CN208868296U - Mixed medicine plant protection drone and its control system online - Google Patents
Mixed medicine plant protection drone and its control system online Download PDFInfo
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- CN208868296U CN208868296U CN201821161772.3U CN201821161772U CN208868296U CN 208868296 U CN208868296 U CN 208868296U CN 201821161772 U CN201821161772 U CN 201821161772U CN 208868296 U CN208868296 U CN 208868296U
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Abstract
The utility model discloses online mixed medicine plant protection drone and its control systems, it mainly include drone body and online medicament-mixing device and corresponding control system, the utility model has abandoned previous traditional premix medicine structure, using online mixing method, medicine-chest and water tank are separated, pesticide and water on-line mixing are completed using plant protection drone internal system water flow or the pipeline external energy, realize the standardization, specialization, precision application of pesticide, and the requirement of agricultural sustainable development is met for core with environmental protection and operator's safety.
Description
Technical field
The utility model relates to plant protection drone fields, and in particular to a kind of plant protection with online mixed medicine function nobody
Machine and its control system.
Background technique
Plant protection drone also known as unmanned vehicle are using pilotless helicopter as carrier, and configuration high efficiency ultra-low volume is applied
Medicine facility realizes spraying for the efficient ultra-low volume pesticide in low latitude.Compared with traditional knapsack sprayer, self-walking fog machine tool,
Spray anti-efficiency and effect are obviously improved, and are suitable for farm and Large Area of Crops and long-stalked crops and Hills plant protection spray
It is anti-.Agricultural unmanned plane plant protection low latitude ultra-low volume spraying efficiency is high, and 60 mu per hour~100 mu, be the 100 of conventional manual's sprinkling
Times, it is 8 times of the highest high wide sprayer of stalk of ground pest control equipment control efficiency.Agricultural unmanned helicopter flies conduct boat automatically and makees
Industry reduces the time of staff's exposed to pesticides to the maximum extent, thereby may be ensured that the life security liquid of staff,
To reduce pollution, improvement spray effect is many national to low capacity, ultra-low volume, variable rate spray and smart spraying for developed country
Direction is developed.Variable rate spray becomes an important development direction of spray technique and the hot spot of numerous plant protection experts research.However
The main means of variable rate spray are mainly to be sprayed using premix medicine formula by pulsewidth tune (PWM) or atomisation pressure to change at present
Amount realizes variable rate spray.For country's variable rate spray mainly using premix medicine formula, liquor strength is constant at present, is obtained by changing formulation rate
To realize, main means have pressure type, pulsewidth modulation (PWM) formula etc..There are many drawbacks: 1. operator for the mixed prescription formula
During preparating liquid may exposed to pesticides, occur pesticide poisoning;2. directly and agriculture for spraying pump and spray tank
Medicine contact, and pesticide itself has corrosivity, the material of pump and medicine-chest all must be corrosion-resistant, leads to that the production cost increases;3. medicine
Mixed but unspent pesticide results in waste of resources in case, and medical fluid processing bad also pollutes the environment.Premixed mixed prescription
Formula mixes prescription formula online and separates medicine-chest and water tank because of the numerous requirements for not being able to satisfy agricultural sustainable development of its drawback, benefit
Pesticide and water on-line mixing are completed with plant protection drone pipe-line system water flow inside or the plant protection drone pipeline external energy, is realized
Standardization, specialization, the precision application of pesticide, and agricultural sustainable development is met for core with environmental protection and operator's safety
Requirement.
Utility model content
The utility model aim is to solve deficiency existing for above-mentioned prior art, and providing a kind of can be achieved online mixed medicine
Plant protection drone and its control system.
In order to solve above-mentioned technical proposal, the utility model adopts the following technical solution: a kind of medicine plant protection mixed online nobody
Machine, including unmanned plane and the medicament-mixing device being arranged on unmanned plane, the medicament-mixing device includes shell, medicine-chest, water tank, mixed medicine
Room and spray head；It is hung on unmanned plane outside the shell, medicine-chest, water tank and mixed coyote hole is accommodated in the shell；The medicine
Case and water tank pass through perfusion tube respectively and are connected with mixed coyote hole, and the raw water in original liquid and water tank in the medicine-chest passes through
Respective perfusion tube is flowed into mixed coyote hole and is mixed；The indoor medical fluid of mixed medicine by perfusion tube flows to spray head and via spray
Head is delivered to the external world.
