JP2012153168A - Chemical liquid dispersing device of unmanned helicopter - Google Patents

Chemical liquid dispersing device of unmanned helicopter Download PDF

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JP2012153168A
JP2012153168A JP2011011362A JP2011011362A JP2012153168A JP 2012153168 A JP2012153168 A JP 2012153168A JP 2011011362 A JP2011011362 A JP 2011011362A JP 2011011362 A JP2011011362 A JP 2011011362A JP 2012153168 A JP2012153168 A JP 2012153168A
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pair
chemical
connected
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JP5700795B2 (en
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Masao Shimamoto
Naoto Yamashita
直人 山下
正雄 嶋本
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New Delta Industrial Co Ltd
ニューデルタ工業株式会社
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Abstract

Disclosed is an unmanned helicopter chemical solution spraying device capable of simplifying piping in the device and easily cleaning the piping.
SOLUTION: Chemical liquid tanks 52L and 52R disposed on the left and right sides of an airframe, a pair of left and right pumps 53L and 53R, a spraying device (atomizer spraying devices 55L and 55R, a center nozzle 55C), and piping for connecting them. In the chemical solution spraying device 5 of the unmanned helicopter 1 that sprays the chemical solution in the air by driving the pair of left and right pumps 53L and 53R, the left and right supply pipes 57L and 57R are connected to the pair of left and right chemical solution tanks 52L and 52R. One end is connected, the other end of the left and right supply pipes 57L and 57R is connected to one end of one merging pipe 58, and the other end of the merging pipe 58 is connected to a pair of left and right pumps 53L and 53R. 59 is connected, and a line filter 70 is provided in the merging pipe 58.
[Selection] Figure 5

Description

  The present invention relates to a chemical liquid spraying device mounted on an unmanned helicopter.

  Conventionally, the technique of the chemical | medical solution spraying apparatus for performing the spraying of a chemical | medical solution in the air using an unmanned helicopter is known. For example, in Patent Document 1, a pair of left and right chemical liquid tanks, a first pump connected via a first strainer to a communication pipe that connects these chemical liquid tanks to each other, and a second pump connected to the communication pipe. And a second pump connected via a strainer of the unmanned helicopter.

JP 2009-269493 A

  However, in the unmanned helicopter chemical spraying device of Patent Document 1 and the conventional unmanned helicopter chemical spraying device 100 shown in FIG. 6, the pipes 113 and 114 extending from the pair of left and right chemical liquid tanks 111 and 112 are connected to each chemical solution. Since it is connected to the first pump 117 and the second pump 118 (a pair of pumps) via strainers 115 and 116 provided for each tank, a pair of left and right chemical liquid tanks 111 and 112, a pair of pumps 117 and 118, The piping between is longer. Therefore, the piping between the pair of left and right chemical tanks 111 and 112 and the pair of pumps 117 and 118 becomes complicated, and there is a problem that it is difficult to clean the piping.

  In addition, since the piping between the pair of left and right chemical liquid tanks 111 and 112 and the pair of pumps 117 and 118 becomes long, an air pool is easily generated in the piping of the curved portion. Therefore, as shown in FIG. 6, in the conventional unmanned helicopter chemical spraying device 100, in order to improve the water absorption of the pair of pumps 117, 118, There is a problem that it is necessary to provide an air vent cock 119 for extracting air, and piping in the apparatus becomes complicated.

  The present invention has been made in view of the above circumstances, and provides an unmanned helicopter chemical spraying device that can simplify piping in the device and easily clean the piping.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

  In other words, the first invention includes a chemical tank disposed on the left and right of the fuselage, a pair of left and right pumps, a spray device, and a pipe connecting them, and the chemical liquid is driven by driving the pair of left and right pumps. In an unmanned helicopter chemical spraying device for spraying the air in the air, one end of the left and right supply pipes is connected to the pair of left and right chemical liquid tanks, the other end of the left and right supply pipes is connected to one end of one merging pipe, The other end of the merging pipe is connected to a water absorption side pipe connected to a pair of left and right pumps, and a filter is provided on the merging pipe.

