CN207502965U - Plant protection unmanned aerial vehicle liquid medicine liquid measure monitoring system - Google Patents
Plant protection unmanned aerial vehicle liquid medicine liquid measure monitoring system Download PDFInfo
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- CN207502965U CN207502965U CN201721300037.1U CN201721300037U CN207502965U CN 207502965 U CN207502965 U CN 207502965U CN 201721300037 U CN201721300037 U CN 201721300037U CN 207502965 U CN207502965 U CN 207502965U
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- 230000003068 static effect Effects 0.000 claims abstract description 4
- 239000002351 wastewater Substances 0.000 claims description 25
- 235000014676 Phragmites communis Nutrition 0.000 claims description 13
- 239000007921 spray Substances 0.000 claims description 8
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 5
- 238000001228 spectrum Methods 0.000 claims description 5
- 229940079593 drug Drugs 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 238000005259 measurement Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract 1
- 239000011435 rock Substances 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 4
- 239000000575 pesticide Substances 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
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- 230000035515 penetration Effects 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000002699 waste material Substances 0.000 description 1
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Abstract
The utility model relates to a plant protection unmanned aerial vehicle liquid medicine amount monitoring system, which comprises a liquid level sensor, a flowmeter, a data transmission device and a ground receiving device, wherein the liquid level sensor and the flowmeter are connected with the ground receiving device through the data transmission device; the liquid level sensor is used for detecting the liquid level of liquid medicine in the medicine box when the unmanned aerial vehicle is in a static state before flying, and transmitting the liquid level of the liquid medicine to the ground receiving device through the data transmission device, and the ground receiving device processes the liquid level of the liquid medicine to obtain the total volume of the liquid medicine; the flow meter is used for detecting the volume of the real-time liquid medicine sprayed out during the flight operation of the unmanned aerial vehicle and transmitting the volume of the real-time liquid medicine sprayed out to the ground receiving device through the data transmission device; and the ground receiving device subtracts the volume of the sprayed real-time liquid medicine from the total volume of the liquid medicine to obtain the residual amount of the liquid medicine in the medicine box. The utility model discloses do not receive the influence that rocks during the unmanned aerial vehicle operation, the surplus of liquid medicine in the ability accurate measurement medical kit, and then improve unmanned aerial vehicle's operating efficiency and operation effect.
Description
Technical field
The utility model is related to unmanned air vehicle technique fields, are monitored more particularly, to a kind of plant protection unmanned plane liquid liquid measure
System.
Background technology
In recent years, the extensive use of unmanned plane so that agricultural, forestry can meet the standardization of modern production, scale
And the requirement of mechanization production, the application of plant protection unmanned plane are even more to have compensated for the defects of rural laborer is insufficient, are promoted existing
In the development of agricultural automation.But when plant protection unmanned machine operation, if monitoring system without accurate liquid liquid measure
It cannot timely return refitting liquid when liquid is used up, can not also specify the last job position of unmanned plane, cause operation
The drain spray of area's pesticide, the leakage in turn resulting in Pest organism prevent or cause the repetition of operation area pesticide to spray, the pesticide in turn resulted in
Waste, the poisoning of crop and the pollution of environment seriously affect the operating efficiency and operation effectiveness of plant protection unmanned plane.
Level monitoring meter used in unmanned plane is the traditional level monitoring meter used on ground at present, traditional liquid level
Monitoring meter may be only available for the level monitoring of the little device of slosh on ground, and the operation in the air of plant protection unmanned plane when
Time can generate shaking, and the liquid level in medicine-chest is caused ceaselessly to fluctuate, is caused in the medicine-chest that traditional liquid level monitoring meter monitors
Liquid liquid measure is different with the size of liquid liquid fluctuating, can not accurately measure the liquid volume in plant protection unmanned plane medicine-chest.
Therefore traditional level monitoring meter is no longer desirable for the monitoring of plant protection unmanned plane liquid liquid measure.
Invention content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of plant protection unmanned plane liquid liquid measure monitoring
System, not shaken during by unmanned plane operation is influenced, and can accurately measure the surplus of medicine-chest inner liquid medicine, and then improve unmanned plane
Operating efficiency and operation effectiveness.
