CN208021748U - A kind of automatic unmanned plane for sowing material and mobile control terminal - Google Patents
A kind of automatic unmanned plane for sowing material and mobile control terminal Download PDFInfo
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- CN208021748U CN208021748U CN201820054145.3U CN201820054145U CN208021748U CN 208021748 U CN208021748 U CN 208021748U CN 201820054145 U CN201820054145 U CN 201820054145U CN 208021748 U CN208021748 U CN 208021748U
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Abstract
The utility model provides a kind of automatic unmanned plane for sowing material and mobile control terminal.Wherein unmanned plane includes drone body and sowing apparatus, sowing apparatus is equipped with multiple rotatable devices, therefore material can be made uniformly to sow away, and sows mouth laterally setting and high-speed rotation, therefore realize material to send out range wider, effectively improve working efficiency；And using the mobile control terminal with APP Control System Softwares, it can control unmanned plane that operation is performed fully automatic by APP systems, be remotely controlled without artificial whole process, can also manipulate multiple UAVs simultaneously, it is more intelligent to greatly improve economic benefit.
Description
Technical field
The utility model is related to agriculture unmanned plane field, specifically a kind of automatic unmanned plane for sowing material and mobile control
End method processed.
Background technology
Traditional artificial progress farm work, operating speed is slow, and labor intensity is big, can not quickly carry out large area farmland and broadcast
The operations such as kind.In the prior art, had and replaced ground locomotive to carry out seeding operation using agricultural unmanned plane.
Existing agricultural unmanned plane can not be fully achieved complete using being controlled with ground station control or remote controler
Automation mechanized operation needs artificial whole process to be remotely controlled, and operating personnel need by professional training, and learning time is long, together
When by the agriculture unmanned plane working range of ground station control, there is also limitations；And agricultural unmanned plane can only set fixed fly
Row height carries out operation, and operation height can not be changed according to the height of landform, and there are prodigious danger；Also it is exactly agricultural
Sowing apparatus design on unmanned plane is also undesirable, exists and sows uneven, the problems such as single sows area, range is small, therefore whole
Body running efficiency is not also high.
Utility model content
The problems of for the above-mentioned prior art, the purpose of this utility model is to provide a kind of sowing material automatically
Unmanned plane.It solves in the prior art, to need manually to work and existing unmanned plane needs manually through remote controller operation,
It is cumbersome, it has not been convenient to, and can not even operation the problem of.
In order to achieve the above objectives, technical solution used by the utility model is：A kind of automatic unmanned plane for sowing material,
Including drone body and the sowing apparatus for being connected to drone body bottom, its main feature is that the sowing apparatus includes：
Hopper, the hopper are mounted on the drone body bottom；
Swingle, the swingle are arranged inside the hopper, the pivot center of the swingle and the storage
The length direction of funnel is consistent；
The discharge outlet in the hopper bottom end is arranged in linkage, the linkage；
Screw, the screw are arranged below the discharge port of the hopper, and the screw is adjustable
The output quantity for the material that section control is fallen from hopper；And
Discharge turntable, high-speed electric expreess locomotive is equipped with below the discharging turntable, the discharging turntable rotation, the discharging is driven to turn
Disk sows the setting of mouth transverse direction discharge port.
Preferably, the drone body includes casing and multiple driving devices in the casing surrounding, institute is arranged
It states in casing and is equipped with：
Flight master control borad, the control for receiving and transmitting signal and realization to the various states of unmanned plane；And
Battery, for powering to the drone body and the sowing apparatus.
Preferably, the flight master control borad is equipped with：
Central processing unit has data and signal processing function, and can preserve the data received；
Gyro sensor, for balancing the drone body；
Acceleration transducer, the flying speed for providing the drone body；
GPS signal receiver is currently located longitude and latitude degrees of data a little for obtaining the drone body；
Height sensor, the flying height for adjusting the drone body, to keep with ground initially set
Height and position；And
Wireless transceiver, for receiving the course data for controlling the drone body flight.
Preferably, the swingle be by a shaft and setting with shaft on the body of rod that at least a rod for stiring materials forms,
The lower end of the swingle is connected with an electric rotating machine and the electric rotating machine drives the swingle rotation.
Preferably, the linkage includes trident interlocking lever and linkage motor, and the discharge port of the hopper is set
Three small discharge ports are counted into, the trident interlocking lever is respectively provided with one group of three fork arm in the position of corresponding each small discharge port,
Three group of three fork arm is linked into an integrated entity by a universal driving shaft, and the universal driving shaft is connected with the linkage motor and linkage electricity
Machine drives the universal driving shaft rotation.