Wherein, the mixed coyote hole bottom is connected with water pump, and the admixing medical solutions flowed out in the mixed coyote hole pass through in water pump
Impeller be stirred mixing.
The medicine-chest and water tank, which lead on the perfusion tube of mixed coyote hole, is disposed with check valve, flowmeter and flow control
Valve processed, flow of the flowmeter to detect raw water and original liquid, the flow control valve is to control raw water and original liquid
Flow.
The water pump, which leads on the perfusion tube of spray head, is connected with liquor strength detection device, and the perfusion tube and liquor strength are examined
It surveys device to be attached by connecting tube, the medical fluid in the perfusion tube enters liquor strength detection dress by the connecting tube of upside
In setting, the medical fluid in the liquor strength detection device is back to perfusion tube by the connecting tube of downside；The liquor strength inspection
Surveying device includes protective shell, transparent pipe, light source component, photoelectric sensor, and the connecting tube passes through protective shell and is arranged in protective shell
Internal transparent pipe is connected, and the light source component and photoelectric sensor are arranged on protective shell inner wall and are symmetrically positioned in transparent pipe two
Side, the photoelectric sensor are connected with the microprocessor.
The medicament-mixing device includes at least one, and the spray head includes at least one.
Meanwhile the utility model additionally provides the control system of the online mixed medicine plant protection drone, comprising:
Raw water flow detection unit, to detect the flow value in the raw water unit time flowed out in water tank and by signal it is defeated
It send to microprocessing unit；Original liquid flow detection unit, to detect the flow in the original liquid unit time flowed out in medicine-chest
Signal is simultaneously delivered to microprocessing unit by value；Raw water flow control valve is controlled to receive the signal of microprocessing unit sending
The flow value in the raw water unit time flowed out in water tank；Original liquid flow flow control valve, to receive microprocessing unit hair
Flow value in original liquid unit time of the signal out to control the interior outflow of medicine-chest；Solenoid valve, to receive microprocessing unit
The signal of sending controls whether medical fluid sprays from spray head；Liquor strength detection unit, the liquor strength detection unit are used
To detect the concentration of admixing medical solutions and signal be delivered to microprocessing unit；Microprocessing unit, to receive signal and issue control
Signal processed.
The liquor strength detection unit receives light varying signal by photoelectric sensor and is delivered to microprocessing unit, by micro-
Light varying signal is converted to liquor strength signal and is delivered to display screen by processing unit.
And the control system further includes liquid level detection unit and alarm unit, the liquid level detection unit passes through liquid level
Signal A is simultaneously delivered to microprocessing unit by sensor detection water tank and liquid level in medicine-chest, when detecting water tank and medicine-chest
When interior liquid height is higher than restriction height, signal A=1 is issued, microprocessing unit, which receives signal and do not do, to react；When detecting water
When liquid height in case or medicine-chest is lower than restriction height, signal A=0 is issued, microprocessing unit receives signal and simultaneously issues signal
Control alarm device work.
The meaning of the utility model is that not only mixed medicine is of low quality by the way of traditional artificial premix, mixes medicine ratio
It is difficult to control, and operator is readily accessible human body and causes damages to body, premixed mixed prescription formula is because of its drawback
Numerous requirements for not being able to satisfy agricultural sustainable development, and online mix prescription formula medicine-chest and water tank are separated, using plant protection nobody
Machine internal system water flow or the pipeline external energy complete pesticide and water on-line mixing, realize the standardization of pesticide, specialization, accurate
Change application, and the requirement of agricultural sustainable development is met for core with environmental protection and operator's safety.
