CN208905370U - A kind of device that the blade face medicine based on plant space prescription map sprays - Google Patents
A kind of device that the blade face medicine based on plant space prescription map sprays Download PDFInfo
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- CN208905370U CN208905370U CN201821371896.4U CN201821371896U CN208905370U CN 208905370 U CN208905370 U CN 208905370U CN 201821371896 U CN201821371896 U CN 201821371896U CN 208905370 U CN208905370 U CN 208905370U
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Abstract
The utility model discloses a kind of devices that the blade face medicine based on plant space prescription map sprays, including the high spectrum image and sequence image plant space physiological and pathological information acquisition system, the pesticide spraying system for generating space prescription map industrial personal computer, for moving plant space physiological and pathological information acquisition system and plant mechanism system and spraying to plant progress Grading And Zoning medicine for obtaining plant；Pesticide spraying system includes spray tank, nozzle, runing rest and detection monitoring camera, and spray tank includes several groups batching control unit, several groups medical fluid fills and several transfusion systems.The device that blade face medicine provided by the utility model sprays can reduce waste caused by medicine sprays, and improve efficiency, and improve the accuracy to target.
Description
Technical field
The utility model relates to precision agriculture field, in particular to a kind of blade face medicine based on plant space prescription map sprays
Device.
Background technique
With the development of agricultural modernization, application message technology prevents diseases and pests of agronomic crop increasingly by related scholar
The research of expert, such as spectral technique include that infrared spectroscopy, Raman spectrum, EO-1 hyperion etc. are applied to detection crop organ
The illnesss such as physiological and pathological information variation.In order to prevent these pest and disease damages and improve the existence disease resistances of crops, often use
The mode of spraying pesticide.
However, pesticide application at this stage the problem of that there is wastes is serious, it is inaccurate to spray, inefficiency.Due to existing
The sprinkling of stage pesticide often repeatedly circulation, pesticide spraying amount is big, cause in this way some drugs be largely lost crop in the ranks.
Pesticide is often sprayed using uniformity at this stage, however each field even upgrowth situation and disease pest of each strain plant in practice
Evil situation is different, and the pesticide situation needed also differs widely.In such a way that uniformity sprays, the artificial time is saved,
But it will lead to the case where each strain plant presence of each field sprays inaccurate, mistake spray or drain spray.Simultaneously because sprinkling is multiple
Circulation, causing, which there are problems that, sprays low efficiency.The medicine in crop field is sprayed also and easily there is the life such as soil hardening, environmental pollution
State problem, influences environment and human health.
The crop production of batch production can effectively solve environmental problem caused by reply medicine sprays, such as plant factor or shifting
Plant potted plant, however efficiency still exists, and the unified mode sprayed be easy to cause plant organ local growth by
It influences.Precision aspect is sprayed improving medicine, is gradually applied by research using the method for combining space prescription map, such as Publication No.
The Chinese patent literature of CN103136632A discloses a kind of crop disease condition prescription chart and generates and delivery system, Publication No.
The Chinese patent literature of CN108052562A discloses a kind of prescription map operational method and device, but in relevant patent retrieval
In, but mostly space prescription map patent and application concentrate on coarseness spray space prescription map on the basis of, precision improvement is limited,
And space prescription map is mainly established according to two dimension view, the plant information of acquisition is not comprehensive.
Utility model content
The purpose of this utility model is to provide a kind of device that the blade face medicine based on plant space prescription map sprays, this realities
The device sprayed with the blade face medicine of novel offer can accurately realize that multi-angle fixed point sprays blade face according to the geometry of plant
Medicine, realization carry out effective medicine while detecting plant pathophysiological information and spray, and the agricultural effectively improved is to target to point
The precision of spray.
