AU2018401058A1 - Plant protection unmanned aerial vehicle operation quality detection apparatus and detection method therefor - Google Patents
Plant protection unmanned aerial vehicle operation quality detection apparatus and detection method therefor Download PDFInfo
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Abstract
A plant protection unmanned aerial vehicle operation quality detection apparatus and a detection method therefor. The plant protection unmanned aerial vehicle operation quality detection apparatus comprises a plant protection unmanned aerial vehicle, a housing, and a main control unit, a dual-antenna positioning module, a power supply and a communication module arranged within the housing. The main control unit is respectively electrically connected to the dual-antenna positioning module and the communication module, the power supply is respectively electrically connected to the main control unit, the dual-antenna positioning module and the communication module, the dual-antenna positioning module is electrically connected to a first positioning antenna (4) and a second positioning antenna (5), the first positioning antenna (4) and the second positioning antenna (5) are respectively mounted on two ends of a top portion of a spray boom (2) on the plant protection unmanned aerial vehicle, and the housing is fixed on a fuselage (1) of the plant protection unmanned aerial vehicle. The plant protection unmanned aerial vehicle operation quality detection apparatus calculates a total spray operation area, an effective spray operation area, a mis-spray rate, a re-spray rate etc. according to operation path points and an operation status of a pump recorded in real time, and thereby evaluates the operation effect of the unmanned aerial vehicle.
Description
PLANT PROTECTION UNMANNED AERIAL VEHICLE OPERATION QUALITY DETECTION APPARATUS AND DETECTION METHOD THEREFOR
Field of the Invention
The invention relates to the technical field of plant-protection UAVs, in particular to a work quality detection device for a plant-protection UAV and a detection method thereof.
Background of the Invention
In recent years, with the emergence of agricultural unmanned aerial vehicles (UAVs), research and applications in the field of aerial plant protection are becoming more and more extensive. At present, plant-protection UAVs have developed rapidly especially in East Asia regions such as China, Japan and Korea. When the UAVs are used for plant-protection work, the work effect and efficiency of the UAVs are concern production costs and farmland income increases and have a direct influence on the enthusiasm of peasants on using the UAVs.
In order to accurately calculate the spray area of the UAVs in work to evaluate the work effect of the UAVs, it is necessary to invent a work quality detection device for a plant-protection UAV and a detection method thereof.
Summary of the Invention
The technical issue to be settled by the invention is to overcome the shortcomings of the prior art by providing a work quality detection device for a plant-protection UAV and a detection method thereof, which can calculate the total spray area, the effective spray area, the spray omission rate, and the spray repetition rate according to work track points recorded in real time and the work status of a liquid pump to evaluate the work effect of UAVs.
The technical solution adopted by the invention to settle the above-mentioned technical issue is as follows:
A work quality detection device for a plant-protection UAV comprises a plant-protection UAV which includes a fuselage, a spray lance, and a plurality of spray nozzle assemblies, wherein the spray lance is fixed to the fuselage, and the plurality of spray nozzle assemblies are sequentially arranged at the bottom of the spray lance from left to right; and the work quality detection device for a plant-protection UAV further comprises a quality detection device which includes a housing, and a main control unit, a dual-antenna positioning module, a power supply and a communication module which are arranged in the housing, wherein the main control unit is electrically connected to the dual-antenna positioning module and the communication module, the power supply is electrically connected to the main control unit, the dual-antenna positioning module, and the communication module, a first positioning antenna and a second positioning antenna are connected to the dual-antenna positioning module in a point-to-point manner and are respectively installed at two ends of the top of the spray lance on the plant-protection UAV, and the housing is fixed to the fuselage of the plant-protection UAV.
According to a further improved technical solution of the invention, a liquid pump and a pesticide tank are installed on the fuselage of the plant-protection UAV, the pesticide tank is communicated with the spray lance via a pesticide pipe, the liquid pump is installed on the pesticide pipe and is connected to the power supply, and a Hall element used for detecting whether or not the liquid pump works is installed on the liquid pump and is electrically connected to the main control unit in the quality detection device.
