CN206590122U - A kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space - Google Patents
A kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space Download PDFInfo
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- CN206590122U CN206590122U CN201621041661.XU CN201621041661U CN206590122U CN 206590122 U CN206590122 U CN 206590122U CN 201621041661 U CN201621041661 U CN 201621041661U CN 206590122 U CN206590122 U CN 206590122U
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Abstract
The utility model discloses a kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space, the system includes rotor wing unmanned aerial vehicle, relative altitude measurement module, tree crown image measurement module, dispenser decision-making module, dispenser control module；Comprised the following steps using the measuring method of the system：The pre- typing dispenser decision information in ground-based computer；Control rotor wing unmanned aerial vehicle is hovered over directly over fruit tree；Measure relative altitude △ H, GPS location data and the tree crown area data apart from tree crown；Dispenser decision-making module sends the insecticide-applying way instruction of regulation and control rotor wing unmanned aerial vehicle according to relative altitude △ H, GPS location data and tree crown area data；Dispenser control module adjusts flight attitude and shower nozzle quantity according to the control information of remote control module, then carries out sprinkling medicament.System and method for of the present utility model, surveys high precision, range greatly and adjustment is simple；Measurement cost is low, exhaustive, error are small；Avoid dispenser waste or dispenser is not enough；Dispenser is accurate.
Description
Technical field
The utility model belongs to agricultural aviation plant protection technology field, specifically a kind of rotor wing unmanned aerial vehicle based on measurement in space
Automatic dispenser system.
Background technology
In plant growing process, effective prevention and control of pest and disease damage are to ensure that grain security produces essential important ring
Section, directly affects the yield and quality of grain.In China cereal crops production process, herbal sprinkling is still with craft, half machine
Based on toolization operation, this migrating property not only having with pest and disease damage, popular and burst are not matched that, while and modern agriculture
The large-scale planting of production is also mismatched, and as a result causes monitoring and warning to be prevented with system, governance mutually disconnects, so as to cause serious economy
Loss, while the labour of operation input is more, labor intensity is big, dispenser personnel's poisoning happens occasionally.
Rotor wing unmanned aerial vehicle pesticide application technology is to utilize small-sized rotor wing unmanned aerial vehicle to be carrier, and pesticide spray is carried on board the aircraft
Equipment, researchs and solves the reasonable deposition distribution of droplet, and plans gps system and be introduced into rotor wing unmanned aerial vehicle dispenser operation, with operation
Flying speed is fast, spraying operation efficiency high, strong reply burst fire-disaster ability the advantages of, overcome agricultural machinery or can not manually enter
The problem of ground operation, realizes precision operation, realizes that low latitude low amounts aerial pesticide provides technical support for proportion of crop planting, to carry
High China's agricultural production is information-based, level of digital provides technical support.Rotor wing unmanned aerial vehicle dispenser compared with traditional spraying equipment,
Have the advantage that：1. medicine, water-saving are saved, pollution is reduced, the problems such as residues of pesticides, soil pollution and shortage of water is effectively reduced；②
Operating efficiency is high, is more than 60 times of Traditional Man spray pattern, current rural laborer's shortage problem is effectively solved, in disease pest
Evil can carry out preventing and treating, the loss that reduction pest and disease damage is caused rapidly when breaking out on a large scale；3. prevention effect is good, is produced by rotor
Downdraught helps to increase penetrability of the droplet to crop, and air-flow takes droplet to blade back and the root of plant, can reduce and float
Move, improve adhesive rate of the agricultural chemicals on target, prevention effect is more preferable；4. dispenser personal security coefficient is high, using manual remote control skill
Art and autonomous navigation technology are combined, and operator just can issue an instruction to control nothing outside applying area by wireless remote-measuring system
Man-machine action, is automatically performed the overall process of unmanned plane dispenser；5. applicability is good, can VTOL, not by geographic factor system
About, no matter mountain area or Plain, paddy field or dry land, and different crop is respectively provided with good adaptability；6. crop damage
It is small, crop will not be rolled as large-scale ground spraying equipment.