The utility model the following technical schemes are provided:
A kind of device that the blade face medicine based on plant space prescription map sprays, comprising:
Plant space physiological and pathological information acquisition system, including EO-1 hyperion camera and RGB camera are respectively used to obtain plant
High spectrum image and sequence image, and be transferred to industrial personal computer；
Industrial personal computer combines convolutional neural networks to carry out pixel point after obtaining physiological and pathological spectral information and sequence image
Grade is opened up benefit relationship in conjunction with space geometry and is clustered to point, establishes effectively spray Grading And Zoning, generates space prescription map；It sends
It instructs to mechanism system and pesticide spraying system；
Mechanism system, according to the mobile plant space physiological and pathological information acquisition system of the instruction of industrial personal computer and plant；
Pesticide spraying system carries out Grading And Zoning medicine to plant and sprays according to the space prescription map received.
The physiological and pathological spectral information of the available plant of high spectrum image acquired from EO-1 hyperion camera.
The pesticide spraying system includes:
Spray tank, including several groups batching control unit, several groups medical fluid fill and several transfusion systems, each batching control
Unit carries out medicine proportion according to the space prescription map received and medical fluid is transported to nozzle by transfusion system；
Nozzle is mounted on runing rest, is controlled spray pressure respectively by air valve and nozzle form and is sprayed range；
Runing rest carries out rotation and radial displacement, to adapt to plant size；
Monitoring camera is detected, is mounted on runing rest, while nozzle carries out hydrojet, detects monitoring camera to plant
Image Acquisition is synchronized, obtain plant spatial model medicine sprays situation, to make spraying control adjustment reference.
In pesticide spraying system, medicine is controlled by air valve and nozzle form and sprays situation, the size of air valve controls nozzle
Spray pressure, avoids the nonadherent blade face of medical fluid and causing from wasting wrong spray, nozzle form then controls and sprays range and accomplish to be accurately positioned.
The nozzle form is round mouth or line mouth (rectangular opening).
If described is defeated if the batching control unit includes main line feed conduit, proportion container, main line material outlet canal
Liquid system includes infusion pump and perfusion tube；Medical fluid in medicine liquid tank passes sequentially through feed conduit, proportion container, material outlet canal, defeated
Liquid pump and perfusion tube enter corresponding nozzle.Wherein, transfusion system cooperation batching control unit is mounted in spray tank, is infused
Pump is located at batching control cell end, control discharging medical fluid, and perfusion tube is connected to each nozzle with runing rest.
Preferably, the radius of the material outlet canal is greater than feed conduit.Batching control unit includes multichannel minor radius
Feed conduit guarantees control liquid proportion, while designing large radius material outlet canal mouth, it is ensured that the quick circulation of medical fluid.
Preferably, spray tank includes at least 2 medicine liquid tanks and 2 sets of batching control units, the batching control unit one
To a control nozzle, medical fluid inputs batching control unit in proportion by batching control unit with regulating liquid medicine ratio, and passes through
Infusion pump control realizes accurately spray to the liquid dose of each nozzle in transfusion system.
In pesticide spraying system, it is preferred that the runing rest can be realized according to plant size and be moved radially at class J-type
To adapt to；At least one detection monitoring camera, shooting and monitoring spray situation are installed on the runing rest.
In pesticide spraying system, due to easily causing refraction by water droplet using the light of laser and infrared distance measurement camera merely
Reflecting the occurrence of a variety of leads to range error, it is therefore desirable to be detected in conjunction with visible sensation method.In order to guarantee certain inspection
It surveys precision and reduces manufacturing cost, preferably, selecting RGBD camera Kinect as detection monitoring camera to acquire plant
The depth and colour information of this angle.
In plant space physiological and pathological information acquisition system: theoretically, the angle position of camera distribution is more, plant mould
The better the effect that type is rebuild the more accurate, and the physiological and pathological information of acquisition is abundanter, but will increase the cost of manufacture.
Preferably, the plant space physiological and pathological information acquisition system includes being arranged in four side of device and top
RGB camera combines and is mounted on EO-1 hyperion camera at the top of device up and down with side RGB camera, is arranged in four side of device and position
Light source generator on RGB camera.
The light source generator, predominantly tungsten halogen lamp emit multiband spectrum；It is to reduce unilateral light source and cause to clap
It is seriously bad so as to cause spatial model to take the photograph image shade.