Preferably, the screw includes rotary screw and screw motor, and the rotary screw is electric with the spiral
Machine is detachably connected, and selects the rotary screw of appropriate flight pitch to be connect with the screw motor according to material particles size.
Preferably, the discharging turntable is separated into multiple sector regions.
Further, the utility model provides a kind of mobile control terminal being used cooperatively with unmanned plane, includes display
Screen and control system, its main feature is that the control system includes：
GPS positioning module for being positioned to place job site to obtain the longitude and latitude degrees of data of anchor point, and can be sent out
Send the longitude and latitude degrees of data；
Electric map module, the longitude and latitude degrees of data for receiving GPS positioning module transmission, is looked into according to the longitude and latitude degrees of data
The satellite photo of job site where looking for, and the boundary in the region on the satellite photo to that need to sow material carries out multiple spot mark
Note；
Area acquisition module is sowed, generates for the label on satellite photo to be linked in sequence and sows work
The job area figure in region, and determine working area；
Data input module, course line spacing, the course line for inputting the unmanned plane described in any claims of claim 1-6 are high
It spends, the amount of sowing and flying speed, and for adjusting the anchor point and the label manually；
Line of flight determining module, the pass inputted according to the determining working area and the data input module
In the parameter of the unmanned plane, Flight path data is automatically generated；
Communication module, the flight master control borad for the Flight path data to be transmitted to the unmanned plane, and to institute
Flight path data is stated to be preserved.
Preferably, the control system integration is in APP softwares.
Preferably, the control system can control unmanned plane described in multi rack to be carried out at the same time full-automatic operation.
The utility model has the beneficial effects that：
Sowing apparatus is equipped with multiple rotatable devices, therefore material can be made uniformly to sow away；And sow mouth cross
To setting and high-speed rotation, thus realize material to send out range wider, effectively improve working efficiency.
Using the mobile control terminal with APP Control System Softwares, the region of unmanned aerial vehicles sowing operation is obtained after positioning
Map location, then unmanned plane job area and working path are set in advance by APP software platforms, and then instruct unmanned plane complete certainly
It is dynamic to carry out operation and sow seed according to certain speed, a determining deviation, doses, it is remotely controlled without artificial whole process；And
The APP systems can manipulate multiple UAVs simultaneously, to greatly improve economic benefit.
The utility model is described in further detail with reference to the accompanying drawings and examples.
Description of the drawings
Fig. 1 is the utility model unmanned plane structural schematic diagram.
Fig. 2 is Fig. 1 internal structure schematic diagrams.
Fig. 3 is the structural schematic diagram of the utility model screw.
Fig. 4 is the structural schematic diagram of discharging turntable.
Fig. 5 is the structural schematic diagram of discharging turntable and high-speed electric expreess locomotive cooperation.
In figure：1, driving device；2, flight master control borad；3, battery；4, feed inlet；5, hopper；6, swingle；7, go out
Material mouth；8, linkage；9, screw；10, discharge turntable；11, mouth is sowed；12, undercarriage；13, high-speed electric expreess locomotive；14, pacify
Fill seat；15, supporting rod；16, shell；61, shaft；62, rod for stiring materials；63, electric rotating machine；81, trident interlocking lever；82, linkage electricity
Machine；83, universal driving shaft；91, rotary screw；92, screw motor；101, circular disk body；102, round turntable.
Specific implementation mode
As shown in Figure 1, a kind of automatic unmanned plane for sowing material comprising drone body and be connected to drone body
The sowing apparatus of bottom, drone body are equipped with casing（It is not shown in figure）, drone body is surrounded by multiple drivings dress
1 is set, and driving device 1 is fixed on by mounting base 14 on the casing of drone body.The sowing apparatus includes tapered storage
Funnel 5, the hopper 5 are mounted on the drone body bottom；Have close to bottom end closing in position in 5 inside of hopper
Swingle 6, the pivot center of swingle 6 are consistent with the length direction of the hopper 5；There are three go out 5 lower section of hopper
Material mouth 7 is equipped with linkage 8,7 one group of lower section collocation of discharge port at discharge port 7（3）Screw 9, screw 9 can
The output quantity for the material that adjusting control is fallen from hopper 5；9 lower section of screw, which is connected with, is divided into the half of multiple sector regions
The round discharging turntable 10 of sealing, 10 lower section of discharging turntable have high-speed electric expreess locomotive 13 to drive its rotation；In in casing be equipped with flight master control
The control of plate 2 and battery 3, wherein flight master control borad 2 for receiving and transmitting signal and realization to the various states of unmanned plane, battery 3 are used for
It powers to drone body and sowing apparatus.The sowing apparatus is equipped with multiple rotatable devices, therefore material can be made uniform
It sows away；And sow mouth 11 laterally setting and high-speed rotation, therefore realize material to send out range wider, effectively improve work
Efficiency.