According to a further improved technical solution of the invention, the communication module includes a 4G mobile communication module, a 4G communication antenna, and an SIM card holder, wherein the SIM card holder is electrically connected to the 4G mobile communication module through an SIM card signal line, the 4G mobile communication module is electrically connected to the 4G communication antenna and the main control unit, and the 4G communication antenna is located outside the housing and is installed on the fuselage of the plant-protection UAV; and the SIM card holder allows an SIM card to be installed therein, the 4G mobile communication module is electrically connected to the power supply, and the 4G communication antenna is remotely connected to a background server.
According to a further improved technical solution of the invention, the main control unit is an STM32F407 control chip, the first positioning antenna and the second positioning antenna are GNSS antennas, and the power supply includes a battery holder electrically connected to the main control unit, the dual-antenna positioning module, the 4G mobile communication module, and the liquid pump as well as a power management module electrically connected to the battery holder.
According to a further improved technical solution of the invention, the main control unit communicates with the dual-antenna positioning module via a two-way serial port.
According to a further improved technical solution of the invention, an operating button, a power light, and a work status light are installed on the housing; the operating button is connected to the main control unit; and the power supply is connected, through a power control signal line, to the main control unit electrically connected to the power light and the work status light and is electrically connected to the main control unit, the dual-antenna positioning module, the 4G mobile communication module, and the liquid pump through power lines.
Another technical solution adopted by the invention to settle the above-mentioned technical issue is as follows:
A detection method of the work quality detection device for a plant-protection UAV comprises the following steps:
(1) Detecting the work current of the liquid pump in real time to detect whether or not the liquid pump works and sending a detected signal to the main control unit in the quality detection device, by the Hall element;
(2) Receiving the signal sent from the Hall element and calculating the work time of the liquid pump to determine a spray time, by the main control unit;
(3) Measuring coordinate information of the first positioning antenna and the second positioning antenna in real time by the dual-antenna positioning module, and sending the coordinate information to the main control unit which calculates coordinates of moving track points of the fuselage according to the coordinate information of the first positioning antenna and the second positioning antenna and filters the coordinates of the track points through a self-adaptive Gaussian filter algorithm;
(4) Calculating a spray area according to the filtered coordinates of the track points, by the main control unit;
(5) Calculating a spray repetition rate and a spray omission rate of the plant-protection UAV according to the spray area, by the main control unit; and (6) Feeding the spray area, the spray repetition rate, and the spray omission rate to the background server through the communication module, by the main control unit.
According to a further improved technical solution of the invention, the self-adaptive Gaussian filter algorithm in Step (3) is particularly as follows:
A filtered value of the coordinate x, y of the track point Τ’ at a time f is:
Wherein, x(tf) and y(tf) are respectively x, y coordinates at the time ti? and i=0, 1, 2, ...; and σ is a bandwidth parameter of a filter kernel function.