The mechanism system includes flat by the acquisition device mobile platform of industrial personal computer control, rotating platform and movement
Platform；The acquisition device mobile platform includes lifting shaft and translation shaft；The mobile platform includes belt and motor, and motor drives
Belt transmits plant to rotating platform；The rotating platform includes motor, belt, rotary shaft and platform, and motor drives belt to pass
Plant and the plant of rotary shaft upper mounting plate is sent to be rotated.
Wherein, acquisition device mobile platform, rotating platform and mobile platform require operation according to industrial personal computer timing and operation.
In acquisition device mobile platform, the translation shaft includes X-axis and Y axis；In rotating platform, by industrial personal computer control belt,
Rotary shaft rotation, to meet camera acquisition sequence image；Stopping, the operation of belt are controlled, by industrial personal computer to realize that transmission is planted
The stopping shooting and acquisition of strain.Mobile platform feed belt and rotating platform separate, and have certain tilt angle and rotation
Turn platform to connect.
Device provided by the utility model carries out the method that blade face medicine sprays are as follows:
(1) plant to be measured is transported to rotating platform by mobile platform；
(2) acquisition device mobile platform carries out mobile adjustment plant space physiological and pathological information acquisition system to most suitable shooting
Position；
(3) rotating platform rotates, and EO-1 hyperion camera, RGB camera and corresponding light source are successively opened according to acquisition order
Generator is simultaneously successively closed, and plant space physiological and pathological information acquisition system acquires physiological and pathological spectral information and sequence image simultaneously
It is transferred to industrial personal computer；After the completion of acquisition, rotating platform is reset to initial angle position, carries out medicine and sprays；
(4) sky is sprayed by the medicine that industrial personal computer is handled to obtain three-dimensional structure to physiological and pathological spectral information and sequence image
Between prescription map；
(5) it combines detection monitoring camera real-time monitoring and feeds back to spray position and the angle and industrial personal computer generation of industrial personal computer
Medicine spray space prescription map, industrial personal computer transmits electronic signal and to batching control unit carries out medicine proportion and by transfusion system biography
Defeated to arrive nozzle, runing rest carries out radial expansion and rotation according to plant shape and fit with nozzle sprays；
(6) it the plant threedimensional model sprayed after medicine that is detected after spraying according to detection monitoring camera and three-dimensional ties
Structure medicine sprays space prescription map and is compared, and then terminates to spray in evaluation index, and system transfer goes out the plant, transports next plant
Strain；If falling short of the target, repeat step (5).
In step (4), the method for industrial personal computer generation space prescription map are as follows:
(4-1) carries out feature extracting and matching to the multi-angle of view sequence image that RGB camera acquires, and calculates three-dimensional coordinate and generates
Multiframe point cloud data is registrated point cloud data to obtain the three-D space structure model of plant；
(4-2) matches the high spectrum image that EO-1 hyperion camera acquires with the three-D space structure model of plant, will
EO-1 hyperion camera and benchmark RGB camera carry out coordinate transformation, the coordinate system of unified different cameral；On the basis of RGB sequence image,
By interpolation, filtering algorithm unified image resolution ratio, RGB sequence image dimension increases, corresponding to obtain the letter of spectrum containing physiological and pathological
The three-dimensional structure point cloud data of breath；
(4-3) applies convolutional neural networks, selects spectral band according to demand, carries out identification prediction to high spectrum image,
Semantic segmentation is carried out to high spectrum image pixel, and is classified, pixel medicine is calculated and sprays with when measuring；
(4-4) is sprayed step (3) pixel medicine by back projection is used as fourth dimension, five-dimensional information to add with when amount
It adds in three-dimensional structure point cloud data；On this basis, the information characterized by pixel medicine is sprayed with when two dimensions are measured, than
Compared with the characteristic information difference between each point in point cloud data and neighborhood point, the point that interpolation is less than threshold value is clustered, and about
Beam cluster points establish effectively spray Grading And Zoning, generate space prescription map.