Rotor wing unmanned aerial vehicle dispenser is driven as a kind of means of new preventing and treating pest and disease damage compared to traditional area spray and someone
Sailing aircraft spraying medicine has its unique advantage, is applicable not only to plains region crop, will also be in Hills, terraced fields etc. are special in flakes
Area carries out playing irreplaceable effect in the operations such as agriculture diseases, insect pests and weeds preventing and treating, and locust of going out, health and epidemic prevention.
Although very fast using rotor wing unmanned aerial vehicle dispenser development at present, more problem is still suffered from, such as：Dispenser precision is still
It is so poor, during especially for the larger crop dispenser of spacing, generally require to expand spray area, so cause waste again；
And dispenser is not uniform enough, pesticide supplying effect is had a greatly reduced quality.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of automatic dispenser of the rotor wing unmanned aerial vehicle based on measurement in space
System, the system and method are accurately positioned by measurement in space, realize the accurate and uniform of rotor wing unmanned aerial vehicle dispenser.
For achieving the above object, the technical solution of the utility model is as follows：
A kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space, including the measurement of rotor wing unmanned aerial vehicle, relative altitude
Module, tree crown image measurement module, dispenser decision-making module, dispenser control module.
The relative altitude measurement module includes：Ultrasonic sensor, d GPS locating module, circuit board, it is wirelessly transferred mould
Block, power supply, shell；The d GPS locating module, circuit board, wireless transport module and power supply are installed in shell, and ultrasonic wave is passed
Sensor is outside shell, and the relative altitude measurement module is arranged on rotor wing unmanned aerial vehicle undercarriage, specifically, and the shell is consolidated
Dingan County is on rotor wing unmanned aerial vehicle undercarriage；The ultrasonic sensor formation array of ultrasonic sensors, is installed on undercarriage
On support bar, the ultrasonic sensor is used for below real-time sense aircraft from tree crown relative altitude, multiple supersonic sensings
The array of device composition, effective scope of detection overlaps in investigative range edge, avoids omission to cover all around tree crown, leads to
Cross the relative distance from tree crown that real-time judge is detected, obtain minimum value, be from tree crown with a distance from.The GPS location mould
Block is used to obtain the wooden gps coordinate of current institute's assize；The circuit board is used for each functional module of integrated control and stores, calculates and obtained
Obtain data；The wireless transport module is by the positioning of surveyed relative altitude data, green information and d GPS locating module institute assize wood
Coordinate data real-time Transmission returns ground-based computer；The power supply is array of ultrasonic sensors, d GPS locating module, preposition green
Sensor, circuit board, wireless transport module are powered；The shell is used to install protection d GPS locating module, circuit board, wireless biography
Defeated module, power supply are simultaneously fixed with undercarriage.
The tree crown image measurement module includes：Flying Camera head, fixed support, turning arm, regulation motor, it is wirelessly transferred
Module；The tree crown area measurement is arranged on rotor wing unmanned aerial vehicle belly.The turning arm, regulation motor, it is wirelessly transferred mould
Block is fixedly mounted on fixed support；The Flying Camera head is fixedly mounted on turning arm；The Flying Camera head is used to clap
Take the photograph tree crown area below rotor wing unmanned aerial vehicle center；The regulation motor is used to adjust the turning arm anglec of rotation；The wireless biography
Institute's assize crown product and green information real-time Transmission are returned ground-based computer by defeated module.Using Flying Camera head, effectively prevent
Rotor wing unmanned aerial vehicle is shaken swings the focus issues brought with fruit tree, and picture can be shot real-time.