  In a second aspect based on the first aspect, the filter is configured to be detachable from the merging pipe.

  As effects of the present invention, the following effects can be obtained.

In the first invention, the left and right supply pipes connected to the left and right chemical liquid tanks are connected to one merging pipe, and the merging pipe is connected to the left and right pumps. Can be Accordingly, it is difficult for air to be accumulated in the pipe, the water absorption to the pump is improved, and there is no need to provide a cock for venting air.
Further, since the air vent cock becomes unnecessary, automatic water absorption into the pump becomes possible.
In addition, since only one filter is required, the number of parts can be reduced and the cost can be reduced.

  In the second invention, since the filter is configured to be detachable, the filter can be easily cleaned and replaced.

The side view which shows the whole structure of the unmanned helicopter carrying the chemical | medical solution spraying apparatus of the unmanned helicopter of this invention. The top view which shows the whole structure of the unmanned helicopter carrying the chemical | medical solution spraying device of the unmanned helicopter of this invention. (A) Front sectional drawing of an atomizer spraying apparatus. (B) An enlarged front sectional view in the vicinity of the dispersion guide. (A) XX sectional drawing in Fig.3 (a). (B) The expanded sectional view of the dispersion guide vicinity in FIG. 3 (a). The piping system figure of the chemical | medical solution spraying apparatus of the unmanned helicopter of this invention. The piping system figure of the chemical | medical solution spraying apparatus of the conventional unmanned helicopter.

  First, the whole structure of the unmanned helicopter 1 which mounts the chemical | medical solution spraying apparatus 5 which concerns on this invention is demonstrated. In the following description, the direction of the arrow A shown in FIG. 1 is defined as the front of the unmanned helicopter 1.

  As shown in FIGS. 1 and 2, the unmanned helicopter 1 is mainly composed of a main rotor 3, 3, a tail rotor 4, an engine main body, and a chemical liquid spraying device 5.

  The main rotors 3 and 3 are provided in the upper part of the airframe and can be driven to rotate by an engine (not shown) mounted on the airframe. The main rotors 3 and 3 change the lift applied to the airframe by the rotational drive thereof, so that the airframe is levitated in the air, and the airframe is raised or lowered. The main rotor 3. 3 can change its rotational speed and the inclination formed between the blade surface of the main rotor 3. 3 and the rotation shaft 3 a of the main rotor 3. The main rotors 3 and 3 impart a force for moving in the front-rear direction or the left-right direction to the airframe by tilting the rotation shaft 3 a in the front-rear direction or the left-right direction of the airframe.

  The tail rotors 4 and 4 are provided at the rear part of the airframe and can be driven to rotate by the engine. The tail rotors 4 and 4 have a magnitude of a force that counteracts a reaction torque (force to rotate the machine body in a direction opposite to the direction in which the main rotors 3 and 3 rotate) acting on the machine body by the rotation of the main rotors 3 and 3. Is changed so that the aircraft turns right or left, or the direction of the nose is held in a substantially constant direction. The tail rotors 4 and 4 can change the rotation speed and the inclination formed by the blade surfaces of the tail rotors 4 and the rotation axis of the tail rotors 4 and 4.

  The chemical spraying device 5 is provided on both the left and right sides and the lower part of the machine body. The chemical solution spraying device 5 is a device for spraying a liquid chemical solution in the air from an unmanned helicopter 1 in flight toward a field or the like.

  Hereinafter, the configuration of the chemical solution spraying device 5 will be described.

  As shown in FIGS. 1, 2 and 5, the chemical spraying device 5 includes a frame 51, a pair of left and right chemical tanks 52L and 52R, a pair of left and right pumps 53L and 53R, and a pair of left and right booms 54L and 54R. The spraying device 55, a pair of left and right orifices 66L and 66R, and a three-way cock 64 are mainly configured.

  The frame 51 is a member that fixes other parts constituting the chemical solution spraying device 5 to the machine body. The frame 51 is disposed from the lower part of the aircraft to the left side and the right side of the aircraft, and is detachably attached to the aircraft.