In step (4-4), constrained clustering points it is possible to prevente effectively from two dimensional image up and down overlapping cover blade it
Between influence each other.
In step (5), by feed conduit in batching control unit realize medicine spray in medical fluid ratio, by defeated
Infusion pump control in liquid system is transferred to the liquid dose of nozzle, controls medicine by the opening-closing size of nozzle upper air valve and sprays speed
Degree, is stopped by the spray that the open and close control medicine of nozzle upper air valve sprays.
Compared with prior art, the utility model has the following beneficial effects:
The device that blade face medicine provided by the utility model sprays is for high spectrum image pixel spectral information to pixel
Carry out medicine and spray classification, and using rating information as fourth dimension information back projection into three-dimensional point cloud, with fourth dimension information with
Characteristic information of the geometric topo-relationship of three-dimensional point cloud as second of Grading And Zoning further determines that plant medicine sprays classification point
Area's situation establishes more efficient accurate plant space prescription map, improves fix accuracy.
Two-dimentional nutrient figure general compared to tradition, medicine sprayer apparatus in blade face provided by the utility model generated is space
The space prescription map of the more accurate individual plant of information avoids two-dimensional space prescription map image aspects blade occlusion issue,
It can accurately realize that multi-angle fixed point sprays blade face medicine, reduces medicine loss, is suitable for industrialized agriculture according to the geometry of plant
And Plant phenotypic analysis research application.
The device that blade face medicine provided by the utility model sprays can be adjusted according to plant structure size, effectively be cooperated
Plant threedimensional model realizes that fixed point sprays, and the feedback of effect of spraying pesticide may be implemented in combination with RGBD camera, avoid the feelings such as drain spray
Condition occurs.
The device that blade face medicine provided by the utility model based on plant space prescription map sprays realizes real-time detection plant
Object physiological and pathological information simultaneously makes corresponding spray spray subsidy measure, effectively raises the timeliness of operation, and can be directed to
Individual plant physiological and pathological situation sprays medicine processing；Based on three-D space structure prescription flow diagram is established, realizes and planted in detection
It carries out effective medicine while strain pathophysiological information to spray, the agricultural effectively improved to a precision for spray, is used for target
In industrialized agriculture, effectively avoids agriculture excessively sprinkling or owe the bad situation of effect of spraying pesticide caused by spray, save the cost is same
When reduce plant remain excessive pesticide the case where occur；By the proportion adjustment to medicine, it may be selected to spray while realizing medicine, drop
It is low to spray number, it improves efficiency；The utility model realizes automatic control, reduces operation difficulty, improves agricultural production and makees
Industry efficiency.
Detailed description of the invention
Fig. 1 is the front view for the device that blade face medicine provided by the utility model sprays；
Fig. 2 is the top view for the device that blade face medicine provided by the utility model sprays；
Fig. 3 is the structural schematic diagram of pesticide spraying system provided by the utility model；
Fig. 4 is the structural schematic diagram of batching control unit provided by the utility model；
Fig. 5 is the workflow schematic diagram for the device that blade face medicine provided by the utility model sprays.
Wherein, 1, belt；2, rotating platform；3, lifting shaft；4, translation shaft (X-axis)；5, translation shaft (Y-axis)；6, RGB phase
Machine；7, light source generator；8 EO-1 hyperion cameras；9, spray tank；10, runing rest；11, RGBD camera；12, nozzle；13, nozzle
Air valve；14, perfusion tube, 15, batching control unit；16 industrial personal computers；17, feed conduit；18, proportion container；19, material outlet canal.
Specific embodiment
The utility model is described in further detail with example with reference to the accompanying drawing.
The present embodiment is illustrated by taking great Ye tiger fur plant as an example.