Further, the flight master control borad 2 of the unmanned plane is equipped with：Central processing with data and signal processing function
Device can also preserve the data received；Gyro sensor for balancing drone body, when unmanned plane is in non-equilibrium
When state, which can detect the deflection of unmanned plane, and realize adjust automatically, and unmanned plane is made to remain balance
State；Acceleration transducer for providing drone body flying speed, can real-time control unmanned plane speed；For obtaining
Drone body is currently located a GPS signal receiver for longitude and latitude degrees of data, therefore can recognize the specific location of unmanned plane in real time,
Facilitate understanding job schedule；Height sensor for adjusting drone body flying height, to make unmanned plane keep and ground
Face is in initially set height and position；And the wireless transceiver for receiving control drone body course data, therefore can connect
The unmanned plane is controlled by mobile control terminal.
As shown in Figure 1, each driving device 1 of the embodiment is connect by a supporting rod 15 with casing, the mounting base
14 are connected to the end far from ontology on supporting rod 15, which includes the motor being mounted in mounting base 14, the electricity
Motivation upper end is connected with blade.The supporting rod 15 is additionally provided with undercarriage 12 in one end close to drone body, the undercarriage 12
It is socketed in the body of rod vertically downward on supporting rod 15 for one, which plays the role of landing support unmanned plane, make nothing
It is man-machine steady, while sowing apparatus is damaged when avoidable landing.
As shown in Fig. 2, swingle 6 is to be made of at least rod for stiring materials 62 on shaft 61 shaft 61 and setting
The body of rod, the lower end of swingle 6 are connected with an electric rotating machine 63, and electric rotating machine 63 can drive shaft 61 to rotate.The implementation
Rod for stiring materials 62 of example is in bending shape, collectively forms a triangle with shaft 61, therefore can increase the area of material toggling.
As shown in Fig. 2, the linkage 8 of the embodiment includes trident interlocking lever 81 and linkage motor 82, storing leakage
The discharge port of bucket 5 is designed to that three small discharge ports 7, trident interlocking lever 81 are respectively provided with one in the position of corresponding each small discharge port 7
Group trident interlocking lever 81, this three groups of trident interlocking levers 81 are linked into an integrated entity by a universal driving shaft 83, the universal driving shaft 83 and linkage motor
82 are connected, and 83 rotation of universal driving shaft can be driven by the linkage motor 82.It is understood that the trident interlocking lever 81 can also
It is made of three independent three fork arms, is connect with the same linkage motor 82 after being connected by connector between them respectively
It realizes linkage, can also be one linkage motor 82 of respective connection.
As shown in figure 3, the screw 9 of the embodiment includes rotary screw 91 and screw motor 92, rotary screw 91
It is detachably connected with screw motor 92, detachable connection can be that axis is mating with axle sleeve, can also be magnetic suction
The mode of attached cooperation.One end of rotary screw 91 is connect with screw motor 92, and the other end is connect with 10 upper end of discharging turntable
Shell 16 is rotatably connected.Three screws 9 are arranged side by side, and rotary screw 91 is equipped with and falls spiral ridge, spiral prominence prismatic
At flight pitch, the gap of flight pitch passes through for material particles, therefore can select appropriate screw thread according to material particles size
The rotary screw 91 of spacing is connect with screw motor 92.
As shown in Figure 4 and Figure 5, the discharging turntable 10 of the embodiment includes：Circular disk body 101 and round turntable 102,
In the circular disk body 101 be semitight disk body, the bottom surface closing of the circular disk body 101 is opened wide above, and surface also opens
It opens, is dropped into round turntable 101 for the material of top wherein opening wide above, and the unlimited place of side spreads out for material；
The round turntable 102 is equipped with the multiple fins holded up of circular bottom plate and projection in circular bottom plate, these fins pass through circle
The axle center of shape turntable ensures that material is fallen into round turntable 102 not to which round turntable 102 is separated into multiple sector regions
It blocks.There is high-speed electric expreess locomotive 13 in 10 lower section of discharging turntable, and the shaft of the high-speed electric expreess locomotive 13 passes through simultaneously from the bottom of circular disk body 101
It is connected to the axis line location of round turntable 102, to realize that the high-speed electric expreess locomotive 13 can drive 102 high-speed rotation of round turntable,
It is sowed away from turn being opened wide the material in round turntable 102 from the side of circular disk body 101 by centrifugal force.