  The pair of left and right chemical liquid tanks 52L and 52R are containers for storing a chemical liquid. The pair of left and right chemical liquid tanks 52L and 52R are disposed in proximity to the left side and the right side of the machine body, and are detachably attached to the machine body via a frame 51.

  The pair of left and right pumps 53L and 53R pumps the chemical liquid stored in the pair of left and right chemical liquid tanks 52L and 52R, respectively. The pumps 53L and 53R are gear pumps, are connected to a motor (not shown), and are driven by the motor. However, the pumps 53L and 53R are not limited to gear pumps, and may be constituted by vane pumps, plunger pumps, or the like.

The pair of left and right booms 54L and 54R are provided so as to extend horizontally from the frame 51 at the lower part of the body in the left-right direction and project outward from the body. The pair of left and right booms 54L and 54R are in a posture of projecting outward from the left and right sides of the aircraft when the chemical solution is sprayed in the air by the chemical solution spraying device 5, and are rotated upward when the unmanned helicopter 1 is transported when the chemical solution is not sprayed. The storage posture is set along the side surface of the machine body.
The pair of left and right booms 54L and 54R are provided with rotation angle adjusting parts 50L and 50R in the middle in the longitudinal direction. By adjusting the rotation angle adjusting portions 50L and 50R, the tip ends (the outer end portions of the fuselage) of the booms 54L and 54R are vertically moved with respect to the base portions (the inner end portions of the fuselage) of the booms 54L and 54R in the horizontal state. It can be rotated.

  The spraying device 55 is a device that sprays the chemical solution supplied from the pair of left and right chemical solution tanks 52L and 52R. The spray device 55 is mainly composed of a pair of left and right atomizer spray devices 55L and 55R and a center nozzle 55C.

The pair of left and right atomizer spraying devices 55L and 55R are atomizer type chemical spraying devices, and each is attached to the tip (outer end of the body) of the pair of left and right booms 54L and 54R.
The center nozzle 55 </ b> C is a nozzle type chemical spraying device, and is attached to the center portion of the frame 51 facing downward.

  As shown in FIG. 2, the atomizer spray devices 55L and 55R are disposed at the outer ends of the booms 54L and 54R. Since the atomizer spray devices 55L and 55R have the same configuration on the left and right, the left atomizer spray device 55L will be described.

  As shown in FIG. 3, the atomizer spraying device 55 </ b> L mainly includes an attachment stay 71, a motor 72, a disk 78, a cover 80, a multi-layer disk 81, and a chemical solution supply nozzle 82.

  The attachment stay 71 is a member fixed to the outer end of the boom 54L and for attaching the atomizer spraying device 55L. The mounting stay 71 is formed to be bent in a substantially L shape in sectional view, the vertical portion is fixed to the tip of the boom 54L, the motor 72 is fixed to the upper surface of the horizontal portion, and the spraying portion is attached to the lower surface of the horizontal portion. .

  The motor 72 is for rotating the disk 78. The output shaft 74 of the motor 72 protrudes downward through a through hole opened in the horizontal portion of the mounting stay 71. A drive shaft 75 is fixed to the output shaft 74 on a concentric extension. The motor 72 is protected by a cover 73 fixed to the mounting stay 71.

  A center portion of the disk 78 is fixed to the lower end of the drive shaft 75 by a bolt 79. The drive shaft 75 is rotatably supported on the cover 80 via bearings 76 and 76. An umbrella-attached collar 77 is fixed in the middle of the drive shaft 75.

  The collar 77 with an umbrella prevents the chemical liquid from flowing upward and entering the bearing 76 side when the chemical liquid is discharged and sprayed below the cover 80. The insertion portion of the drive shaft 75 in the disk 78 is formed in a spline shape and is configured so as not to rotate relative to the disk 78.

  The disk 78 is driven to rotate by the motor 72, and the chemical solution that has flowed down to the upper surface of the disk 78 is discharged and dispersed by flowing in the outer peripheral direction by the centrifugal force caused by the rotation. On the upper surface on the outer peripheral side of the disk 78, a stacked ring-shaped multi-layer disk 81 is fixed with screws.