The dispenser decision-making module includes：Ground-based computer, remote control module, information receiving device, database, dispenser
Decision system.It is characterized in that：The ground-based computer is arranged on terrestrial operation space；The remote control module, database,
Dispenser decision system is integrated in a computer；Described information receiving device includes ultrasonic wave receiving device, GPS receiver equipment, green
Colour sensor receiving device, Flying Camera head receiving device；Each part of described information receiving device is fixedly mounted on rotor
Inside unmanned plane；The ultrasonic wave receiving device is used for the relative altitude signal for receiving array of ultrasonic sensors detection；It is described
GPS receiver equipment is used for the location data that d GPS locating module is measured；The green sensor receiving device is used to receive preposition green
Colour sensor and the green information of underlying green sensor measurement；The Flying Camera head receiving device is used to receive high-definition camera
The photographic intelligence that head is shot；Measured information is transferred to ground-based computer by described information receiving device；The data management system
Including orchard disease and insect information, orchard seeds information, age information, optimal dispenser conditional information；The dispenser decision system knot
Fruit tree steric information is closed, optimal insecticide-applying way is automatically selected；The dispenser decision system passes through remote control module real-time monitoring
Rotor wing unmanned aerial vehicle insecticide-applying way；The dispenser decision-making module passes through preposition green sensor；The ground-based computer is used for ground
Personnel receive and storage relative altitude data, green information and GPS location data and reception and storage tree crown area data and
Green information.
The dispenser control module includes consisting of part：Medicine-chest, woven hose, shower nozzle, microcontroller, motor, shower nozzle
Enter medicine magnetic valve.The medicine-chest is fixedly mounted on rotor wing unmanned aerial vehicle belly；The shower nozzle is fixedly mounted on rotor wing unmanned aerial vehicle and risen and fallen
On frame；The woven hose connection medicine-chest and shower nozzle；The microcontroller is fixedly mounted in rotor wing unmanned aerial vehicle；The microcontroller
Decision information for receiving dispenser decision-making module；The motor is fixedly mounted on unmanned rotary wing axial location；The microcontroller
Device adjusts motor rotary speed in real time according to remote control information；The motor rotary speed change causes rotor wing unmanned aerial vehicle height change；Institute
State shower nozzle and enter medicine magnetic valve on woven hose；The microcontroller is opened according to remote control information, real-time monitoring magnetic valve
Close；The magnetic valve opening and closing determines that whether corresponding shower nozzle circulates
Further, the automatic dispenser system of the rotor wing unmanned aerial vehicle based on measurement in space also includes preposition green sensor
With the preposition green sensor is fixedly mounted on rotor wing unmanned aerial vehicle nose-gear.The preposition green sensor levels to
Preceding measurement, for detecting green information in front of rotor wing unmanned aerial vehicle, it is to avoid collide higher tree crown to realize anticollision.It is described underlying green
Colour sensor is fixedly mounted on fixed support；The underlying green sensor is measured straight down, for detect rotor nobody
Green information below machine, judges green edge with reference to graphical analysis, can determine whether to take a picture whether tree crown is completely covered, it is to avoid go out
Now leakage is clapped.
Further, can by setting the shower nozzle installation site so that spray area imbricate between adjacent shower nozzle
Ensure every fruit tree sprinkling completely and decoction consumption is small.
The automatic dispenser system of a kind of rotor wing unmanned aerial vehicle based on measurement in space of the present utility model, with following beneficial effect
Really：
1. rotor wing unmanned aerial vehicle technology is incorporated into tree height measurement, it can be hovered using it, move quick advantage, overcome
Conventional method is easily limited to the shortcoming of natural environment, the measurement inconvenience that such as trunk, which is blocked, the forest is dense causes, between ground is determined
Away from it is limited the problems such as, can cause to survey the problems such as high inaccurate, the adjustment of range finite sum is cumbersome；And rotor wing unmanned aerial vehicle push wind field can
Improve penetration of droplets
2. by GPS location, carrying moving camera observation and range estimation combination, tree positions to be measured can be remotely accurately positioned, gram
Taken traditional ground test method instrument carry and mobile inconvenience, by security and the problems such as waste time and energy；
3. using multiple ultrasonic sensors array range measurement principle, cost is low, exhaustive, overcome laser distance measurement method into
This height and easily influenceed by tree crown density and produce error, image distance-finding method is easy to be by imaging sensor image quality and dense gloomy
Trees, which are intersected, in woods influences and produces the shortcoming of error；
4. using tree crown area as the parameter for regulating and controlling rotor wing unmanned aerial vehicle dispenser, rotor wing unmanned aerial vehicle can change according to tree crown size
Shower nozzle quantity, overcomes dispenser waste or dispenser deficiency caused by fruit tree individual growth difference, and control spray scope is completely covered
Tree crown and without departing from；
5. the stereoscopic measurement method being combined with tree crown area measurement using tree height measurement, it is to avoid rotor wing unmanned aerial vehicle is away from tree
Decoction drift is incomplete away from the too low caused dispenser covering of tree crown with rotor wing unmanned aerial vehicle caused by hat is too high, solves tree crown area
Dispenser is uneven caused by not waiting, and target performance is improved, and rotor wing unmanned aerial vehicle, which pushes wind field, can improve penetration of droplets, realizes accurate
Dispenser；
6. storing display pomology information and rotor wing unmanned aerial vehicle attitude information in real time using ground-based computer, visualization behaviour is realized
Make, used at the same time as orchard generation information collecting device.