According to a further improved technical solution of the invention, Step (4) particularly comprises the following steps:
Defining coordinates of spray endpoints corresponding to the track point Pt as
82/-1)’ ^2(^2,-82,), wherein:
*2/-l = Xi Sin^' + = y<--C0S(3 + ai)’ . ~ (-ly . ~ (-ly x2i =xi--— wzsin(6>.+iz.), y2. =y.+^—w.cos(6».+tz.),
Wherein, w = = y(t), «,= arctan wi is the work width of the XM~Xi plant-protection UAV, and Θ, is an included angle between the extension direction of the spray lance and a flight track line; and
Connecting spray endpoints of two adjacent track points Pi+1 to obtain a spray shape ^i^2^+nC+i2 of the track points PM;
Wherein, the spray area of the two adjacent track points Pi+1 is:
2/+2 = N Σ - Λ+ιΛ) /- = 2/-1
According to a further improved technical solution of the invention, Step (5) particularly comprises the following steps:
Obtaining N quadrangles Sb S2, ..., SN representing spray areas along the track line through a polygonal segmentation fitting method, and obtaining a total spray area Sa through a Boolean operation:
sA
Sequentially connecting all vertexes of a work surface to be sprayed by the plant-protection UAV to obtain the geometrical shape SF of the work surface to be sprayed, wherein, an effective spray area is:
s,=5fris,,
A missed spray area Sm and a repeated spray area So are respectively as follows:
s. = sF - s„, so = ft n 5,) u (¾ n 5,) u... u (5, n 5,),
An effective spray rate ην, the spray omission rate rjm, and the spray repetition rate ηο are respectively as follows:
S’ S’ s
77,, = —- x 100 % , t? = x 100 °/n, η = x 100 % IV s-ι / \) ' I nt s-ι / u ' ΙΟ ζ-ι / \J
The invention has the following beneficial effects: the work quality detection device is installed on the plant-protection UAV, accurate position information of the first positioning antenna and the second positioning antenna can be obtained during two-antenna positioning to finally obtain accurate coordinate information of flight track points, the actual spray area of the spray nozzle assemblies of the plant-protection UAV is worked out according to the coordinate information of the flight track points and the included angle between the spray lance and the flight track line, and data such as the effective spray area, the spray omission rate, and the spray repetition rate are calculated to evaluate the work effect of the plant-protection UAV.
Brief Description of the Drawings
Fig. 1 is a structural view of the invention;
Fig. 2 is structural view of a spray lance of the invention;
Fig. 3 is a schematic diagram of the spray area of the invention;
Fig. 4 is a work flow diagram of the invention.
Detailed Description of the Invention
Embodiment
Specific implementations of the invention are further explained below with reference to Fig. 1 to Fig. 4.
In this embodiment, the work status of a pesticide spray part (liquid pump) of a plant-protection UAV is detected by means of a hardware sensor (Hall element), and original data is recorded by means of software. A total operation area, an effective operation area, a pesticide coverage rate, a pesticide spray repetition rate, and the like are calculated according to work tracks recorded in real time and the work status of the pesticide spray part to evaluate the work efficiency and effect of the UAV. Details are as follows.
This embodiment provides a work quality detection device for a plant-protection UAV, which comprises a plant-protection UAV, wherein the plant-protection UAV includes a fuselage 1, a spray lance 2, and a plurality of spray nozzle assemblies 3, the spray lance 2 is fixed to the fuselage 1, and the plurality of spray nozzle assemblies 3 are sequentially arranged at the bottom of the spray lance 2 from left to right. The work quality detection device for a plant-protection UAV further comprises a quality detection device. Referring to Fig. 1 and Fig. 2, the quality detection device includes a housing, and a main control unit, a dual-antenna positioning module, a power supply and a communication module which are arranged in the housing, wherein the main control unit is electrically connected to the dual-antenna positioning module and the communication module, the power supply is electrically connected to the main control unit, the dual-antenna positioning module, and the communication module, a first positioning antenna 4 and a second positioning antenna 5 are connected to the dual-antenna positioning module in a point-to-point manner and are respectively installed at two ends of the top of the spray lance 2 on the plant-protection UAV, and the housing is fixed to the fuselage 1 of the plant-protection UAV. The dual-antenna positioning module is a dual-antenna multi-system high-precision positioning module.
A liquid pump and a pesticide tank are installed on the fuselage 1 of the plant-protection UAV, wherein the pesticide tank is communicated with the spray lance 2 via a pesticide pipe, the liquid pump is installed on the pesticide pipe and is connected to the power supply, and a Hall element used for detecting whether or not the liquid pump works is installed on the liquid pump and is electrically connected to the main control unit in the quality detection device.
The communication module includes a 4G mobile communication module, a 4G communication antenna, and an SIM card holder, wherein the SIM card holder is electrically connected to the 4G mobile communication module through an SIM card signal line, the 4G mobile communication module is electrically connected to the 4G communication antenna and the main control unit, and the 4G communication antenna is located outside the housing and is installed on the fuselage 1 of the plant-protection UAV; and the SIM card holder allows an SIM card to be installed therein, the 4G mobile communication module is electrically connected to the power supply, and the 4G communication antenna is remotely connected to a background server. The main control unit communicates with the 4G mobile communication module via a USB, the main control unit is a USB primary device, and the 4G mobile communication module is a USB slave device.