  Further, an umbrella-shaped cover 80 is fixed on the mounting stay 71 side above the multi-layer disk 81. A chemical solution supply nozzle 82 is inserted into and fixed to the cover 80 from the outside. The chemical liquid supply nozzle 82 is disposed such that its axis, that is, the discharge direction of the chemical liquid supply nozzle 82 faces the drive shaft 75. A dispersion guide 83 is disposed inside the cover 80 and between the tip of the chemical solution supply nozzle 82 and the drive shaft 75.

The dispersion guide 83 disperses the chemical liquid discharged from the chemical liquid supply nozzle 82 to the left and right. As shown in FIG. 3, the dispersion guide 83 extends downward from the inner surface of the cover 80. In this embodiment, it is detachably fixed with screws from below.
As shown in FIG. 4, the dispersion guide 83 is formed of a rod material having a substantially triangular shape in a plan sectional view. Specifically, as shown in FIG. 4B, the dispersion guide 83 is configured in a substantially isosceles triangle shape in cross-sectional view, and the side from the one vertex 83a to the vertices 83b and 83b on both sides is concaved toward the center side. It is formed in a shape. One vertex 83 a and the center 83 c are disposed on a line connecting the center line of the chemical solution supply nozzle 82 and the axis of the drive shaft 75.

  By configuring the dispersion guide 83 in this way, as shown in FIG. 4B, the chemical liquid discharged from the chemical liquid supply nozzle 82 hits one vertex 83a of the dispersion guide 83 and is divided into left and right parts. It is guided to both sides of the dispersion guide 83 along the sides extending from 83a to the apexes 83b and 83b on both sides, and is scattered on the upper surfaces of the disks 78 on both sides of the drive shaft 75. Therefore, compared with the case where the chemical liquid discharged from the chemical liquid supply nozzle 82 hits the drive shaft 75 and is dispersed, the spread of the chemical liquid is increased and the degree of dispersion of the chemical liquid can be increased. That is, since the chemical solution spreads over the entire circumference of the disk 78 and the action of the multi-layer disk 81 is added, a mist of chemical solution particles with little variation can be generated, so that the chemical solution can be uniformly spread and sprayed.

  The other end of the chemical liquid supply nozzle 82 is connected to the left and right supply pipes 61 through an orifice 66L, and is connected to the pump 53L. That is, the chemical liquid fed from the pump 53L is supplied to the chemical liquid supply nozzle 82 via the left and right supply pipes 61 and the orifice 66L. By providing the orifices 66L and 66R, it is possible to adjust the supply amount of the chemical solution to the atomizer spray devices 55L and 55R. Then, the spray amount of the chemical liquid can be adjusted by exchanging the passage holes of the orifices 66L and 66R with different ones.

  As shown in FIG. 3, a multi-layer disk 81 is provided around the lower part of the umbrella-shaped cover 80 so as to be covered with the cover 80. A gap is provided between the stacked disks 81 so that the chemical solution can be diffused. For this reason, the chemical liquid supplied to the atomizer spraying devices 55L and 55R is discharged from the chemical liquid supply nozzle 82, hits the dispersion guide 83, is divided in two directions, scatters to the outer peripheral side of the disk 78, and the multi-layer disk 81 To. Then, the disk 78 is rotationally driven by the power of the motor 72 to be introduced into the gap between the disks of the multi-layer disk 81 provided on the circumferential portion of the disk 78, and the chemical solution is further atomized, It is discharged from the gap to the outside by centrifugal force. With the above-described configuration, the chemical liquid discharged from the chemical liquid supply nozzle 82 has a small droplet diameter, so that the performance of attaching the chemical liquid released from the atomizer spraying devices 55L and 55R to the crop is improved.