Brief description of the drawings
Fig. 1 is that array of ultrasonic sensors determines general principle figure of the aircraft from tree crown relative altitude；
Fig. 2 is that Flying Camera head determines tree crown image and calculates the general principle figure of tree crown area；
Fig. 3 is the general principle figure that preposition green sensor realizes anticollision；
Fig. 4 is that unmanned plane controls shower nozzle to be opened and closed quantity schematic diagram in real time according to lower section tree crown area.
Embodiment
Below in conjunction with the accompanying drawings, to the utility model proposes a kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space
System is described in detail.In description of the present utility model, it is to be understood that term " front ", " left side ", " right side ", " on
The orientation or position relationship of the instruction such as portion ", " bottom ", " bottom " be based on orientation shown in the drawings or position relationship, be only for
It is easy to description the utility model and simplifies describe, rather than to indicate or imply that signified device or element must have specific
Orientation, with specific azimuth configuration and operation, " first ", " second " etc. are not offered as the significance level of parts, therefore can not
It is interpreted as to limitation of the present utility model.
The automatic dispenser system of a kind of rotor wing unmanned aerial vehicle based on measurement in space of the present utility model, including rotor wing unmanned aerial vehicle,
Relative altitude measurement module, tree crown image measurement module, dispenser decision-making module, dispenser control module.
The relative altitude measurement module includes：Ultrasonic sensor, d GPS locating module, circuit board, it is wirelessly transferred mould
Block, power supply, shell.The d GPS locating module, circuit board, wireless transport module and power supply are installed in shell, described relative
Elevation carrection module is arranged on rotor wing unmanned aerial vehicle undercarriage；For convenient disassembly, the elevation carrection module and rotor nobody
Can be using threaded connection between machine undercarriage；The ultrasonic sensor formation array of ultrasonic sensors, is installed on undercarriage
On support bar, it is preferred that the array of ultrasonic sensors is made up of the ultrasonic sensor of four and above quantity, symmetrical peace
Loaded on aircraft landing gear supported underneath bar, average height is obtained using more than four ultrasonic sensors, ultrasound can be avoided
Wave sensor detects the erroneous judgement that tree crown gap is caused, to reduce error.
The tree crown image measurement module includes：Flying Camera head, fixed support, turning arm, regulation motor, it is wirelessly transferred
Module；The tree crown area measurement is arranged on rotor wing unmanned aerial vehicle belly center.It is the turning arm, regulation motor, wireless
Transport module is fixedly mounted on fixed support；Flying Camera head quantity be one, by fixed support be arranged on rotor nobody
Machine belly center position.
The dispenser decision-making module includes：Ground-based computer, remote control module, information receiving device, database, dispenser
Decision system.It is characterized in that：The ground-based computer is arranged on terrestrial operation space；The remote control module, database,
Dispenser decision system is integrated in a computer.