The main control unit is an STM32F407 control chip, the first positioning antenna 4 and the second positioning antenna 5 are GNSS antennas, and the power supply includes a battery holder electrically connected to the main control unit, the dual-antenna positioning module, the 4G mobile communication module and the liquid pump, as well as a power management module electrically connected to the battery holder.
The main control unit communicates with the dual-antenna positioning module via a two-way serial port.
An operating button, a power light, and a work status light are installed on the housing; the operating button is connected to the main control unit; and the power supply is connected, through a power control signal line, to the main control unit electrically connected to the power light and the work status light and is electrically connected to the main control unit, the dual-antenna positioning module, the 4G mobile communication module, and the liquid pump through power lines.
In this embodiment, the STM32F407 control chip is adopted to fulfill the following functions: (1) button operation by users is detected to perform corresponding operation such as startup and shutdown; (2) the display color and the flash mode of the work status light are controlled according to the work status of a system; (3) the display color and the flash mode of the work status light are controlled according to detected power of a battery in the battery holder; (4) a switch is controlled to make the power management module supply power to submodules in the system according to the demand of the work status; (5) a Quectel EC20 4G mobile communication module is controlled through a USB to be connected to the background server through a 4G mobile communication network to obtain real-time positioning calibration data from the background server, and positioning data, and a spray area, a spray repetition rate and a spray omission rate which are obtained by calculation are reported to the background server to be stored and recorded; and (6) the STM32F407 control chip communicates with and controls a Trimble MB-TWO dual-antenna multi-system high-precision positioning module via the two-way serial port and transmits the real-time positioning calibration data obtained from the background server to the dual-antenna multi-system high-precision positioning module, wherein the real-time positioning calibration data includes time information and position coordinate information of a fixed base station, the dual-antenna multi-system high-precision positioning module works out accurate positioning data by means of differential positioning, and the STM32F407 control chip reports the accurate positioning data to the background server.
In this embodiment, the dual-antenna multi-system high-precision positioning module is used to fulfill high-precision positioning of the system and has the following performance characteristics and functions: (1) two antennas are simultaneously positioned to obtain accurate positions of the two antennas at the same time; (2) signals acquired by a plurality of satellite positioning systems such as GPS, Beidou, Galileo, and Glonass are used for positioning at the same time; (3) the real-time positioning calibration data received via the serial port and satellite data acquired through antenna signals are fused to work out a centimeter-level positioning result.
This embodiment further provides a detection method of the work quality detection device for a plant-protection UAV, which comprises the following steps:
Referring to Fig. 4, (l)the current work status of the liquid pump of the plant-protection UAV is detected by means of a non-contact measurement method based on a DC mutual induction principle: the Hall element (a non-contact method based on a magnetic-core coil) detects the work current of the liquid pump in real time to detect whether or not the liquid pump works and sends a detected signal to the main control unit in the quality detection device sequentially through an A/D conversion chip and a USB data cable to detect the work status of the liquid pump in real time;
(2) The main control unit receives the signal sent from the Hall element and calculates the work time of the liquid pump to determine a spray time;
(3) Coordinate information of the first positioning antenna 4 and the second positioning antenna 5 is measured in real time by the dual-antenna positioning module, and accurate coordinate information is worked out by means of differential positioning of the real-time positioning calibration data, so that the spray direction of the plant-protection UAV is determined; and the coordinate information is sent to the main control unit which calculates coordinates of moving track points of the fuselage 1 according to the coordinate information of the first positioning antenna 4 and the second positioning antenna 5 and filters the coordinates of the track points through a self-adaptive Gaussian filter algorithm, wherein the coordinates of the moving track points of the fuselage 1 are coordinates of the midpoints of connecting lines of coordinate points of the first positioning antenna 4 and coordinate points of the second positioning antenna 5;
(4) The main control unit calculates the spray area according to the filtered coordinates of the track points;
(5) The main control unit calculates the spray repetition rate and the spray omission rate of the plant-protection UAV according to the spray area; and (6) The main control unit feeds the spray area, the spray repetition rate, and the spray omission rate back to the background server through the communication module.