In order to achieve the above objectives, the technical solution adopted in the utility model is：
A kind of plant protection unmanned plane liquid liquid measure monitoring system is provided, device and ground are passed including liquid level sensor, flowmeter, number
Face reception device, liquid level sensor and flowmeter pass device by number and are connect with ground receiving wastewater facility；Liquid level sensor is used for
Liquid liquid level when remaining static before detection unmanned plane during flying in medicine-chest, and the liquid liquid level is passed into device through number and is transmitted to
Ground receiving wastewater facility, ground receiving wastewater facility handle the liquid liquid level to obtain liquid total volume；Flowmeter is used to detect
The real-time medicine liquid volume sprayed during unmanned plane during flying operation, and the real-time medicine liquid volume sprayed away is passed into device through number
It is transmitted to ground receiving wastewater facility；Ground receiving wastewater facility subtracts the real-time medicine liquid volume that sprays away with liquid total volume to obtain medicine
The surplus of case inner liquid medicine.
Flowmeter uses vortex flowmeter, according to the flow velocity size of liquid so as to which the rotation speed of turbine be pushed to be converted into
Flow by volume, to obtain the real-time medicine liquid volume that sprays away.
In said program, initial liquid liquid level can be obtained, and then pass through using liquid level sensor before unmanned plane takes off
The processing of ground receiving wastewater facility can obtain liquid total volume, can be obtained and sprayed using flowmeter during unmanned plane operation
The real-time medicine liquid volume gone, the real-time medicine liquid volume sprayed away is subtracted with liquid total volume can obtain the surplus of medicine-chest inner liquid medicine
Surplus.A kind of plant protection unmanned plane liquid liquid measure monitoring system of the utility model, not shaken during by unmanned plane operation is influenced, energy
The accurate surplus for measuring medicine-chest inner liquid medicine, and then improve the operating efficiency and operation effectiveness of unmanned plane.
Preferably, ground receiving wastewater facility includes 51 microcontrollers and display screen connected to it, and 51 microcontrollers pass device with number
The surplus of medicine-chest inner liquid medicine is connected and is used to obtain, display screen is used to show the surplus of medicine-chest inner liquid medicine.Operating personnel are led to
The surplus of medicine-chest inner liquid medicine can be accurately acquired in real time by crossing observation display screen, when liquid is used up unmanned plane easy to operation and
When return to refitting liquid, and determine last job position.
Preferably, the liquid level sensor is plastic floating ball unit point liquid level sensor；The liquid level passes before unmanned plane during flying
Sensor can accurately obtain liquid liquid level to obtain accurate liquid total volume, and then improve the liquid monitoring essence of the monitoring system
Degree.It is further preferred that the liquid level sensor includes plastic tube, it is inserted in plastic tube and meets liquid level atmospheric pressure for offsetting
Gas-guide tube, the bottom of plastic tube are equipped with the liquid level sensing chip for detecting medicine-chest inner liquid medicine liquid level；The bottom of plastic tube is additionally provided with
Magnetic reed switch is arranged with the hollow floating ball with annular magnet on plastic tube, and ground receiving wastewater facility further includes and 51 microcontrollers connect
The buzzer connect；When floating ball is contacted with magnetic reed switch, 51 microcontrollers control buzzer sends out alarm.Liquid level sensor meets liquid level
The pressure being subject to is P=ρ * g*h+Po, and wherein ρ is the density of liquid, and g is local acceleration of gravity, and Po is the air on liquid level
Pressure, h are liquid liquid level, and after atmospheric pressure Po is balanced out with gas-guide tube, liquid liquid level can be accurately obtained by the pressure P of measurement
H, ground receiving wastewater facility can obtain liquid total volume after handling liquid liquid level h；From when unmanned plane propeller unlocks
Before flying, the flight control system of unmanned plane sends signal to liquid level sensing chip, and liquid level sensing chip is voluntarily closed, flowed during operation of taking off
Gauge is started to work；In addition, floating ball is swum on liquid level, with the reduction of liquid during operation, floating ball is gradually reduced and close
Magnetic reed switch, when floating ball is contacted with magnetic reed switch, liquid level sensor passes device by number and sends signal to 51 microcontrollers, and 51 is single
Piece machine control buzzer sends out alarm, and the surplus of medicine-chest inner liquid medicine that alarm and the display screen of buzzer are shown can be used as dual
It ensures, refitting liquid is returned to operate unmanned plane when ensuring in medicine-chest without liquid in time.It is further preferred that the buzzing
Device is equipped with the indicator light being connect with 51 microcontrollers, when floating ball is contacted with magnetic reed switch, the control indicator light flicker of 51 microcontrollers.
