CN105045302B - Soil pesticide device and method based on laser positioning - Google Patents
Soil pesticide device and method based on laser positioning Download PDFInfo
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- CN105045302B CN105045302B CN201510446921.5A CN201510446921A CN105045302B CN 105045302 B CN105045302 B CN 105045302B CN 201510446921 A CN201510446921 A CN 201510446921A CN 105045302 B CN105045302 B CN 105045302B
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Abstract
The present invention relates to agricultural mechanical field, and in particular to a kind of soil pesticide device and method based on laser positioning.The soil pesticide device of the present invention accurately determines dispenser position by laser positioning, according to decoction of the predetermined formulation rate with the corresponding formulation rate of corresponding relation application of soil pesticide position, so as to which accurate soil pesticide operation can also be carried out in greenhouse, overcome the shortcoming that soil pesticide does not have crop not position before broadcasting in the prior art, and can be with automatic job, without manual intervention, soil pesticide operating efficiency and accuracy are improved.
Description
Technical field
The present invention relates to agricultural mechanical field, and in particular to a kind of soil pesticide device and method based on laser positioning.
Background technology
Soil is the main media that pest and disease damage is propagated, and is also the main place of pest and disease damage breeding.Many bacteriums, nematode, disease
Poison, worm's ovum and insect etc. can all survive in soil, in addition, also often there being weed seed in soil；Moreover, with melon fruit and vegetable
Dish, flowers, medicinal plant etc. have economic value crop cultivated area constantly expand, the high-density planting of industrialized agriculture and
A kind of crop is planted on same soil year after year；The above situation can cause the growth and breeding of soil biography insect pathogen.This
If class disease is controlled by not in time, Severe Reduction and reduction product quality can be caused, or even total crop failure can be caused.
In order to eliminate or suppress pest and disease damage present in soil, a kind of preferable method be prior to seeding to soil pesticide,
Prevent trouble before it happens.The robot apparatus to soil pesticide is presently in existence to replace manual dispenser.
In order to beneficial to sowing, expect the dispenser at crop-planting point, and expect according to former years pest and disease damage and plant growth
Situation is in the different doses of application that do not exist together.But, due in pre-sowing application, crop-planting point is not can determine that in dispenser,
And often in greenhouse, there is no GPS location signal, there is GPS location signal even in outdoor, but positioning precision is also not enough to
Dispenser position is determined, and different doses can not be applied by diverse location.
The content of the invention
For defect of the prior art, the invention provides a kind of soil pesticide device based on laser positioning and side
Method, can be accurately positioned dispenser point, and determine formulation rate according to position location.
The invention provides a kind of soil pesticide device based on laser positioning, including：Operation car body, and operation is set
Mobile laser terminal, controller and soil pesticide on car body are bored；
The mobile laser terminal includes laser pickoff, and the laser pickoff is sent out for receiving fixed laser terminal
The modulating lasering beam penetrated, determines the first position where the mobile laser terminal；
The controller, the relative position bored according to the first position and mobile laser terminal with soil pesticide, it is determined that
The second place for the corresponding soil of drill bit that the soil pesticide is bored, and according to the second place and the formulation rate pre-set
With the corresponding relation of soil pesticide position, determine that the soil pesticide is drilled in the corresponding formulation rate of the second place, generate
Include the dispenser instruction of the correspondence formulation rate；
The soil pesticide is bored, and the dispenser sent according to the controller is instructed, and pierces the soil of the second place,
Apply the decoction of the correspondence formulation rate.
Preferably, the fixed laser terminal rotates transmitting modulating lasering beam along the horizontal plane, is sent out when rotating to different angles
The frequency for the modulating lasering beam penetrated is different, and the laser pickoff determines the movement according to the modulating lasering beam received
Laser terminal, then according to the frequency of the modulating lasering beam, determines that the modulation swashs to the distance of the fixed laser terminal
The angle of beam emissions, so that it is determined that the first position where the mobile laser terminal.
Preferably, the mobile laser terminal, in addition to height adjustment mechanism, for being changed in the operation car body position
When adjust the height of the mobile laser terminal, the laser pickoff is received the fixed laser terminal all the time and sent out
The modulating lasering beam penetrated.