Detailed description of the invention
Fig. 1 is the overall schematic of the utility model；
Fig. 2 is the schematic diagram of online medicament-mixing device in the utility model；
Fig. 3 is another structure chart of online medicament-mixing device in the utility model；
Fig. 4 is the schematic diagram of the utility model Chinese medicine liquid concentration detection apparatus；
Fig. 5 is the structure chart of the utility model control system.
Specific embodiment
The technical solutions in the embodiments of the present invention are clearly and completely described below, it is clear that described reality
The embodiment that example is only the utility model a part is applied, instead of all the embodiments.Based on the embodiments of the present invention,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts, belongs to this reality
With novel protection scope.
As shown in Figure 1, the utility model provides a kind of medicine plant protection drone mixed online, including unmanned plane 1 and setting
Medicament-mixing device 2 on unmanned plane 1, the unmanned plane 1 can use fixed-wing formula, single rotor city or more rotary wind type unmanned planes,
Fixed wing aircraft is mainly used in field information acquisition and farmland remote sensing.Fixed wing aircraft carrying capacity is big, flying speed is fast, operation effect
Rate is high, and when operation uses hedgehopping, more demanding to operating area orographic condition away from 5 ~ 7m of crop canopies；
Single-rotor helicopter and multirotor helicopter are chiefly used in plant protection operation, using going straight up to machine operation, caused by propeller
Air-swirl can make pesticide spraying to the back side of plant stem-leaf, improve spray effect, and fuel consumption is slightly larger compared with fixed wing aircraft,
Can be with VTOL, the place for landing of taking off occupies less, and airflight speed flexible adjustment is adapted to the more complex ground of landform
Area, loading mass can satisfy the pesticide spraying demand of medium and small field between 5kg to 30kg, wherein more rotor plant protection nobody
Machine drives rotor to generate wind-force and carries out flight operation using multiple rotation centers of symmetrical structure, compared to single rotor unmanned plane
Price is more economical, operates more flexible and is easy association, is suitable as the unmanned plane carrier selection of the utility model.
As shown in Figure 2 wherein, medicament-mixing device 2 includes shell 3, medicine-chest 4, water tank 5, mixed coyote hole 6 and spray head 7；Shell is adopted
With PVC shell or aluminium shell, play the role of fixing internal component, while reducing whole weight, medicine-chest and water tank are solid
It is scheduled on interior of shell, and the top of medicine-chest and water tank preferably fits with cover top portion, corresponding top is provided with opening, led to
Crossing opening can be by corresponding raw water and original liquid injection medicine-chest and water tank, and opening is closed by plunger, mixes medicine
Room is the place that medical fluid is mixed with water, is made in the present invention of the stainless steel tube or copper pipe thicker than delivery pipe, caliber
In 10cm or so, a more sufficient blending space is given.
Medicine-chest can be separately provided with water tank, can also with as shown in figure 3, using an entirety cabinet, then in cabinet
Inside setting partition, is divided into two independent parts for cabinet using partition, in two independent parts of cabinet, stores up respectively
Original liquid and raw water are deposited, using the design, the space occupied of medicine-chest and water tank can be effectively reduced, so that whole design
It is more compact.
It is hung on unmanned plane 1 outside the shell 3, plug-in mode can use for reference the existing plug-in mode of plant protection drone medicine-chest, prevent
It only topples, medicine-chest 4, water tank 5 and mixed coyote hole 6 is accommodated in the shell；The medicine-chest 4 and water tank 5 are respectively by defeated
Liquid pipe 100 is connected with mixed coyote hole 6, and the raw water in original liquid and water tank 5 in the medicine-chest 4 passes through respective perfusion tube
It is mixed in the mixed coyote hole 6 of 100 inflows；Medical fluid in the mixed coyote hole 6 flows to spray head 7 and via spray head 7 by perfusion tube 100
It is delivered to the external world, mixed 6 bottom of coyote hole is connected with water pump 8, and the admixing medical solutions flowed out in the mixed coyote hole 6 pass through water pump 8
Interior impeller is stirred mixing, and the medicine-chest 4 and water tank 5, which lead on the perfusion tube 100 of mixed coyote hole 6, is disposed with list
To valve 11, flowmeter 12 and flow control valve 13, flow of the flowmeter to detect raw water and original liquid, the flow
Flow of the control valve to control raw water and original liquid, and by control system according to information such as disease pest and weeds of spraying object and
The working condition of each spray head of crop Characteristics Control, liquor strength, achieve the purpose that variable rate spray accurately controls, wherein water pump
Using gear pump or centrifugal pump or water-ring vacuum pump, it is preferred to use water-ring vacuum pump, structure is simple, handling ease
Therefore purchase cost is lower, and compact-sized, the revolution of pump is higher, generally can with motor direct connection, without deceleration device, therefore with small
Structure size, big capacity can be obtained, meet the small demand of occupied area, and easy to maintenance, easy to operate, satisfaction is stirred
The function of mixing.