The self-adaptive Gaussian filter algorithm in Step (3) is particularly as follows:
A filtered value of the coordinate x, y of the track point Τ’ at a timet; is:
Wherein, x(/ ) and X/) are respectively unfiltered x, y coordinates of the track point Τ’ at the time ti? and i=0, 1,2, ...; and σ is a bandwidth parameter of a filter kernel function and is determined according to a sampling frequency.
Step (4) particularly comprises the following steps:
Coordinates of spray endpoints corresponding to the track point Pt are defined as ^Λΰ,-ρΛ,-ι)’ ^2(^2/^2,), wherein:
x2;._i = xt + ( w;. sin(0; +a;), y2i_x = yi - w;. cos(0; +a;), x2;. = A ~ 2 W‘ s'n^' +ai)’ y2i = yi + ( wi cos(#;. +a;),
Wherein, xi = x(t), yi = y(t), a,,= arctan 2i±i—21, w. is the work width of the plant-protection UAV, and 6i is an included angle between the extension direction of the spray lance 2 and a flight track line at the time h; and the flight track line is a connecting line of all the track points;
As shown in Fig. 3, spray endpoints of two adjacent track points Τ’, PM are connected to obtain a spray shape C1C2C+11C+12 of the track points C-C+iJ PfxyP) in Fig. 3 is the filtered value of the coordinate of the track point Pt , fy+1(xi+1, yi+1) is a filtered value of the coordinate of the track point C+l> Cl(*21-1 ’ 5^2/-1)’ C 2 (Tn ’ ya) are coordinate values of the two spray endpoints corresponding to the track point Τ’, C+12^27+2’ y2i+h’ Λ+ι/Λϊ+ΐ’ Λϊ+ι) are coordinate values of two spray endpoints corresponding to the track point Pi+l, and θί+ι is an included angle between the extension direction of the spray lance 2 and the flight track line at a time ti+1; and
Si is the area of a square C4C2C+11C+12 shown in Fig. 3, and correspondingly, the spray area Si of the two adjacent track points Pt, Pi+1 is:
2.1+2.
Z-y 1 / Λ Λ Λ Λ \ s, = - L ^kPk+i 4 /-=2/-1
Step (5) particularly comprises the following steps:
N quadrangles Sb S2, ..., SN representing spray areas along the track line in a work time tN are obtained through a polygonal segmentation fitting method, and a total spray area Sa in the work time tN is obtained through a Boolean “union” operation:
SA =51U52U53U---U5a„
Vertexes of a work surface to be sprayed by the plant-protection UAV are sequentially connected to obtain the geometrical shape Sf of the work surface to be sprayed, and correspondingly, an effective spray area is:
A spray omission area Sm and a spray repetition area So are respectively as follows:
An effective spray rate ην, the spray omission rate r]m, and the spray repetition rate ηο are respectively as follows:
s ss ην - —- x 100 % , /7,,, = x 100 % , η = x 100 %.
tv ζ-ι / v ' / ΙΠ ζ-ι / v ' ΙΟ ζ-ι/ v
O /7 O /7O /7
The work quality detection device for a plant-protection UAV can accurately calculate the spray area, the spray repetition rate, and the spray omission rate in work of the plant-protection UAV to evaluate the work efficiency and effect of the UAV.
The protection scope of the invention includes, but is not limited to, the above embodiments, and is subject to the claims. Any substitutions, transformations, and improvements of this technology easily achievable for those skilled in the art should also fall within the protection scope of the invention.