As depicted in figs. 1 and 2, the device of the foliage-spray provided in this embodiment based on plant space prescription map includes:
Plant space physiological and pathological information acquisition system, including EO-1 hyperion camera system 8, RGB camera 6, light source generator
7；Specifically, four sides and top of device are equipped with RGB camera 6, and four sides of device are equipped with the light source hair for being located at 6 top of RGB camera
Raw device 7；The side and top of device are equipped with the EO-1 hyperion camera 8 combined up and down with RGB camera.
Industrial personal computer 16 combines convolutional neural networks to carry out pixel point after obtaining physiological and pathological spectral information and sequence image
Grade is opened up benefit relationship in conjunction with space geometry and is clustered to point, establishes effectively spray Grading And Zoning, generates space prescription map；It sends
It instructs to mechanism system and pesticide spraying system.
Mechanism system, acquisition device mobile platform, rotating platform 2 and movement including being controlled by industrial personal computer 16 are flat
Platform；Acquisition device mobile platform is made of lifting shaft (Z axis) 3, translation shaft (X axis) 4, translation shaft (Y-axis) 5, for moving blade face
RGB camera 6 and EO-1 hyperion camera 8 at the top of medicine sprayer apparatus；Rotating platform 2 by belt, rotary shaft, platform and motor form,
For transmitting and rotating plant in the work of plant space physiological and pathological information acquisition system；Mobile platform is by belt 1, motor group
At, for transport carried out in the device that plant sprays to blade face medicine detection and medicine spray.
Pesticide spraying system, as shown in Figure 3 and Figure 4, including spray tank 9, nozzle 12, runing rest 10, RGBD camera 11；Medical fluid
Case 9 includes several groups batching control unit 15, several groups medical fluid fills and several transfusion systems, and batching control unit 15 includes several
Road feed conduit 17, proportion container 18, material outlet canal 19, the transfusion system include infusion pump and perfusion tube 14；Medicine liquid tank
In medical fluid pass sequentially through feed conduit 17, proportion container 18, material outlet canal 19, infusion pump and perfusion tube 14 enter it is corresponding
Nozzle 12；Runing rest 10 can carry out rotation and radial displacement, at class J-type to adapt to plant size；Infusion pump can be controlled
Make the liquid dose of each nozzle 12；The opening-closing size of air valve 13 on nozzle 12 can control medicine and spray speed, air valve 13
The spray that sprays of open and close control medicine stop.
As shown in figure 5, the workflow of above-mentioned apparatus are as follows:
(1) it is controlled by industrial personal computer 16, plant is successively transported to by rotating platform 2 by mobile platform 1 and carries out detection and medicine
Spray, when previous plant enter rotating platform 2 carry out detection spray when, latter plant is located on mobile platform 1, and is in
On the outside of device, into wait state.
(2) acquisition device mobile platform (Z axis 3, X-axis 4, Y-axis 5) adjustment RGB camera 6 and EO-1 hyperion camera 8 position extremely
Suitable camera site.
(3) rotating platform 2 starts to rotate, and light source generator 7 is started to work, and EO-1 hyperion camera system 8 is opened with RGB camera 6
Beginning, which synchronizes, is acquired work, and acquisition includes side view and canopy plant physiological and pathological information and spatial positional information, and is inputted
To industrial personal computer 16.
(4) industrial personal computer 16 according in step (3) physiological and pathological information and spatial positional information calculate obtain space at
Fang Tu.
(5) according to space prescription map, it is a certain amount of that the batching control unit 15 in spray tank 9 carries out certain proportion to medical fluid
Proportion, and be sent at the respectively nozzle 12 of corresponding control by perfusion tube 14, and the diameter of runing rest 10 is controlled by industrial personal computer
Spraying for medical fluid is realized to the 13 opening and closing degree of air valve of displacement and different spray nozzles 12.Specifically, the medical fluid in medicine liquid tank passes through
Different feeds conduit 17 enters the progress medicine of proportion container 18 and sprays proportion, and the medical fluid after proportion is entered defeated by material outlet canal 19
Liquid pipe 14, nozzle 12, wherein the end of batching control unit 15 is arranged in by infusion pump and controls material outlet canal 19 enters
The liquid dose of perfusion tube 14 sprays pressure by the control medical fluid of air valve 13 on nozzle 12.