The unmanned plane can implement control by mobile control terminal, which includes display screen and control is
System, wherein control system includes：GPS positioning module, for being positioned to place job site to obtain the longitude and latitude of anchor point
Degrees of data, and the longitude and latitude degrees of data can be transmitted；Electric map module, the longitude and latitude number of degrees for receiving GPS positioning module transmission
According to according to the satellite photo of job site where longitude and latitude data search, and to the region of material need to be sowed on satellite photo
Boundary carry out polymarker；Sow area acquisition module, for the label on satellite photo to be linked in sequence and
The job area figure for sowing working region is generated, and determines working area；Data input module, the course line for inputting unmanned plane
Spacing, enroute altitude, the amount of sowing and flying speed, and for adjusting the anchor point and the label manually；Flight boat
Line determining module, it is automatic raw according to the parameter about unmanned plane that determining working area and data input module are inputted
At Flight path data；Communication module, the flight master control borad for Flight path data to be transmitted to unmanned plane, and to flight
Course data is preserved.
For the control system integration of the embodiment in APP softwares, which can be the shiftings such as mobile phone, tablet, computer
Dynamic equipment, by downloading corresponding APP softwares, you can realization controls the unmanned plane.Further for control can be distinguished,
More Account Logon functions can also be set in APP softwares, and there are one accounts for corresponding each unmanned plane setting, are recorded by account
Enter to log in, to realize that a mobile control terminal carries out division of labor control to more unmanned planes simultaneously, realizes that multiple UAVs are same
Shi Jinhang full-automation operations.
Map is downloaded by APP software platforms and the area map position of unmanned aerial vehicles sowing operation is obtained by GPS information,
Unmanned plane job area and working path is set in advance by APP software platforms（It is kept away as operation has barrier that can set on the way
It opens）Instruction unmanned plane automatically reaches predetermined operation region and carries out operation and broadcast according to certain speed, a determining deviation, doses
It sows seeds son, after unmanned plane during flying operation, this flight path, position coordinates can be stored in APP software platforms
On, facilitate carry out flight operation next time, is not required to reset flight path again.
The utility model provides one kind and sowing material automatically（Seed）The agriculture automatic spreading method of unmanned plane comprising following
Step：
（1）Drone body is set, is equipped with hopper 5 in drone body, is loaded into hopper 5 and completely wait broadcasting
The material spread, and according to the granular size of material, adjust the flight pitch for replacing the rotary screw 91, be precisely controlled with reaching
The output quantity of material；
（2）The power supply for starting the mobile control terminal determines place job site by the GPS positioning module
Position, electric map module is sent to by the longitude and latitude degrees of data got, by electric map module according to longitude and latitude degrees of data, searches institute
Satellite photo in job site, and according to satellite photo, carry out polymarker to the boundary in region of material need to be sowed, pass through
It sows area acquisition module to be attached multiple labels, if there is error, it is fixed by data input module adjust manually
Site ultimately produces the job area figure for sowing working region, and determines working area；
（3）It is true that course line spacing, enroute altitude, the amount of sowing and flying speed, the line of flight are inputted by data input module
Cover half root tuber generates Flight path data, and Flight path data is transmitted to by communication module according to determining working area
The wireless transceiver of flight master control borad, and course line is preserved；
（4）After flight master control borad 2 receives Flight path data by wireless transceiver, driving device 1 is started to work, nothing
Man-machine ontology takes off, and obtains data by gyro sensor, acceleration transducer and barometer, controls the steady of drone body
Flight obtains longitude and latitude by GPS signal receiver, and reaches course line initial position according to Flight path data, and according to red
Outside line height sensor adjusts flying height, keeps the height with ground initial setting up；
（5）After reaching course line designated position, sowing apparatus is started to work, and 5 bottom discharge mouth 7 of hopper is opened, storage
The swingle 6 of 5 bottom end of hopper of full with substance starts to rotate under the drive of rotation motor 63, and material starts under the effect of gravity
It is fallen from the hopper 5 of taper, 5 lower section of hopper faces three small discharge ports 7, at this time the trident at discharge port 7
Interlocking lever 81 also begins to rotate under the linkage motor 82 drive, same with this by the orderly feeding feed opening of the material fallen
When, the rotary screw 91 below feed opening starts to rotate under the driving of screw motor 92, receives the object come out from feed opening
Material, material are accurately transported to the top of discharging turntable 10 under the control of the flight pitch and rotational time of rotary screw 91 itself
It is allowed to land automatically, the high-speed motor 13 of least significant end starts at this time, drives 102 turns of round turntable for being divided into multiple sector regions
It is dynamic, using the centrifugal force of round turntable 102, the material fallen from screw 9 is sowed away, process is sowed in completion.