Preferably, the mobile laser terminal, in addition to laser range finder, for transmitting laser around and receiving reflection
Light；The controller is additionally operable to determine the spatial distribution state of crop according to the data that the laser range finder is measured.
Preferably, the controller, is additionally operable to that formulation rate is determined or updated according to the spatial distribution state of the crop
With the corresponding relation of soil pesticide position.
Preferably, the controller, is additionally operable to close according to dispenser depth set in advance is corresponding with soil pesticide position
System, determines that the soil pesticide is drilled in the corresponding dispenser depth of the second place；The dispenser is bored according to the controller
Dispenser instruction the corresponding dispenser depth dispenser of soil is drilled into the second place.
Preferably, the soil pesticide is bored, in addition to variable farm chemical applying adjuster, used in being instructed according to the dispenser of controller
Corresponding formulation rate regulation from the drill bit spray actual formulation rate；The soil pesticide is bored, in addition to dispenser vibrator, is used
In by vibrating the bubble eliminated in the decoction that the variable farm chemical applying adjuster sprays.
Preferably, the soil pesticide is bored, in addition to apparatus for adjusting position；The controller is according to soil set in advance
Dispenser position and the difference of the second place, send the shift instruction for the drill bit that the mobile soil pesticide is bored, the position
Adjusting means moves horizontally the drill bit according to the shift instruction.
Preferably, it is multiple that the soil pesticide, which is bored, and the controller is respectively by corresponding signal cable to multiple soil
Earth dispenser is bored and is controlled, and the signal cable can be adsorbed on operation vehicle bottom.
Present invention also offers a kind of soil pesticide method based on laser positioning, using above-mentioned based on laser positioning
Soil pesticide device carries out dispenser to soil, including：
Fixed laser terminal is arranged on fixed position, launches modulating lasering beam；
The laser pickoff of mobile laser terminal receives the modulating lasering beam that fixed laser terminal is launched, and determines the shifting
Dynamic laser terminal, apart from L, then according to the frequency of the modulating lasering beam, determines the modulation to the fixed laser terminal
The angle of radiating laser beams, obtains moving the angle [alpha] of laser terminal and fixed laser terminal, so that it is whole to obtain the mobile laser
The first position at end；
The relative position that controller is bored according to mobile laser terminal with soil pesticide, determines the drill bit that the soil pesticide is bored
The second place of corresponding soil, the second place is：
Xa=L*cos α+Xb
Ya=L*sin α+Yb
Wherein Xa, Ya are the coordinate of the second place in the horizontal plane, and Xb, Yb are that mobile laser terminal and soil pesticide are bored
The coordinate of relative position in the horizontal plane；
The controller according to the second place and the formulation rate pre-set and the corresponding relation of soil pesticide position,
Determine that the soil pesticide is drilled in the corresponding formulation rate of the second place, the dispenser that generation includes the correspondence formulation rate refers to
Order；
The soil pesticide, which is bored, receives the dispenser instruction, pierces the soil of the second place, applies the correspondence
The decoction of formulation rate.
The soil pesticide device and method of the present invention accurately determines dispenser position by laser positioning, according to predetermined
Formulation rate and the corresponding formulation rate of corresponding relation application of soil pesticide position decoction, so as to can also enter in greenhouse
The accurate soil pesticide operation of row, overcomes the shortcoming that soil pesticide does not have crop not position before broadcasting in the prior art.And can
With automatic job, without manual intervention, soil pesticide operating efficiency and accuracy are improved.
Brief description of the drawings
Fig. 1 is the schematic configuration diagram of the soil pesticide device according to one embodiment of the invention；
Fig. 2 is each part annexation figure of the soil pesticide device according to one embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawings, the embodiment to the present invention is further described.Following examples are only used for more
Technical scheme is clearly demonstrated, and can not be limited the scope of the invention with this.
One embodiment of the invention provides a kind of soil pesticide device based on laser positioning, as shown in figure 1, including：Make
Industry car body 1, and set mobile laser terminal 2, controller 3 and soil pesticide on operation car body 1 to bore 4.
Mobile laser terminal includes laser pickoff 21, and laser pickoff 21 is launched for receiving fixed laser terminal 5
Modulating lasering beam, it is determined that the first position where mobile laser terminal.It is solid that fixed laser terminal 5 can typically be fixed on wall etc.