(6) after single angle sprays, runing rest 10 rotates by a certain angle by guide rail spray until rotation
360°.While nozzle 12 carries out hydrojet, RGBD camera 6 synchronizes Image Acquisition, available plant space to plant
Model drug sprays situation, to determine the need for secondary spray.Specifically, after what detection monitoring camera detected sprays medicine
Plant threedimensional model spray space prescription map with three-dimensional structure medicine and be compared, then terminate to spray in evaluation index, system
It is transported out the plant, transports next plant；If falling short of the target, repeat step (5).
The method of the generation space prescription map of industrial personal computer 16 are as follows:
(4-1) carries out feature extracting and matching to the multi-angle of view sequence image that RGB camera acquires, and calculates three-dimensional coordinate and generates
Multiframe point cloud data is registrated point cloud data to obtain the three-D space structure model of plant；
(4-2) matches the high spectrum image that EO-1 hyperion camera acquires with the three-D space structure model of plant, will
EO-1 hyperion camera and benchmark RGB camera carry out coordinate transformation, the coordinate system of unified different cameral；On the basis of RGB sequence image,
By interpolation, filtering algorithm unified image resolution ratio, RGB sequence image dimension increases, corresponding to obtain the letter of spectrum containing physiological and pathological
The three-dimensional structure point cloud data of breath；
(4-3) applies convolutional neural networks, selects spectral band according to demand, carries out identification prediction to high spectrum image,
Semantic segmentation is carried out to high spectrum image pixel, and is classified, pixel medicine is calculated and sprays with when measuring；
(4-4) is sprayed step (3) pixel medicine by back projection is used as fourth dimension, five-dimensional information to add with when amount
It adds in three-dimensional structure point cloud data；On this basis, the information characterized by pixel medicine is sprayed with when two dimensions are measured, than
Compared with the characteristic information difference between each point in point cloud data and neighborhood point, the point that interpolation is less than threshold value is clustered, and about
Beam cluster points establish effectively spray Grading And Zoning, generate space prescription map.
Claims (6)
1. a kind of device that the blade face medicine based on plant space prescription map sprays, comprising:
Plant space physiological and pathological information acquisition system, including EO-1 hyperion camera and RGB camera are respectively used to obtain the height of plant
Spectrum picture and sequence image, and it is transferred to industrial personal computer；
Industrial personal computer combines convolutional neural networks to carry out pixel classification, knot after obtaining physiological and pathological spectral information and sequence image
Conjunction space geometry is opened up benefit relationship and is clustered to point, establishes effectively spray Grading And Zoning, generates space prescription map；It sends a command to
Mechanism system and pesticide spraying system；
Mechanism system, according to the mobile plant space physiological and pathological information acquisition system of the instruction of industrial personal computer and plant；
Pesticide spraying system carries out Grading And Zoning medicine to plant and sprays according to the space prescription map received.
2. the device that the blade face medicine based on plant space prescription map sprays as described in claim 1, which is characterized in that described
Pesticide spraying system includes:
Spray tank, including several groups batching control unit, several groups medical fluid fill and several transfusion systems, each batching control unit
Medicine proportion is carried out according to the space prescription map received and medical fluid is transported to by nozzle by transfusion system；
Nozzle is mounted on runing rest, is controlled spray pressure respectively by air valve and nozzle form and is sprayed range；
Runing rest carries out rotation and radial displacement, to adapt to plant size；
Monitoring camera is detected, is mounted on runing rest, while nozzle carries out hydrojet, detection monitoring camera carries out plant
Sync image capture, obtain plant spatial model medicine sprays situation, to make spraying control adjustment reference.
3. the device that the blade face medicine based on plant space prescription map sprays as claimed in claim 2, which is characterized in that described
If batching control unit includes main line feed conduit, proportion container and material outlet canal；The transfusion system include infusion pump and
Perfusion tube；Medical fluid in medicine liquid tank passes sequentially through feed conduit, proportion container, material outlet canal, infusion pump and perfusion tube and enters
Corresponding nozzle.