Alarm and the flicker of indicator light can be reminded in operating personnel's medicine-chest without liquid, broken down to prevent buzzer or indicator light
When, it can not remind in operating personnel's medicine-chest without liquid.
Preferably, the number passes device and passes device for LORA spread spectrum radios number.The number passes device and uses LORA spread spectrums,
Transmission range and penetration capacity pass device than traditional FSK numbers and promote one times or more, while use FEC Forward Error Correction algorithms, resist
Interference performance is stronger, and transmission data are farther.
Compared with prior art, the beneficial effects of the utility model are：
A kind of plant protection unmanned plane liquid liquid measure monitoring system of the utility model, utilizes liquid level sensor before unmanned plane takes off
Initial liquid liquid level can be obtained, and then liquid total volume can be obtained by the processing of ground receiving wastewater facility, is made in unmanned plane
The real-time medicine liquid volume sprayed away can be obtained during industry using flowmeter, subtracted with liquid total volume spray away it is real-time
Medicine liquid volume can obtain the surplus of medicine-chest inner liquid medicine, and liquid liquid measure monitoring system is not shaken during by unmanned plane operation
Influence, can accurately measure the surplus of medicine-chest inner liquid medicine, and then improve the operating efficiency and operation effectiveness of unmanned plane；By setting
Floating ball, magnetic reed switch and buzzer are put, when floating ball is contacted with magnetic reed switch, 51 microcontrollers control buzzer sends out alarm, bee
The surplus of medicine-chest inner liquid medicine that the alarm of ring device is shown with display screen can be used as double shield, to ensure in medicine-chest without liquid
When operate in time unmanned plane return refitting liquid.
Description of the drawings
Fig. 1 is the schematic diagram that a kind of plant protection unmanned plane liquid liquid measure of the present embodiment monitors system.
Fig. 2 is the schematic diagram of liquid level sensor in the present embodiment.
Fig. 3 is the schematic diagram of ground receiving wastewater facility in the present embodiment.
Specific embodiment
The utility model is further described With reference to embodiment.Wherein, being given for example only property of attached drawing
Illustrate, expression is only schematic diagram rather than pictorial diagram, it is impossible to be interpreted as the limitation to this patent；In order to which this reality is better described
With novel embodiment, the certain components of attached drawing have omission, zoom in or out, and do not represent the size of actual product；To ability
For field technique personnel, the omitting of some known structures and their instructions in the attached drawings are understandable.
The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；In this practicality
In novel description, it is to be understood that if thering is the orientation of the instructions such as term " on ", " under ", "left", "right" or the position relationship to be
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description rather than instruction
Or imply that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore retouched in attached drawing
State the term of position relationship only for illustration, it is impossible to the limitation to this patent is interpreted as, for the common skill of this field
For art personnel, the concrete meaning of above-mentioned term can be understood as the case may be.
Embodiment
A kind of schematic diagram of plant protection unmanned plane liquid liquid measure monitoring system of the present embodiment is as shown in Figure 1, including level sensing
Device 1, flowmeter 2, number pass device 3 and ground receiving wastewater facility 4, and liquid level sensor 1 and flowmeter 2 pass device 3 and ground by number
Face reception device 4 connects；Liquid level sensor 1 is used to detect liquid liquid when remaining static before unmanned plane during flying in medicine-chest
Position, and the liquid liquid level is passed into device 3 through number and is transmitted to ground receiving wastewater facility 4, ground receiving wastewater facility 4 carries out the liquid liquid level
It handles to obtain liquid total volume；Flowmeter 2 is used to detect the real-time medicine liquid volume sprayed during unmanned plane during flying operation,
And the real-time medicine liquid volume sprayed away is passed into device 3 through number and is transmitted to ground receiving wastewater facility 4；Ground receiving wastewater facility 4 uses liquid
Total volume subtracts the real-time medicine liquid volume that sprays away to obtain the surplus of medicine-chest inner liquid medicine.