On earnest, holding position is motionless.Mobile laser terminal is preferably mounted at car body topmost, it is to avoid barrier obstruction.It should be appreciated that
, first position here is generally referred to as a reference point with a point in fixed laser terminal 5, determines reference direction
The coordinate for the standard point in mobile laser terminal tried to achieve afterwards, specifically tries to achieve the method for first position referring to saying below
It is bright.6 represent the wall where fixed laser terminal 5 in Fig. 1, and 7 represent that also include wheel on soil, operation car body 1 sets with other
It is standby.
Controller 3, according to first position and mobile laser terminal 2 and the relative position of soil pesticide brill 4, determines that soil is applied
Medicine bores the second place in the 4 corresponding soil 7 of drill bit 41, and is applied according to the second place and the formulation rate pre-set with soil
The corresponding relation of medicine position, determines that the soil pesticide is drilled in the corresponding formulation rate of the second place, generation includes described
The dispenser instruction of correspondence formulation rate.The relative position that mobile laser terminal 2 bores 4 with soil pesticide can be measured in advance,
It can be determined by the range unit carried on operation car body 1.It should be understood that it not is in each second place that soil pesticide, which is bored,
Place all applies decoction, and the second place only where it is in the soil pesticide position pre-set and overlapped or phase
Be interposed between predetermined threshold apart from it is interior when just carry out dispenser operation.
Soil pesticide bores 4, and the dispenser sent according to controller 3 is instructed, and pierces the soil of the second place, applies correspondence and applies
The decoction of dose.
In the present embodiment, dispenser position is accurately determined by laser positioning, according to predetermined formulation rate and soil
The corresponding relation of earth dispenser position applies the decoction of correspondence formulation rate, is applied so as to can also carry out accurate soil in greenhouse
Medicine operation, overcomes the shortcoming that soil pesticide does not have crop not position before broadcasting in the prior art.And can be with automatic job, nothing
Manual intervention is needed, dispenser operating efficiency and accuracy is improved.
Determine that first position can for example be realized by such as rear mode：Fixed laser terminal 5 rotates transmitting and adjusted along the horizontal plane
Controlling laser beam, the frequency for rotating to the modulating lasering beam launched during different angles is different, so that different frequency correspondences is different
Launch angle.Such as fixed laser terminal 5 rotates 180 ° and launches 1000 frequencies into the laser beam of arithmetic progression, each laser
The angular interval of beam is 0.18 degree.Laser pickoff 21 determines mobile laser terminal to described solid according to the modulating lasering beam that receives
Determine the distance of laser terminal, this can be by existing laser positioning technology and realizes.Then laser pickoff 21 or control
Device 2 determines the angle of modulating lasering beam transmitting according to the frequency of the modulating lasering beam received, so that it is determined that mobile laser terminal
First position where 2.For example using the laser emitting point in fixed laser terminal 5 as origin, its institute is parallel in the horizontal plane
In the direction of wall extension as 0 degree, because angle, distance have been obtained, then the plane coordinates of first position is easy to
Can be in the hope of (such as according to sinusoidal, cosine formula).And the coordinate of the second place is according to drill bit and the relative seat of first position
Mark, it is easy to which calculating is obtained.
Because the soil of farming is general not flat enough, so mobile laser terminal 2 typically also needs to include height regulation machine
Structure (not shown), the height for adjusting mobile laser terminal 2 in operation 1 shift in position of car body, makes laser pickoff
21 can receive the modulating lasering beam that fixed laser terminal 5 is launched all the time.
Mobile laser terminal 2 also includes laser range finder (not shown), for transmitting laser around and receiving anti-
Penetrate light and obtain ranging data.Controller 3 is additionally operable to determine the space of crop according to the ranging data that the laser range finder is measured
Distribution situation.Controller 3, is additionally operable to that formulation rate and soil pesticide are determined or updated according to the spatial distribution state of the crop
The corresponding relation of position, i.e. laser range finder can measure the position that many of space has the barriers such as branches and leaves, according to these
Position distribution can be obtained by the spatial distribution state of crop, and the spatial distribution state of crop has reacted the growth shape of crop
Condition, according to the empirical data of the upgrowth situation of crop and formulation rate, so that it may it is determined that or renewal formulation rate and soil pesticide position
Corresponding relation.At present, after crop harvesting, there is no crop in greenhouse, soil after ploughing deeply, smooth soil without reference to thing,
Once the soil of the position of long-term cropping needed dispenser, and the line space without long-term cropping can be with Shaoshi medicine or not dispenser, this
Invention can reconstruct the luxuriant degree of plant height and branches and leaves of virtual location and virtual location using laser positioning, and according to this
A little location points and reconstruction of three-dimensional images judge, calculate required soil pesticide amount, it is possible to answered reconstruct data for many years
Reconstruct is closed to calculate formulation rate by built-in algorithms mathematical modeling.