Step（1）The hopper 5 is equipped with material capacity sensor, judges material surplus by capacity sensor, real
It applies and feeds back to flight master control borad 2, when detecting that material spreads most, send out instruction of making a return voyage to flight control panel 2, pass through GPS satellite
After signal receiver marks current location, drone body returns to the origin that takes off and adds materials, after charging, drone body
It is flown back to position to be spread and is worked on according to the coordinate of label.
Step（3）Further include：In conjunction with the terrain data of electronic map, the obstructing objects in working region are obtained, obstacle is worked as
Object height be more than preset height when, course line is automatically selected as detouring, when obstacle height is less than preset height, then course line from
It is dynamic to be selected as hoisting depth, when being flown over above barrier, and flying over barrier, sowing apparatus break-off.
Step（5）Sowing apparatus is generally applicable to sowing for solid granular material, and the design of screw 9 therein can
Realize that independently dismounting assembles, energy can be according to the size of solid particle, between the screw thread for adjusting replacement rotary screw 91 in operation process
Away to accurately control the output quantity of material.
In there are some embodiments, battery capacity detection device is additionally provided in the drone body, when battery capacity is low,
Battery capacity detection device will send out the instruction maked a return voyage automatically to flight master control borad, be worked as by GPS satellite signal receiver tag
Behind front position, drone body returns to the origin that takes off, and after replacing battery 3, drone body flies according to the coordinate of label
It returns to position to be spilt to work on, and sowing apparatus does not work in two-way process.
In addition, the height sensor of the embodiment is infrared sensor, it is arranged in the bottom surface of unmanned plane, by towards farming
Object surface emitting infrared light is reflected to the camera lens of infrared ray height sensor through crop surface, then is compiled by central processing unit
It is translated into pulse signal and feeds back to flight master control borad 2, real-time control flying height, to make drone body according to ground or hillside
Different height automatic adjustment, be kept fixed with ground or hillside at a distance from.I.e. to the height on ground in unmanned plane during flying operation
Or the height on hillside carries out automatic sensing detection, flying height is automatically adjusted, so as to nimbly elude the barrier of different height
Hinder object, allow unmanned machine operation when can more precisely, it is more rationally, safer.
Although the utility model is to be described with reference to specific embodiments, this description is not meant to the utility model
It is construed as limiting.With reference to the description of the utility model, other variations of the disclosed embodiments are all for those skilled in the art
It is anticipated that, this variation should belong in appended claims limited range.
Claims (10)
1. a kind of automatic unmanned plane for sowing material, including drone body and be connected to drone body bottom sow dress
It sets, which is characterized in that the sowing apparatus includes：
Hopper, the hopper are mounted on the drone body bottom；
Swingle, the swingle are arranged inside the hopper, and the pivot center of the swingle is leaked with the storing
The length direction of bucket is consistent；
The discharge outlet in the hopper bottom end is arranged in linkage, the linkage；
Screw, the screw are arranged below the discharge port of the hopper, the adjustable control of the screw
Make the output quantity of the material fallen from hopper；And
Discharge turntable, and high-speed electric expreess locomotive is equipped with below the discharging turntable and drives the discharging turntable rotation, the discharging turntable
Sow the setting of mouth transverse direction discharge port.
2. the automatic unmanned plane for sowing material according to claim 1, which is characterized in that the drone body includes
Casing and multiple driving devices in the casing surrounding are set, are equipped in the casing：
Flight master control borad, the control for receiving and transmitting signal and realization to the various states of unmanned plane；And
Battery, for powering to the drone body and the sowing apparatus.