As shown in figure 4, at the same time, liquor strength detection dress is connected on the perfusion tube 100 that water pump 8 leads to spray head 7
9 are set, the perfusion tube 100 is attached with liquor strength detection device 9 by connecting tube, the medical fluid in the perfusion tube 100
Entered in liquor strength detection device 9 by the connecting tube of upside, the medical fluid in the liquor strength detection device 9 passes through downside
Connecting tube be back to perfusion tube 100, i.e., on perfusion tube interception one section shunting, by mixing complete medical fluid flowed by the shunting
Enter in medical fluid concentration detection apparatus, the precision degree which can be detected by the operation raising of small flow, while small flow
Whole cost can be reduced by being arranged, and reduce occupied area, without being modified to entire perfusion tube, since perfusion tube is not using
Rust steel is made, and if desired carries out Concentration Testing to the medical fluid in perfusion tube, then needs to be transformed entire perfusion tube, be set
The protective conduit outside the pipe cooperation in inner transparent is set, cost can greatly improve while area occupied is excessive, be unfavorable for nobody
The arrangement of machine, both ensure that the detection of real-time liquor strength by way of drainage, while also reduce cost and occupied area.
Wherein, liquor strength detection device 9 includes protective shell 91, transparent pipe 92, light source component 93, photoelectric sensor 94, institute
It states connecting tube to be connected across protective shell 91 with the transparent pipe 92 being arranged in inside protective shell 91, the light source component 93 and photoelectric transfer
Sensor 94 is arranged on 91 inner wall of protective shell and is symmetrically positioned in 92 two sides of transparent pipe, the photoelectric sensor 94 and microprocessor phase
Connection, using the blue diode of 445nm as light source, photoelectric sensor selects photodiode, and quantitative change to be detected is changed to light
Information content, it is the size for reflecting measurement to be checked with the size of luminous flux, since the diameter of the transparent pipe of restriction is certain, i.e., to
The thickness for examining medical fluid is certain, and the luminous flux received on photodetector is only related with the concentration of testing medium, will by micro process
Optical signal is converted to concentration, and the concentration of medical fluid is detected using this projection-type, observes whether it complies with standard to carry out original
The adjustment of medical fluid liquid outlet quantity.
The medicament-mixing device be it is single or double, if the positive bottom that unmanned plane main body is individually then arranged in, if
Double are then arranged in two sides of the bottom, and depending on the specification of unmanned plane and concrete condition, the spray head 7 is applied using four spray structures
Powder is more uniform, and pesticide supplying effect is good.
It is corresponding with above content, as shown in figure 5, the utility model additionally provides the online mixed medicine plant protection drone
Control system, comprising: raw water flow detection unit, to detect the flow value in the raw water unit time flowed out in water tank 5 simultaneously
Signal is delivered to microprocessing unit；Original liquid flow detection unit, to detect the original liquid unit time flowed out in medicine-chest 4
Signal is simultaneously delivered to microprocessing unit by interior flow value；Raw water flow control valve, to receive the letter of microprocessing unit sending
Number control the flow value in the raw water unit time flowed out in water tank 5；Original liquid flow flow control valve, to receive micro- place
Flow value in original liquid unit time of the signal that reason unit issues to control the interior outflow of medicine-chest 4；Solenoid valve, it is micro- to receive
The signal that processing unit issues controls whether medical fluid sprays from spray head 7；Liquor strength detection unit, the liquor strength
Detection unit is to detect the concentration of admixing medical solutions and signal is delivered to microprocessing unit；Microprocessing unit, to receive letter
Number and issue control signal.
