plane |
| CN106155088B (en) * | 2016-08-17 | 2024-02-23 | 浙江经济职业技术学院 | Main and auxiliary medicine box combined gravity center stabilizing device and method and unmanned aerial vehicle |
| CN107232166A (en) * | 2017-07-07 | 2017-10-10 | 叶国年 | A kind of pesticide spraying device of unmanned plane |
| CN109552633A (en) * | 2018-12-18 | 2019-04-02 | 南京航空航天大学 | Middle-size and small-size rotor wing unmanned aerial vehicle for pesticide spraying operation |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160803 |
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| CF01 | Termination of patent right due to non-payment of annual fee |