4. the device that the blade face medicine based on plant space prescription map sprays as claimed in claim 3, which is characterized in that described
The radius of material outlet canal is greater than feed conduit.
5. the device that the blade face medicine based on plant space prescription map sprays as described in claim 1, which is characterized in that described
Plant space physiological and pathological information acquisition system includes in the RGB camera for being arranged in four side of device and top and side RGB camera
Lower combination and the EO-1 hyperion camera being mounted at the top of device, the light source generator for being arranged in four side of device.
6. the device that the blade face medicine based on plant space prescription map sprays as described in claim 1, which is characterized in that described
Mechanism system includes acquisition device mobile platform, rotating platform and the mobile platform controlled by industrial personal computer；The acquisition dress
Setting mobile platform includes lifting shaft and translation shaft；The mobile platform includes belt and motor, and motor drives belt to transmit plant
To rotating platform；The rotating platform includes motor, belt, rotary shaft and platform.
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| CN201821371896.4U CN208905370U (en) | 2018-08-24 | 2018-08-24 | A kind of device that the blade face medicine based on plant space prescription map sprays |
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| CN201821371896.4U CN208905370U (en) | 2018-08-24 | 2018-08-24 | A kind of device that the blade face medicine based on plant space prescription map sprays |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10905057B2 (en) | 2017-08-08 | 2021-02-02 | Deere & Company | Thermal imaging drift sensor for agricultural spraying |
| US10913086B2 (en) | 2017-08-08 | 2021-02-09 | Deere & Company | Drift sensor for agricultural spraying |
| CN112690146A (en) * | 2020-12-25 | 2021-04-23 | 重庆赐康果蔬有限公司 | Greenhouse |
| CN113711805A (en) * | 2021-09-22 | 2021-11-30 | 无锡职业技术学院 | A cultivate room for accurate cultivation of crops |
| CN113728838A (en) * | 2021-09-22 | 2021-12-03 | 无锡职业技术学院 | Accurate prevention and control device of crops based on coercion phenotype property |
| CN113840433A (en) * | 2021-09-24 | 2021-12-24 | 中国农业科学院都市农业研究所 | Agricultural light-emitting device |
| CN113940263A (en) * | 2021-11-15 | 2022-01-18 | 中国农业科学院都市农业研究所 | A look after device for plant production |
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2018
- 2018-08-24 CN CN201821371896.4U patent/CN208905370U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10905057B2 (en) | 2017-08-08 | 2021-02-02 | Deere & Company | Thermal imaging drift sensor for agricultural spraying |
| US10913086B2 (en) | 2017-08-08 | 2021-02-09 | Deere & Company | Drift sensor for agricultural spraying |
| CN112690146A (en) * | 2020-12-25 | 2021-04-23 | 重庆赐康果蔬有限公司 | Greenhouse |
| CN113711805A (en) * | 2021-09-22 | 2021-11-30 | 无锡职业技术学院 | A cultivate room for accurate cultivation of crops |
| CN113728838A (en) * | 2021-09-22 | 2021-12-03 | 无锡职业技术学院 | Accurate prevention and control device of crops based on coercion phenotype property |
| CN113728838B (en) * | 2021-09-22 | 2022-06-03 | 无锡职业技术学院 | Accurate prevention and control device of crops based on coercion phenotype property |
| CN113840433A (en) * | 2021-09-24 | 2021-12-24 | 中国农业科学院都市农业研究所 | Agricultural light-emitting device |
| CN113840433B (en) * | 2021-09-24 | 2024-01-16 | 中国农业科学院都市农业研究所 | Agricultural lighting device |
| CN113940263A (en) * | 2021-11-15 | 2022-01-18 | 中国农业科学院都市农业研究所 | A look after device for plant production |
| CN113940263B (en) * | 2021-11-15 | 2023-04-07 | 中国农业科学院都市农业研究所 | A look after device for plant production |
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