Microprocessing unit therein selects microprocessor STC12C5410AD, similar with other unmanned planes, can pass through
The control in base, issues specific instruction, such as backhaul, turns round, takes off etc., and the movement of unmanned body is controlled with this.
The liquor strength detection unit receives light varying signal by photoelectric sensor 94 and is delivered to microprocessing unit, leads to
Microprocessing unit is crossed light varying signal is converted to liquor strength signal and is delivered to display screen.
It particularly, further include liquid level detection unit and alarm unit,
The liquid level detection unit detects the liquid level in water tank 5 and medicine-chest 4 by liquid level sensor and conveys signal A
Signal A=1 is issued when detecting that the liquid height in water tank 5 and medicine-chest 4 is higher than restriction height to microprocessing unit, it is micro-
Processing unit, which receives signal and do not do, to react；When detecting the liquid height in water tank 5 or medicine-chest 4 lower than height is limited, hair
Signal A=0 out, microprocessing unit receive signal and issue signal control alarm device work, and the restriction height of liquid is set as 3cm,
The effect alerted in advance is given, certain reaction time is given.
The system includes implementing monitoring water flow, medical abortion amount, admixing medical solutions concentration and remaining water, dose, while basis
The instruction of input controls real-time water flow and medical abortion amount, meets required admixing medical solutions concentration value with this, works as detection
When the liquor strength arrived is lower, control original liquid flow flow control valve increases access, improves the flow of medical fluid, or control original
Water flow reduces valve and increases access, reduces the flow of water, the concentration value of admixing medical solutions is improved with this；When liquor strength value is excessively high
When, then it controls original liquid flow flow control valve and reduces access, reduce the flow of medical fluid, or control raw water flow increases valve and increases
Big access improves the flow of water, and the concentration value of admixing medical solutions is reduced with this, maintains the concentration value of admixing medical solutions in certain model
Within enclosing, a kind of chemical concentration flow real-time detection, the variable rate spray control system of on-line automatic mixed medicine, the spraying square are established
The characteristics of formula is the constant amount of spraying, by change liquor strength carry out variable rate spray, with guarantee best mist flow and pressure into
Row sprays, it is ensured that best spraying effect.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art can readily occur in the technical scope that the utility model discloses
Change or replacement, should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should
The defeated protection scope of claim of being subject to.
Claims (8)
1. mixed medicine plant protection drone online, including unmanned plane and the medicament-mixing device being arranged on unmanned plane, which is characterized in that institute
Stating medicament-mixing device includes shell, medicine-chest, water tank, mixed coyote hole and spray head；
It is hung on unmanned plane outside the shell, medicine-chest, water tank and mixed coyote hole is accommodated in the shell；
The medicine-chest and water tank pass through perfusion tube respectively and are connected with mixed coyote hole, in the original liquid and water tank in the medicine-chest
Raw water flowed into mixed coyote hole and mixed by respective perfusion tube；
The indoor medical fluid of mixed medicine flows to spray head by perfusion tube and is delivered to the external world via spray head.
2. mixing medicine plant protection drone online according to claim 1, which is characterized in that the mixed coyote hole bottom is connected with water pump
It connects, the admixing medical solutions flowed out in the mixed coyote hole are stirred mixing by the impeller in water pump.
3. mixing medicine plant protection drone online according to claim 1, which is characterized in that the medicine-chest and water tank lead to mixed medicine
Be disposed with check valve, flowmeter and flow control valve on the perfusion tube of room, the flowmeter to detect raw water and
The flow of original liquid, flow of the flow control valve to control raw water and original liquid.