  As shown in FIG. 5, the three-way cock 64 has one inlet 64a, two outlets 64b and 64c, and a valve body (not shown). The three-way cock 64 is configured such that a chemical solution can be discharged from either one of the two outlets 64b and 64c by rotating and switching the valve body. The valve body is connected to the output shaft of the motor 65 and is rotated by driving the motor 65 to switch the discharge direction of the chemical liquid. In the three-way cock 64 of this embodiment, the inlet 64a is connected to the chemical tanks 52L and 52R, one outlet 64b is connected to a pair of left and right atomizer sprayers 55L and 55R, and the other outlet 64c is connected to the center nozzle 55C. Thus, the discharge of the chemical solution from the atomizer spray devices 55L and 55R and the discharge of the chemical solution from the center nozzle 55C can be selected.

  Next, the piping configuration of the chemical solution spraying device 5 will be described.

  As shown in FIG. 5, the piping in the chemical spraying device 5 includes a pair of left and right supply pipes 57L and 57R, a merging pipe 58, a water absorption side pipe 59, a discharge side pipe 60L and 60R, a left and right supply pipe 61, The main supply pipe 62 is mainly configured.

  One end of the supply pipe 57L is connected to the bottom of the chemical liquid tank 52L. One end of the supply pipe 57R is connected to the bottom of the chemical liquid tank 52R. The other ends of the supply pipes 57L and 57R are joined and connected to one end of the join pipe 58.

A line filter 70 is provided at an appropriate location (for example, midway) of the merge pipe 58.
The line filter 70 is for preventing clogging of piping by filtering dust and particulates mixed in the chemical solution. The chemical solution supplied from the pair of left and right supply pipes 57L and 57R and joined at one place is joined. When passing through the pipe 58, dust and particulate matter mixed in the chemical solution are filtered. As described above, the chemical liquid is filtered by one line filter 70 with respect to the left and right chemical liquid tanks 52L and 52R (two chemical liquid tanks), thereby reducing the number of filters and shortening the length of the pipe. Therefore, the number of parts and cost can be reduced, the configuration and assembly work of the piping can be simplified, and the trouble of cleaning and maintenance of the filter and piping can be reduced.

  The line filter 70 is detachably provided in the middle part of the merge pipe 58. In other words, couplers or the like are provided on both the inlet side 70a and the outlet side 70b of the line filter 70 so that the line filter 70 can be easily attached and detached, and the line filter 70 can be easily cleaned and the elements can be easily replaced. . Furthermore, since the piping between the chemical liquid tanks 52L and 52R and the pumps 53L and 53R can be shortened, the location where the air pool is generated can be reduced, and the air biting can be prevented, and the water absorption of the pumps 53L and 53R is improved. As a result, it is not necessary to provide an air vent cock for water absorption.

  The water absorption side pipes 59 and 59 are pipes branched from the other end of the merge pipe 58 and connected to the pair of left and right pumps 53L and 53R. That is, one end of the water suction side pipes 59 and 59 is connected to the other end of the merge pipe 58, and the other end of the water suction side pipes 59 and 59 is connected to the water suction port of the left pump 53L and the water suction port of the right pump 53R. Each is connected.

  The discharge side pipes 60L and 60R are pipes connected to the discharge ports of the pair of left and right pumps 53L and 53R and one end of the discharge side merging pipe 67. One ends of the discharge side pipes 60L and 60R are connected to the discharge ports of the pumps 53L and 53R, respectively. The other ends of the discharge side pipes 60 </ b> L and 60 </ b> R are joined at one place and connected to one end of the discharge side join pipe 67.

  The discharge side merging pipe 67 is connected to the merging portion of the discharge side pipes 60L and 60R and one end (inlet 64a) of the three-way cock 64. A drain / drip device 63 is provided at an appropriate location of the discharge side joining pipe 67. The drain / drip device 63 evaporates the moisture of the leaked chemical liquid.

The left and right supply pipe 61 is a pipe that connects the outlet 64b of the three-way cock 64 and the atomizer spray devices 55L and 55R. One end of the left and right supply pipe 61 is connected to the outlet 64b of the three-way cock 64, and the other end of the left and right supply pipe 61 is branched in the left and right directions in the middle, and one is left atomizer spraying device 55L via the left orifice 66L. The other is connected to the right atomizer spraying device 55R via the right orifice 66R.
The left and right orifices 66L and 66R are for limiting the discharge pressure to the atomizer spray devices 55L and 55R.