Claims (5)
- Claims1 A work quality detection device for a plant-protection UAV, comprising a plant-protection UAV which includes a fuselage, a spray lance, and a plurality of spray nozzle assemblies, wherein the spray lance is fixed to the fuselage, and the plurality of spray nozzle assemblies are sequentially arranged at a bottom of the spray lance from left to right; and the work quality detection device further comprises a quality detection device which includes a housing, and a main control unit, a dual-antenna positioning module, a power supply and a communication module which are arranged in the housing, wherein the main control unit is electrically connected to the dual-antenna positioning module and the communication module, the power supply is electrically connected to the main control unit, the dual-antenna positioning module, and the communication module, a first positioning antenna and a second positioning antenna are connected to the dual-antenna positioning module in a point-to-point manner and are respectively installed at two ends of a top of the spray lance on the plant-protection UAV, and the housing is fixed to the fuselage of the plant-protection UAV.2 The work quality detection device for a plant-protection UAV according to Claim 1, wherein a liquid pump and a pesticide tank are installed on the fuselage of the plant-protection UAV, the pesticide tank is communicated with the spray lance via a pesticide pipe, the liquid pump is installed on the pesticide pipe and is connected to the power supply, and a Hall element used for detecting whether or not the liquid pump works is installed on the liquid pump and is electrically connected to the main control unit in the quality detection device.3 The work quality detection device for a plant-protection UAV according to Claim 2, wherein the communication module includes a 4G mobile communication module, a 4G communication antenna, and an SIM card holder, wherein the SIM card holder is electrically connected to the 4G mobile communication module through an SIM card signal line, the 4G mobile communication module is electrically connected to the 4G communication antenna and the main control unit, and the 4G communication antenna is located outside the housing and is installed on the fuselage of the15 plant-protection UAV; and the SIM card holder allows an SIM card to be installed therein, the 4G mobile communication module is electrically connected to the power supply, and the 4G communication antenna is remotely connected to a background server.4 The work quality detection device for a plant-protection UAV according to Claim 3, wherein the main control unit is an STM32F407 control chip, the first positioning antenna and the second positioning antenna are GNSS antennas, and the power supply includes a battery holder electrically connected to the main control unit, the dual-antenna positioning module, the 4G mobile communication module and the liquid pump, as well as a power management module electrically connected to the battery holder.5 The work quality detection device for a plant-protection UAV according to Claim 2, wherein the main control unit communicates with the dual-antenna positioning module via a two-way serial port.6 The work quality detection device for a plant-protection UAV according to Claim 2, wherein an operating button, a power light, and a work status light are installed on the housing; the operating button is connected to the main control unit; and the power supply is connected, through a power control signal line, to the main control unit electrically connected to the power light and the work status light and is electrically connected to the main control unit, the dual-antenna positioning module, a 4G mobile communication module and the liquid pump through power lines.7 A detection method of the work quality detection device for a plant-protection UAV according to Claim 2, comprising the following steps:(1) detecting a work current of the liquid pump in real time to detect whether or not the liquid pump works and sending a detected signal to the main control unit in the quality detection device, by the Hall element;
- (2) receiving the signal sent from the Hall element and calculating a work time of the liquid pump to determine a spray time, by the main control unit;
- (3) measuring coordinate information of the first positioning antenna and the second positioning antenna in real time by the dual-antenna positioning module, and sending the coordinate information to the main control unit which calculates coordinates of moving track points of the fuselage according to the coordinate information of the first positioning antenna and the second positioning antenna and filters the coordinates of the track points through a self-adaptive Gaussian filter algorithm;