3. the automatic unmanned plane for sowing material according to claim 2, which is characterized in that set on the flight master control borad
Have：
Central processing unit has data and signal processing function, and can preserve the data received；
Gyro sensor, for balancing the drone body；
Acceleration transducer, the flying speed for providing the drone body；
GPS signal receiver is currently located longitude and latitude degrees of data a little for obtaining the drone body；
Height sensor, the flying height for adjusting the drone body, to keep with ground in initially set height
Position；And
Wireless transceiver, for receiving the course data for controlling the drone body flight.
4. the automatic unmanned plane for sowing material according to claim 1, which is characterized in that the swingle is by a shaft
And the body of rod of setting and at least rod for stiring materials composition on shaft, the lower end of the swingle is connected simultaneously with an electric rotating machine
The electric rotating machine drives the swingle rotation.
5. the automatic unmanned plane for sowing material according to claim 1, which is characterized in that the linkage includes three
Interlocking lever and linkage motor are pitched, the discharge port of the hopper is designed to three small discharge ports, and the trident interlocking lever is right
The position of each small discharge port is answered to be respectively provided with one group of three fork arm, three group of three fork arm is linked into an integrated entity by a universal driving shaft,
The universal driving shaft is connected with the linkage motor and the linkage motor drives the universal driving shaft rotation.
6. the automatic unmanned plane for sowing material according to claim 1, which is characterized in that the screw includes rotation
Turn screw rod and screw motor, the rotary screw is detachably connected with the screw motor, is selected according to material particles size suitable
When the rotary screw of flight pitch is connect with the screw motor.
7. the automatic unmanned plane for sowing material according to claim 1, which is characterized in that the discharging turntable is separated into more
A sector region.
8. a kind of mobile control terminal being used cooperatively with unmanned plane, includes display screen and control system, which is characterized in that described
Control system includes：
GPS positioning module, for being positioned to place job site to obtain the longitude and latitude degrees of data of anchor point, and transmittable institute
State longitude and latitude degrees of data；
Electric map module, the longitude and latitude degrees of data for receiving GPS positioning module transmission, according to the longitude and latitude data search institute
Satellite photo in job site, and the boundary in the region on the satellite photo to that need to sow material carries out polymarker；
Area acquisition module is sowed, generates for the label on satellite photo to be linked in sequence and sows working region
Job area figure, and determine working area；
Data input module, for input the course line spacing of the unmanned plane described in any claims of claim 1-6, enroute altitude,
The amount of sowing and flying speed, and for adjusting the anchor point and the label manually；
Line of flight determining module, according to the determining working area and the data input module inputted about institute
The parameter for stating unmanned plane, automatically generates Flight path data；
Communication module, the flight master control borad for the Flight path data to be transmitted to the unmanned plane, and fly to described
Row course data is preserved.
9. the mobile control terminal according to claim 8 being used cooperatively with unmanned plane, which is characterized in that the control system
It is integrated in APP softwares.
10. the mobile control terminal being used cooperatively with unmanned plane according to claim 8 or claim 9, which is characterized in that the control
System can control unmanned plane described in multi rack to be carried out at the same time full-automatic operation.
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| CN201820054145.3U CN208021748U (en) | 2018-01-13 | 2018-01-13 | A kind of automatic unmanned plane for sowing material and mobile control terminal |
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| CN201820054145.3U CN208021748U (en) | 2018-01-13 | 2018-01-13 | A kind of automatic unmanned plane for sowing material and mobile control terminal |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112492928A (en) * | 2020-12-15 | 2021-03-16 | 广州极飞科技有限公司 | Airborne scattering system, method, equipment and storage medium |
| KR20210071383A (en) * | 2019-12-06 | 2021-06-16 | 엘지전자 주식회사 | Mapping method of Lawn Mower Robot. |
-
2018
- 2018-01-13 CN CN201820054145.3U patent/CN208021748U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20210071383A (en) * | 2019-12-06 | 2021-06-16 | 엘지전자 주식회사 | Mapping method of Lawn Mower Robot. |
| KR102295824B1 (en) | 2019-12-06 | 2021-08-31 | 엘지전자 주식회사 | Mapping method of Lawn Mower Robot. |
| US11672199B2 (en) | 2019-12-06 | 2023-06-13 | Lg Electronics Inc. | Mapping method of lawn mower robot |
| CN112492928A (en) * | 2020-12-15 | 2021-03-16 | 广州极飞科技有限公司 | Airborne scattering system, method, equipment and storage medium |
| CN112492928B (en) * | 2020-12-15 | 2024-02-09 | 广州极飞科技股份有限公司 | Airborne scattering system, method, equipment and storage medium |
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