4. mixing medicine plant protection drone online according to claim 2, which is characterized in that the water pump leads to the perfusion tube of spray head
On be connected with liquor strength detection device, the perfusion tube is attached with liquor strength detection device by connecting tube, described
Medical fluid in perfusion tube is entered in liquor strength detection device by the connecting tube of upside, in the liquor strength detection device
Medical fluid is back to perfusion tube by the connecting tube of downside；
The liquor strength detection device includes protective shell, transparent pipe, light source component, photoelectric sensor, and the connecting tube, which passes through, protects
Protective case is connected with the transparent pipe being arranged in inside protective shell, and the light source component and photoelectric sensor are arranged on protective shell inner wall
And transparent pipe two sides are symmetrically positioned in, the photoelectric sensor is connected with the microprocessor.
5. mixing medicine plant protection drone online according to claim 1, which is characterized in that the medicament-mixing device includes at least one
A, the spray head includes at least one.
6. the control system of mixed medicine plant protection drone online characterized by comprising
Raw water flow detection unit, to detect the flow value in the raw water unit time flowed out in water tank and be delivered to signal
Microprocessing unit；Original liquid flow detection unit, to detect the flow value in the original liquid unit time flowed out in medicine-chest simultaneously
Signal is delivered to microprocessing unit；Raw water flow control valve controls water tank to receive the signal of microprocessing unit sending
Flow value in the raw water unit time of interior outflow；Original liquid flow flow control valve, to receive microprocessing unit sending
Flow value in original liquid unit time of the signal to control the interior outflow of medicine-chest；Solenoid valve is issued to receive microprocessing unit
Signal control whether medical fluid sprays from spray head；Liquor strength detection unit, the liquor strength detection unit is to examine
It surveys the concentration of admixing medical solutions and signal is delivered to microprocessing unit；Microprocessing unit, to receive signal and issue control letter
Number.
7. mixing the control system of medicine plant protection drone online according to claim 6, which is characterized in that the liquor strength inspection
It surveys unit to receive light varying signal by photoelectric sensor and be delivered to microprocessing unit, is turned light varying signal by microprocessing unit
It is changed to liquor strength signal and is delivered to display screen.
8. mixing the control system of medicine plant protection drone online according to claim 6, which is characterized in that further include level sensing
Unit and alarm unit, the liquid level detection unit detect the liquid level in water tank and medicine-chest by liquid level sensor and will letters
Number A is delivered to microprocessing unit, when detect the liquid height in water tank and medicine-chest be higher than limit height when, issue signal A=
1, microprocessing unit, which receives signal and do not do, to react；When detecting the liquid height in water tank or medicine-chest lower than height is limited,
Signal A=0 is issued, microprocessing unit receives signal and issues signal control alarm device work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821161772.3U CN208868296U (en) | 2018-07-23 | 2018-07-23 | Mixed medicine plant protection drone and its control system online |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821161772.3U CN208868296U (en) | 2018-07-23 | 2018-07-23 | Mixed medicine plant protection drone and its control system online |
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| Publication Number | Publication Date |
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| CN208868296U true CN208868296U (en) | 2019-05-17 |
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ID=66463377
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821161772.3U Expired - Fee Related CN208868296U (en) | 2018-07-23 | 2018-07-23 | Mixed medicine plant protection drone and its control system online |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10822085B2 (en) | 2019-03-06 | 2020-11-03 | Rantizo, Inc. | Automated cartridge replacement system for unmanned aerial vehicle |
| WO2021192234A1 (en) * | 2020-03-27 | 2021-09-30 | 株式会社ナイルワークス | Drone for spraying liquid and method for controlling drone |
-
2018
- 2018-07-23 CN CN201821161772.3U patent/CN208868296U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10822085B2 (en) | 2019-03-06 | 2020-11-03 | Rantizo, Inc. | Automated cartridge replacement system for unmanned aerial vehicle |
| WO2021192234A1 (en) * | 2020-03-27 | 2021-09-30 | 株式会社ナイルワークス | Drone for spraying liquid and method for controlling drone |
| JP7460198B2 (en) | 2020-03-27 | 2024-04-02 | 株式会社ナイルワークス | Drone for spraying liquid and drone control method |
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