The dispenser control module includes consisting of part：Medicine-chest, woven hose, shower nozzle, microcontroller, motor, shower nozzle
Enter medicine magnetic valve.The medicine-chest is fixedly mounted on rotor wing unmanned aerial vehicle belly；The shower nozzle is fixedly mounted on rotor wing unmanned aerial vehicle and risen and fallen
On frame；The woven hose connection medicine-chest and shower nozzle；The microcontroller is fixedly mounted in rotor wing unmanned aerial vehicle.
The automatic dispenser system of the rotor wing unmanned aerial vehicle based on measurement in space also include preposition green sensor and, it is described before
Green sensor is put to be fixedly mounted on rotor wing unmanned aerial vehicle nose-gear.The underlying green sensor is fixedly mounted on fixed branch
On frame.
, can and it is possible to by setting the shower nozzle installation site so that spray area imbricate between adjacent shower nozzle
Ensure every fruit tree sprinkling completely and decoction consumption is small.
As shown in Figures 1 to 4, using the method for the automatic dispenser systemic administration of the above-mentioned rotor wing unmanned aerial vehicle based on measurement in space,
Realized by procedure below：
Pre- typing orchard seeds, age, disease and insect information and gps coordinate in ground-based computer, pre- typing shower nozzle sprinkling
The overlay information of spray area between area information and adjacent shower nozzle, do shower nozzle spray area experiment, record shower nozzle away from tree crown not
With under difference in height, the spray area of half range and full width sprinkling working method generates Crop Information and spray area database, according to
Database calculates optimal dispenser condition, that is, ensureing single, fruit tree sprinkling is complete, dispenser is evenly distributed, the minimum premise of decoction drift
Under, rotor wing unmanned aerial vehicle is away from height of tree crown and dispenser shower nozzle quantity.
Carry array of ultrasonic sensors, d GPS locating module, Flying Camera head, circuit of measurement and control（That is circuit board）, electricity
Source, the rotor wing unmanned aerial vehicle of wireless transport module take off through remote control or TRAJECTORY CONTROL and reach orchard upper end in the air and hover, and pass through fortune
Dynamic camera gathers real-time pictures, GPS location data or range estimation and judges rotor wing unmanned aerial vehicle whether above tree crown to be measured, rotor
Unmanned plane front portion installs preposition green sensor and detects green information in real time, prevents collision more than the tree crown of current flight height,
Calculate relative altitude data via array of ultrasonic sensors, tree crown view data, the data obtained are shot via Flying Camera head
Send back ground-based computer.
Wherein array of ultrasonic sensors measuring and calculating relative altitude method is as follows：First, rotor wing unmanned aerial vehicle is placed in and surveys fruit
Carry out surveying high benchmark calibration on the face of field；Then, remote control rotor wing unmanned aerial vehicle flies to high-altitude at the top of orchard, passes through GPS location
Coordinate, the realtime graphic of airborne moving camera collection or range estimation judge whether fruit tree to be measured and carry out orientation adjustment, so that rotation
Wing unmanned plane bottom is just to surveyed top fruit sprayer center；By adjusting flying height so that the spy that array of ultrasonic sensors is launched
Survey sound wave tree crown surface is completely covered and mutually partially overlaps, minimum value judgement carried out to measured data, measure rotor without
The man-machine relative altitude △ H from surveyed top fruit sprayer；Finally, ground-based computer is transmitted back to through wireless transport module to store and show
Show.
Wherein Flying Camera head shoots tree crown image and computer measuring and calculating tree crown area method is as follows：Rotor wing unmanned aerial vehicle is transported
Move above fruit tree to be measured and rotor wing unmanned aerial vehicle center is adjusted with top fruit sprayer center after overlapping, gathered by airborne moving camera
Tree crown realtime graphic, ground-based computer is transmitted back to through wireless transport module, is integrated in the dispenser decision system in ground-based computer
Image slices vegetarian refreshments is classified using thresholding method, tree crown region is marked off and calculates its area, with underlying green sensor institute
The green marginal information of detection is compared, and judges to take a picture whether tree crown is completely covered, result is recorded if being completely covered, if
It is not completely covered, then continues to take pictures behind adjustment rotor wing unmanned aerial vehicle position in real time and combining with green edge judges, until being completely covered
Result is stored and shown in ground-based computer afterwards.