- (4) calculating a spray area according to the filtered coordinates of the track points, by the main control unit;
- (5) calculating a spray repetition rate and a spray omission rate of the plant-protection UAV according to the spray area, by the main control unit; and (6) feeding the spray area, the spray repetition rate, and the spray omission rate back to a background server through the communication module, by the main control unit.8 The detection method of the work quality detection device for a plant-protection UAV according to Claim 7, wherein the self-adaptive Gaussian filter algorithm in Step (3) is particularly as follows:a filtered value of the coordinate x, y of the track point Pt at a timet, is:wherein, xfy) and y(0 are respectively x, y coordinates at the time ti? and i=0, 1,2, ...; and σ is a bandwidth parameter of a filter kernel function.9 The detection method of the work quality detection device for a plant-protection UAV according to Claim 8, wherein Step (4) particularly comprises the following steps:defining coordinates of spray endpoints corresponding to the track point Τ’ as ^ι(ΰ,-ι,ΰ,-ι)’ , wherein:Az-1 = xi + ~y~ wi sin(^z + ), Az-1 = U--— wi cos^z + ai), xn = xi--γ- wi sin(^ + ai), Az = U + ~y~ wi cos^z wherein, w = Xt), yi = y(t), at,= arctan —A, is a work width of theE+l-Y plant-protection UAV, and C is an included angle between an extension direction of the spray lance and a flight track line; and connecting spray endpoints of two adjacent track points Pt, Pi+1 to obtain a spray shape ^1^2^+11^+12 of the track points Pt,PM;wherein, a spray area of the two adjacent track points Pt, Pi+1 is:1 2/ + 2 = χ Σ (ΛΛ+ι - Λ+ιΛ)./-=2/-110 The detection method of the work quality detection device for a plant-protection UAV according to Claim 9, wherein Step (5) particularly comprises the following steps:obtainingNquadrangles Si, S2, .., SNrepresenting spray areas along the track line through a polygonal segmentation fitting method, and obtaining a total spray area SA through a Boolean operation:sequentially connecting all vertexes of a work surface to be sprayed by the plant-protection UAV to obtain a geometrical shape Sy of the work surface to be sprayed, wherein an effective spray area is:S,.=SfAft a spray omission area S, and a spray repetition area .S'„ are respectively as follows: s. = s, - s,., s° = (s, n ft u (¾ n ft u u ft n ft an effective spray rate ην, the spray omission rate r/m, and the spray repetition rate ηο are respectively as follows:S Ss77,, = —- x 100 % , /7,,, = x 100 % , η = x 100 %.tv ζ-ι f v ' / Πι ζ-ι f v ' ΙΟ ζ-ιf vO /7 O /7O /7
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810448741.4A CN108917590A (en) | 2018-05-11 | 2018-05-11 | Plant protection drone operation quality detection device and its detection method |
| CN201810448741.4 | 2018-05-11 | ||
| PCT/CN2018/120308 WO2019137136A1 (en) | 2018-05-11 | 2018-12-11 | Plant protection unmanned aerial vehicle operation quality detection apparatus and detection method therefor |
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| CN108917590A (en) * | 2018-05-11 | 2018-11-30 | 农业部南京农业机械化研究所 | Plant protection drone operation quality detection device and its detection method |
| CN109709971A (en) * | 2018-12-10 | 2019-05-03 | 北京云无忧大数据科技有限公司 | For the method and apparatus of plant protection, storage medium and electronic equipment |
| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double-antenna anti-interference navigation device and unmanned aerial vehicle |
| JP6721098B1 (en) * | 2019-07-23 | 2020-07-08 | 東洋製罐株式会社 | Unmanned aerial vehicle |
| CN111868566B (en) * | 2019-10-11 | 2023-10-03 | 安徽中科智能感知科技股份有限公司 | Agricultural machinery operation area measuring and calculating method based on positioning drift measuring and calculating model |
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| CN107272726A (en) * | 2017-08-11 | 2017-10-20 | 上海拓攻机器人有限公司 | Operating area based on unmanned plane plant protection operation determines method and device |
| CN108917590A (en) * | 2018-05-11 | 2018-11-30 | 农业部南京农业机械化研究所 | Plant protection drone operation quality detection device and its detection method |
-
2018
- 2018-05-11 CN CN201810448741.4A patent/CN108917590A/en active Pending
- 2018-12-11 WO PCT/CN2018/120308 patent/WO2019137136A1/en active Application Filing
- 2018-12-11 AU AU2018401058A patent/AU2018401058A1/en not_active Abandoned
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| CN108917590A (en) | 2018-11-30 |
| WO2019137136A1 (en) | 2019-07-18 |
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