In the present embodiment, flowmeter 2 uses vortex flowmeter, according to the flow velocity size of liquid so as to push the rotation of turbine
Turn speed be converted into flow by volume, to obtain the real-time medicine liquid volume that sprays away.
When monitoring system using the liquid measure, using liquid level sensor 1 to obtain initial liquid liquid level before unmanned plane takes off,
And then by the processing of ground receiving wastewater facility 4 to obtain liquid total volume, using flowmeter 2 with acquisition during unmanned plane operation
The real-time medicine liquid volume sprayed away, the real-time medicine liquid volume sprayed away is subtracted with liquid total volume can obtain medicine in medicine-chest
The surplus of liquid.A kind of plant protection unmanned plane liquid liquid measure monitoring system of the utility model, does not shake during by unmanned plane operation
It influences, can accurately measure the surplus of medicine-chest inner liquid medicine, and then improve the operating efficiency and operation effectiveness of unmanned plane.
Wherein, the schematic diagram of ground receiving wastewater facility 4 is as shown in figure 3, including 51 microcontrollers 10 and display screen connected to it
11,51 microcontrollers 10 are connect with number biography device 3 and the surplus for obtaining medicine-chest inner liquid medicine, display screen 11 are used to show medicine-chest
The surplus of inner liquid medicine.Operating personnel can accurately acquire the surplus of medicine-chest inner liquid medicine in real time by observing display screen 11,
When liquid is used up, unmanned plane easy to operation returns to refitting liquid in time, and determines last job position.
In addition, the liquid level sensor 1 is plastic floating ball unit point liquid level sensor.The level sensing before unmanned plane during flying
Device 1 can accurately obtain liquid liquid level to obtain accurate liquid total volume, and then improve the liquid monitoring accuracy of the monitoring system.
In the present embodiment, the schematic diagram of the liquid level sensor 1 plugs as shown in Fig. 2, including plastic tube 6 in plastic tube 6
It is useful for offsetting the gas-guide tube 5 for meeting liquid level atmospheric pressure, the bottom of plastic tube 6 is equipped with the liquid level for detecting medicine-chest inner liquid medicine liquid level
Sensing chip 8；The bottom of plastic tube 6 is additionally provided with magnetic reed switch 9, and the hollow floating ball 7 with annular magnet is arranged on plastic tube 6,
Ground receiving wastewater facility 4 further includes the buzzer 12 being connect with 51 microcontrollers 10；When floating ball 7 is contacted with magnetic reed switch 9,51 monolithics
Machine 10 controls buzzer 12 to send out alarm.It is P=ρ * g*h+Po that liquid level sensor 1, which meets the pressure that liquid level is subject to, and wherein ρ is liquid
Density, g is local acceleration of gravity, and Po is the atmospheric pressure on liquid level, and h is liquid liquid level, is balanced out greatly when with gas-guide tube 5
After air pressure Po, liquid liquid level h can accurately be obtained by the pressure P of measurement, ground receiving wastewater facility 4 carries out liquid liquid level h
Liquid total volume can be obtained after processing；Before unmanned plane propeller takes off when unlocking, the flight control system of unmanned plane is to liquid level sense
Piece 8 is answered to send signal, liquid level sensing chip 8 is voluntarily closed, and flowmeter 2 is started to work during operation of taking off；In addition, floating ball 7 floats
On liquid level, with the reduction of liquid during operation, floating ball 7 is gradually reduced and close to magnetic reed switch 9, when floating ball 7 is opened with magnetic red
When closing 9 contact, liquid level sensor 1 passes device 3 by number and sends signal, 51 microcontrollers 10 control buzzer 12 to 51 microcontrollers 10
Alarm is sent out, the surplus of medicine-chest inner liquid medicine that the alarm of buzzer 12 is shown with display screen 11 can be used as double shield, with true
Unmanned plane is operated when protecting in medicine-chest without liquid in time and returns to refitting liquid.