The measured rotor wing unmanned aerial vehicle of dispenser decision-making module analysis is away from tree crown relative altitude and tree crown area information, with most preferably applying
Medicinal strip part compares, and judges whether actual measurement tree crown area overlaps with spray area in database, generates corresponding dispenser prescription, i.e.,
For the control instruction of rotor wing unmanned aerial vehicle flying height and shower nozzle quantity, the control instruction is sent to applying by remote control module
Medicine control module.
Microcontroller inside rotor wing unmanned aerial vehicle adjusts flight attitude and shower nozzle according to the control instruction of remote control module
Quantity, adjusts rotor wing unmanned aerial vehicle flying height by controlling motor rotary speed, so change rotor wing unmanned aerial vehicle away from tree crown it is relative away from
From, by controlling transfusion magnetic valve opening and closing whether to be circulated to adjust shower nozzle, and then change dispenser shower nozzle quantity.
Rotor wing unmanned aerial vehicle can also be replaced by the spot hover aircraft such as helicopter, rotor wing unmanned aerial vehicle can also select many
Rotor wing unmanned aerial vehicle, and the spot hover aircraft can manual remote control or according to GPS location coordinate programme path nobody from leading
Boat flight.
Based on the description to the utility model preferred embodiment, it should be apparent that be defined by the appended claims
The utility model be not limited only to the specific detail illustrated in specification above, without departing from the utility model objective or
Scope to many obviously change of the present utility model equally possible reaches the purpose of this utility model.
Claims (3)
1. the automatic dispenser system of a kind of rotor wing unmanned aerial vehicle based on measurement in space, it is characterised in that including rotor wing unmanned aerial vehicle, relatively
Elevation carrection module, tree crown image measurement module, dispenser decision-making module, dispenser control module；
The relative altitude measurement module includes：Ultrasonic sensor, d GPS locating module, circuit board, wireless transport module, electricity
Source, shell；The d GPS locating module, circuit board, wireless transport module and power supply are installed in shell, ultrasonic sensor
Outside shell；The relative altitude measurement module is arranged on rotor wing unmanned aerial vehicle undercarriage；
The tree crown image measurement module includes：Flying Camera head, fixed support, turning arm, regulation motor, it is wirelessly transferred mould
Block；The tree crown area measurement is arranged on rotor wing unmanned aerial vehicle belly；The turning arm, regulation motor, wireless transport module
It is fixedly mounted on fixed support；The Flying Camera head is fixedly mounted on turning arm；
The dispenser decision-making module includes：Ground-based computer, remote control module, information receiving device, database, dispenser decision-making
System；The ground-based computer is arranged on terrestrial operation space；The remote control module, database, dispenser decision system collection
Into in a computer；
The dispenser control module includes：Medicine-chest, woven hose, shower nozzle, microcontroller, motor, shower nozzle enter medicine magnetic valve；
The medicine-chest is fixedly mounted on rotor wing unmanned aerial vehicle belly；The shower nozzle is fixedly mounted on rotor wing unmanned aerial vehicle undercarriage；Institute
State woven hose connection medicine-chest and shower nozzle；The microcontroller is fixedly mounted in rotor wing unmanned aerial vehicle.
2. the automatic dispenser system of the rotor wing unmanned aerial vehicle according to claim 1 based on measurement in space, it is characterised in that be based on
The automatic dispenser system of rotor wing unmanned aerial vehicle of measurement in space also includes preposition green sensor and underlying green sensor；It is described preposition
Green sensor is fixedly mounted on rotor wing unmanned aerial vehicle nose-gear；The underlying green sensor is fixedly mounted on fixed support
On.