Controller 3, is additionally operable to the corresponding relation according to the dispenser depth pre-set and soil pesticide position, determines soil
Dispenser brill 4 is in the corresponding dispenser depth of the second place, and dispenser instruction is also including correspondence dispenser depth.Soil pesticide bores 4 bases
Corresponding dispenser depth in the dispenser instruction of controller pierces soil in the second place and reaches correspondence dispenser depth dispenser.Example
Such as, soil pesticide brill 4 often rotates the depth that a drill bit 41 pierces a determination, and the number of times of selected rotation, which can just be selected, to be pierced
Dispenser depth.
As shown in Fig. 2 soil pesticide bores 4, including drill bit 41, variable farm chemical applying adjuster 42 and dispenser vibrator 43.Variable
The corresponding formulation rate that dispenser adjuster 42 is used in being instructed according to the dispenser of controller 3 adjusts the actual dispenser of the decoction sprayed
Amount.Dispenser vibrator 43, by vibrating the bubble eliminated in the decoction that variable farm chemical applying adjuster 42 sprays.
As shown in Fig. 2 controller 3 includes master controller 32 and multiplexer (MUX 33, the survey that mobile laser terminal 1 is collected
The formation crop distribution state data of master controller 32 can be sent to away from data, and the first position data collected are sent directly into
Multichannel multiplexer (MUX 33 obtains second place data, in other embodiments, and master controller 32 and multiplexer (MUX 33 also may be used
Think same.It should be understood that controller typically has the devices such as processor and memory.It is multiple, multichannel that soil pesticide, which bores 4,
Controller 33 is bored to multiple soil pesticides by corresponding signal cable 31 be controlled respectively, and signal cable 31 can be wrapped on surface
Rare earth magnetic material is included, so as to adsorb in operation vehicle bottom.
Soil pesticide bores 4, can also include apparatus for adjusting position (not shown)；The controller is according to presetting
Soil pesticide position and the second place difference, send the shift instruction for the drill bit that the mobile soil pesticide is bored, institute
State apparatus for adjusting position and the drill bit is moved horizontally according to the shift instruction.Soil pesticide position is determined so as to accurate,
The position accurate adjustment that mobile operation vehicle's body need not be moved.
Controller 3 can also include Peripheral Interface, for receiving the formulation rate pre-set and soil pesticide position
Corresponding relation.As shown in figure 1, Peripheral Interface is, for example, USB interface 34 and blue tooth interface 35, so that peripheral from for example, USB flash disk
Equipment receives the corresponding relation of the formulation rate and soil pesticide position pre-set.
It should be understood that according to actual needs, soil pesticide device of the invention also includes power, traveling and control system,
Because the present invention is not related to the improvement to these systems, so being not shown in the accompanying drawings, also repeat no more herein.
Corresponding to the above-mentioned soil pesticide device based on laser positioning, present invention also offers a kind of based on laser positioning
Soil pesticide method, dispenser is carried out to soil using the above-mentioned soil pesticide device based on laser positioning, including：
Fixed laser terminal is arranged on fixed position, launches modulating lasering beam；
The laser pickoff of mobile laser terminal receives the modulating lasering beam that fixed laser terminal is launched, and determines the shifting
Dynamic laser terminal, apart from L, then according to the frequency of the modulating lasering beam, determines the modulation to the fixed laser terminal
The angle of radiating laser beams, obtains moving the angle [alpha] of laser terminal and fixed laser terminal, so that it is whole to obtain the mobile laser
The first position at end；
The relative position that controller is bored according to mobile laser terminal with soil pesticide, determines the drill bit that the soil pesticide is bored
The second place of corresponding soil, the second place is：
Xa=L*cos α+Xb
Ya=L*sin α+Yb
Wherein Xa, Ya are the coordinate of the second place in the horizontal plane, and Xb, Yb are that mobile laser terminal and soil pesticide are bored
The coordinate of relative position in the horizontal plane；
Controller according to the second place and the formulation rate pre-set and the corresponding relation of soil pesticide position, it is determined that
Soil pesticide is drilled in the corresponding formulation rate of the second place, and generation includes the dispenser instruction of correspondence formulation rate；
Soil pesticide, which is bored, receives the dispenser instruction, pierces the soil of the second place, applies the decoction of correspondence formulation rate.