Wherein, the buzzer 12 is equipped with the indicator light being connect with 51 microcontrollers 10, when floating ball 7 and magnetic reed switch 9 connect
When touching, the control indicator light flicker of 51 microcontrollers 10.Alarm and the flicker of indicator light can be reminded in operating personnel's medicine-chest without medicine
Liquid when breaking down to prevent buzzer 12 or indicator light, can not be reminded in operating personnel's medicine-chest without liquid.
In addition, the number passes device 3 passes device for LORA spread spectrum radios number.The number passes device 3 and uses LORA spread spectrums,
Transmission range and penetration capacity pass device than traditional FSK numbers and promote one times or more, while use FEC Forward Error Correction algorithms, resist
Interference performance is stronger, and transmission data are farther.
Obviously, above-described embodiment of the utility model is only intended to clearly illustrate the utility model example, and
It is not the restriction to the embodiment of the utility model.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
It is exhaustive.All any modification, equivalent and improvement made within the spirit and principles of the present invention etc., should be included in
Within the protection domain of the utility model claims.
Claims (6)
1. a kind of plant protection unmanned plane liquid liquid measure monitors system, which is characterized in that including liquid level sensor（1）, flowmeter（2）、
Number passes device（3）And ground receiving wastewater facility（4）, liquid level sensor（1）And flowmeter（2）Device is passed by number（3）With ground
Reception device（4）Connection；Liquid level sensor（1）Liquid liquid when remaining static before unmanned plane during flying for detecting in medicine-chest
Position, and the liquid liquid level is passed into device through number（3）It is transmitted to ground receiving wastewater facility（4）, ground receiving wastewater facility（4）To the liquid liquid
Position is handled to obtain liquid total volume；Flowmeter（2）It is real-time for what is sprayed during detecting unmanned plane during flying operation
Medicine liquid volume, and the real-time medicine liquid volume sprayed away is passed into device through number（3）It is transmitted to ground receiving wastewater facility（4）；Ground connects
Receiving apparatus（4）The real-time medicine liquid volume that sprays away is subtracted with liquid total volume to obtain the surplus of medicine-chest inner liquid medicine.
2. a kind of plant protection unmanned plane liquid liquid measure monitoring system according to claim 1, which is characterized in that ground receiver fills
It puts（4）Including 51 microcontrollers（10）And display screen connected to it（11）, 51 microcontrollers（10）Device is passed with number（3）It connects and is used in combination
In the surplus for obtaining medicine-chest inner liquid medicine, display screen（11）For showing the surplus of medicine-chest inner liquid medicine.
3. a kind of plant protection unmanned plane liquid liquid measure monitoring system according to claim 2, which is characterized in that the liquid level passes
Sensor（1）For plastic floating ball unit point liquid level sensor.
4. a kind of plant protection unmanned plane liquid liquid measure monitoring system according to claim 3, which is characterized in that the liquid level passes
Sensor（1）Including plastic tube（6）, plastic tube（6）It is inside inserted with to offset the gas-guide tube for meeting liquid level atmospheric pressure（5）, plastic tube
（6）Bottom be equipped with for the liquid level sensing chip that detects medicine-chest inner liquid medicine liquid level（8）；Plastic tube（6）Bottom be additionally provided with magnetic red
Switch（9）, plastic tube（6）On be arranged with the hollow floating ball with annular magnet（7）, ground receiving wastewater facility（4）It further includes and 51
Microcontroller（10）The buzzer of connection（12）；Work as floating ball（7）With magnetic reed switch（9）During contact, 51 microcontrollers（10）Control buzzing
Device（12）Send out alarm.
A kind of 5. plant protection unmanned plane liquid liquid measure monitoring system according to claim 4, which is characterized in that the buzzer
（12）It is equipped with and 51 microcontrollers（10）The indicator light of connection, works as floating ball（7）With magnetic reed switch（9）During contact, 51 microcontrollers
（10）Control indicator light flicker.