  The central supply pipe 62 is a pipe that connects the outlet 64c of the three-way cock 64 and the center nozzle 55C. One end of the central supply pipe 62 is connected to the outlet 64c of the three-way cock 64, and the other end is connected to the center nozzle 55C.

In such a configuration, when a chemical solution spraying operation is performed, first, the chemical solution spraying by the atomizer spray devices 55L and 55R or the chemical solution spraying by the center nozzle 55C is selected. When the spraying of the chemical solution by the atomizer spray devices 55L and 55R is selected by selecting means such as a wireless device, the motor 65 is driven to switch the three-way cock 64, and the inlet 64a and the outlet 64b are communicated.
In this state, the unmanned helicopter 1 is allowed to fly and the pumps 53L and 53R are operated at a desired spraying position, whereby the spraying operation of the chemical solution by the atomizer spraying devices 55L and 55R can be performed. At this time, the chemical liquid is sucked into the pumps 53L and 53R from the chemical liquid tanks 52L and 52R through the supply pipes 57L and 57R, the merging pipe 58, the line filter 70, and the water suction side pipe 59 by driving the pumps 53L and 53R. Then, the chemical liquid is supplied from the discharge ports of the pumps 53L and 53R to the atomizer sprayers 55L and 55R via the discharge side pipes 60L and 60R, the discharge side junction pipe 67, the three-way cock 64, the left and right supply pipes 61, and the orifices 66L and 66R. It is sent and sprayed from the atomizer spraying devices 55L and 55R.

  As described above, the chemical spraying device 5 of the unmanned helicopter 1 includes the chemical tanks 52L and 52R disposed on the left and right sides of the fuselage, the pair of left and right pumps 53L and 53R, and the spray devices (the atomizer spray devices 55L and 55R, the center). In the chemical solution spraying device 5 of the unmanned helicopter 1 that includes a nozzle 55C) and piping that connects these, and sprays the chemical solution into the air by driving the pair of left and right pumps 53L and 53R, the pair of left and right chemical solution tanks 52L One end of the left and right supply pipes 57L and 57R is connected to 52R, the other end of the left and right supply pipes 57L and 57R is connected to one end of one merging pipe 58, and the other end of the merging pipe 58 is connected to a pair of left and right It connects with the water absorption side piping 59 * 59 connected with pump 53L * 53R, and provided the line filter 70 in the said confluence | merging pipe | tube 58. FIG.

By configuring the chemical liquid spraying device 5 of the unmanned helicopter 1 in this manner, the piping between the chemical liquid tanks 52L and 52R and the pumps 53L and 53R becomes shorter than the conventional one. Therefore, piping between the chemical liquid tanks 52L and 52R and the pumps 53L and 53R is simplified, and the piping can be easily cleaned.
Further, since the piping between the chemical liquid tanks 52L and 52R and the pumps 53L and 53R is shortened, it is difficult to cause air accumulation in the piping. Therefore, the water absorption of the pumps 53L and 53R is improved, and there is no need to provide an air vent cock for extracting air from the pipe. Therefore, piping in the apparatus can be simplified.
Furthermore, since the air vent cock becomes unnecessary, automatic water absorption to the pumps 53L and 53R becomes possible.
In addition, since only one filter is required, the number of parts can be reduced and the cost can be reduced.

  Further, since the line filter 70 is configured to be detachable from the joining pipe 58, the line filter 70 can be easily cleaned and replaced.