3. the automatic dispenser system of the rotor wing unmanned aerial vehicle according to claim 1 based on measurement in space, it is characterised in that pass through
The shower nozzle installation site is set so that spray area imbricate between adjacent shower nozzle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621041661.XU CN206590122U (en) | 2016-09-07 | 2016-09-07 | A kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201621041661.XU CN206590122U (en) | 2016-09-07 | 2016-09-07 | A kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space |
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| Publication Number | Publication Date |
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| CN206590122U true CN206590122U (en) | 2017-10-27 |
Family
ID=60129852
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621041661.XU Withdrawn - After Issue CN206590122U (en) | 2016-09-07 | 2016-09-07 | A kind of automatic dispenser system of rotor wing unmanned aerial vehicle based on measurement in space |
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| CN (1) | CN206590122U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106167098A (en) * | 2016-09-07 | 2016-11-30 | 南京林业大学 | A kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space |
| CN108271493A (en) * | 2018-02-11 | 2018-07-13 | 华南农业大学 | A kind of tea place spraying system and spray method based on unmanned plane |
| CN109358643A (en) * | 2018-10-31 | 2019-02-19 | 阮镇荣 | A kind of multi-mode unmanned plane pesticide spraying system and method based on image procossing |
| CN109541625A (en) * | 2018-11-27 | 2019-03-29 | 中国农业大学 | Plant protection drone flight parameter measurement method and system |
| CN109631834A (en) * | 2018-12-19 | 2019-04-16 | 北京农业智能装备技术研究中心 | A kind of aerial pesticide system and method |
| CN110147111A (en) * | 2018-02-13 | 2019-08-20 | 广州极飞科技有限公司 | A kind of flight attitude control method and device, flight control system |
| CN113064174A (en) * | 2021-03-22 | 2021-07-02 | 塔里木大学 | Accurate positioning equipment for top organs of cotton plants |
| CN114868527A (en) * | 2022-05-16 | 2022-08-09 | 云南省林业和草原科学院 | Deep-grain walnut fruit harvesting method based on unmanned aerial vehicle |
-
2016
- 2016-09-07 CN CN201621041661.XU patent/CN206590122U/en not_active Withdrawn - After Issue
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106167098A (en) * | 2016-09-07 | 2016-11-30 | 南京林业大学 | A kind of automatic dispenser System and method for of rotor wing unmanned aerial vehicle based on measurement in space |
| CN108271493A (en) * | 2018-02-11 | 2018-07-13 | 华南农业大学 | A kind of tea place spraying system and spray method based on unmanned plane |
| CN108271493B (en) * | 2018-02-11 | 2024-03-12 | 华南农业大学 | Tea garden spraying system and spraying method based on unmanned aerial vehicle |
| CN110147111B (en) * | 2018-02-13 | 2021-05-14 | 广州极飞科技股份有限公司 | Flight attitude control method and device and flight control system |
| CN110147111A (en) * | 2018-02-13 | 2019-08-20 | 广州极飞科技有限公司 | A kind of flight attitude control method and device, flight control system |
| CN109358643A (en) * | 2018-10-31 | 2019-02-19 | 阮镇荣 | A kind of multi-mode unmanned plane pesticide spraying system and method based on image procossing |
| CN109541625B (en) * | 2018-11-27 | 2020-10-09 | 中国农业大学 | Method and system for measuring flight parameters of plant protection unmanned aerial vehicle |
| CN109541625A (en) * | 2018-11-27 | 2019-03-29 | 中国农业大学 | Plant protection drone flight parameter measurement method and system |
| CN109631834A (en) * | 2018-12-19 | 2019-04-16 | 北京农业智能装备技术研究中心 | A kind of aerial pesticide system and method |
| CN109631834B (en) * | 2018-12-19 | 2022-07-01 | 北京农业智能装备技术研究中心 | Aerial pesticide application system and method |
| CN113064174A (en) * | 2021-03-22 | 2021-07-02 | 塔里木大学 | Accurate positioning equipment for top organs of cotton plants |
| CN113064174B (en) * | 2021-03-22 | 2024-05-17 | 塔里木大学 | Accurate positioning equipment for cotton plant center organ |
| CN114868527A (en) * | 2022-05-16 | 2022-08-09 | 云南省林业和草原科学院 | Deep-grain walnut fruit harvesting method based on unmanned aerial vehicle |
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