6. a kind of plant protection unmanned plane liquid liquid measure monitoring system according to any one of claims 1 to 5, which is characterized in that
The number passes device（3）Device is passed for LORA spread spectrum radios number.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721300037.1U CN207502965U (en) | 2017-10-10 | 2017-10-10 | Plant protection unmanned aerial vehicle liquid medicine liquid measure monitoring system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721300037.1U CN207502965U (en) | 2017-10-10 | 2017-10-10 | Plant protection unmanned aerial vehicle liquid medicine liquid measure monitoring system |
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| CN207502965U true CN207502965U (en) | 2018-06-15 |
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ID=62499865
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108872191A (en) * | 2018-06-22 | 2018-11-23 | 李洪博 | A kind of unmanned plane atmosphere pollution detection system |
| CN109353515A (en) * | 2018-11-21 | 2019-02-19 | 华南农业大学 | A kind of plant protection drone liquid level emasuring device |
| CN109699620A (en) * | 2019-01-15 | 2019-05-03 | 广州极飞科技有限公司 | Liquid infusion method, control device and perfusion machine |
| WO2020107325A1 (en) * | 2018-11-29 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Electromagnetic flowmeter, and plant protection unmanned aerial vehicle having electromagnetic flowmeter |
| CN111880558A (en) * | 2020-07-06 | 2020-11-03 | 广东技术师范大学 | Plant protection unmanned aerial vehicle obstacle avoidance spraying method and device, computer equipment and storage medium |
| CN113646232A (en) * | 2019-03-08 | 2021-11-12 | 东洋制罐株式会社 | Exhaust system for an aircraft |
| CN116642562A (en) * | 2023-07-27 | 2023-08-25 | 黑龙江惠达科技股份有限公司 | Plant protection unmanned aerial vehicle liquid medicine quality measurement system and method and unmanned aerial vehicle |
-
2017
- 2017-10-10 CN CN201721300037.1U patent/CN207502965U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108872191A (en) * | 2018-06-22 | 2018-11-23 | 李洪博 | A kind of unmanned plane atmosphere pollution detection system |
| CN109353515A (en) * | 2018-11-21 | 2019-02-19 | 华南农业大学 | A kind of plant protection drone liquid level emasuring device |
| CN109353515B (en) * | 2018-11-21 | 2023-10-20 | 华南农业大学 | Plant protection unmanned aerial vehicle liquid level measurement device |
| WO2020107325A1 (en) * | 2018-11-29 | 2020-06-04 | 深圳市大疆创新科技有限公司 | Electromagnetic flowmeter, and plant protection unmanned aerial vehicle having electromagnetic flowmeter |
| CN109699620A (en) * | 2019-01-15 | 2019-05-03 | 广州极飞科技有限公司 | Liquid infusion method, control device and perfusion machine |
| CN109699620B (en) * | 2019-01-15 | 2021-10-08 | 广州极飞科技股份有限公司 | Liquid infusion method, control device and drug infusion machine |
| CN113646232A (en) * | 2019-03-08 | 2021-11-12 | 东洋制罐株式会社 | Exhaust system for an aircraft |
| CN113646232B (en) * | 2019-03-08 | 2024-08-06 | 东洋制罐株式会社 | Discharge system for an aircraft |
| CN111880558A (en) * | 2020-07-06 | 2020-11-03 | 广东技术师范大学 | Plant protection unmanned aerial vehicle obstacle avoidance spraying method and device, computer equipment and storage medium |
| CN111880558B (en) * | 2020-07-06 | 2021-05-11 | 广东技术师范大学 | Plant protection unmanned aerial vehicle obstacle avoidance spraying method and device, computer equipment and storage medium |
| CN116642562A (en) * | 2023-07-27 | 2023-08-25 | 黑龙江惠达科技股份有限公司 | Plant protection unmanned aerial vehicle liquid medicine quality measurement system and method and unmanned aerial vehicle |
| CN116642562B (en) * | 2023-07-27 | 2023-10-20 | 黑龙江惠达科技股份有限公司 | Plant protection unmanned aerial vehicle liquid medicine quality measurement system and method and unmanned aerial vehicle |
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