DESCRIPTION OF SYMBOLS 1 Unmanned helicopter 5 Chemical solution spraying device 52L Left side chemical solution tank 52R Right side chemical solution tank 53L Left side pump 53R Right side pump 55 Spraying device 58 Merge piping 59 Water absorption side piping 70 Line filter

Claims (2)

  1. An unmanned helicopter that includes a chemical tank disposed on the left and right of the fuselage, a pair of left and right pumps, a spray device, and a pipe that connects them, and sprays the chemical in the air by driving the pair of left and right pumps. In the chemical spraying device,
    One end of the left and right supply pipes is connected to the pair of left and right chemical tanks, the other end of the left and right supply pipes is connected to one end of one merging pipe, and the other end of the merging pipe is connected to a pair of left and right pumps. Connect to the water absorption side piping,
    A filter is provided in the junction pipe.
    An unmanned helicopter chemical spraying device.
  2.   The unmanned helicopter chemical spraying device according to claim 1, wherein the filter is configured to be detachable from the merging pipe.
JP2011011362A 2011-01-21 2011-01-21 Unmanned helicopter chemical spraying device Active JP5700795B2 (en)

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104354865A (en) * 2014-11-03 2015-02-18 深圳华越力合科技有限公司 U-shaped pesticide box for agriculture unmanned helicopter
CN104568006A (en) * 2015-01-07 2015-04-29 南京林业大学 Agricultural unmanned gyroplane optimal working parameter testing device and method
CN104875891A (en) * 2015-04-01 2015-09-02 浙江空行飞行器技术有限公司 Liquid bag holder of unmanned aerial vehicle pesticide supply structure
WO2017008524A1 (en) * 2015-07-16 2017-01-19 张萍 Multi-rotor unmanned aerial vehicle
CN107012817A (en) * 2017-04-28 2017-08-04 苏州亮磊知识产权运营有限公司 Intelligent road purging system and collaboration method based on unmanned plane integration and cooperation
TWI629212B (en) * 2017-04-26 2018-07-11 易圖科技股份有限公司 Flying device
TWI640455B (en) * 2017-04-26 2018-11-11 易圖科技股份有限公司 Flying device

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Publication number Priority date Publication date Assignee Title
JPH0633406U (en) * 1992-10-13 1994-05-06 三菱農機株式会社 Management work vehicle direction control device
JP2003235430A (en) * 2002-02-20 2003-08-26 Iseki & Co Ltd Self-propelled pest control machine
JP2009261328A (en) * 2008-04-25 2009-11-12 Iseki & Co Ltd Pest control machine
JP2009269493A (en) * 2008-05-08 2009-11-19 Yamaha Motor Co Ltd Unmanned helicopter

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0633406U (en) * 1992-10-13 1994-05-06 三菱農機株式会社 Management work vehicle direction control device
JP2003235430A (en) * 2002-02-20 2003-08-26 Iseki & Co Ltd Self-propelled pest control machine
JP2009261328A (en) * 2008-04-25 2009-11-12 Iseki & Co Ltd Pest control machine
JP2009269493A (en) * 2008-05-08 2009-11-19 Yamaha Motor Co Ltd Unmanned helicopter

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104354865A (en) * 2014-11-03 2015-02-18 深圳华越力合科技有限公司 U-shaped pesticide box for agriculture unmanned helicopter
CN104568006A (en) * 2015-01-07 2015-04-29 南京林业大学 Agricultural unmanned gyroplane optimal working parameter testing device and method
CN104875891A (en) * 2015-04-01 2015-09-02 浙江空行飞行器技术有限公司 Liquid bag holder of unmanned aerial vehicle pesticide supply structure
WO2017008524A1 (en) * 2015-07-16 2017-01-19 张萍 Multi-rotor unmanned aerial vehicle
TWI629212B (en) * 2017-04-26 2018-07-11 易圖科技股份有限公司 Flying device
TWI640455B (en) * 2017-04-26 2018-11-11 易圖科技股份有限公司 Flying device
CN107012817A (en) * 2017-04-28 2017-08-04 苏州亮磊知识产权运营有限公司 Intelligent road purging system and collaboration method based on unmanned plane integration and cooperation
CN107012817B (en) * 2017-04-28 2018-10-12 慧谷人工智能研究院(南京)有限公司 Intelligent road purging system and collaboration method based on unmanned plane integration and cooperation

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