In the specification of the present invention, numerous specific details are set forth.It is to be appreciated, however, that embodiments of the invention can be with
Put into practice in the case of these no details.In some instances, known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this description.
Unless otherwise indicated, the technical term or scientific terminology that the disclosure is used should be art technology of the present invention
The ordinary meaning that personnel are understood." first ", " second " that is used in the disclosure and similar word are not offered as any suitable
Sequence, quantity or importance, and be used only to distinguish different parts.The similar word meaning such as " comprising " or "comprising"
Point out that element or object before the existing word are covered the element or object for appearing in the word presented hereinafter and its be equal, without
Exclude other elements or object.The similar word such as " connection " or " connected " is not limited to physics or machinery company
Connect, but electrical connection can be included, it is either directly or indirect.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover among the claim of the present invention and the scope of specification.
Claims (10)
1. a kind of soil pesticide device based on laser positioning, it is characterised in that including：Operation car body, and Operation Van is set
Mobile laser terminal, controller and soil pesticide on body are bored；
The mobile laser terminal includes laser pickoff, and the laser pickoff is used to receive what fixed laser terminal was launched
Modulating lasering beam, determines the first position where the mobile laser terminal, and fixed laser terminal is fixed on consolidating for position fixation
On earnest；
The controller, the relative position bored according to the first position and mobile laser terminal with soil pesticide, it is determined that described
The second place for the corresponding soil of drill bit that soil pesticide is bored, and according to the second place and the formulation rate pre-set and soil
The corresponding relation of earth dispenser position, determines that the soil pesticide is drilled in the corresponding formulation rate of the second place, generation includes
The dispenser instruction of the correspondence formulation rate；
The soil pesticide is bored, and the dispenser sent according to the controller is instructed, and pierces the soil of the second place, is applied
The decoction of the correspondence formulation rate.
2. soil pesticide device according to claim 1, it is characterised in that the fixed laser terminal rotates along the horizontal plane
Launch modulating lasering beam, the frequency for rotating to the modulating lasering beam launched during different angles is different, the laser pickoff according to
The modulating lasering beam received determines the mobile laser terminal to the distance of the fixed laser terminal, then according to institute
The frequency of modulating lasering beam is stated, the angle of the modulating lasering beam transmitting is determined, so that it is determined that where the mobile laser terminal
First position.
3. soil pesticide device according to claim 1, it is characterised in that the mobile laser terminal, in addition to height
Governor motion, the height for adjusting the mobile laser terminal when the operation car body position changes, connects the laser
The modulating lasering beam that the fixed laser terminal is launched can be received all the time by receiving device.
4. soil pesticide device according to claim 1, it is characterised in that the mobile laser terminal, in addition to laser
Rangefinder, for transmitting laser around and receiving reflected light；The controller is additionally operable to be measured according to the laser range finder
Data determine the spatial distribution state of crop.
5. soil pesticide device according to claim 4, it is characterised in that the controller, is additionally operable to be made according to described
The spatial distribution state of thing determines or updated the corresponding relation of formulation rate and soil pesticide position.
6. soil pesticide device according to claim 1, it is characterised in that the controller, is additionally operable to basis and sets in advance
Fixed dispenser depth and the corresponding relation of soil pesticide position, determine that the soil pesticide is drilled in the correspondence of the second place
Dispenser depth；The correspondence for instructing and being drilled into the second place in soil according to the dispenser of the controller is bored in the dispenser
Dispenser depth dispenser.
7. soil pesticide device according to claim 1, it is characterised in that the soil pesticide is bored, in addition to variable is applied
Medicine adjuster, the actual dispenser sprayed for the corresponding formulation rate regulation in the dispenser of controller instruction from the drill bit
Amount；The soil pesticide is bored, in addition to dispenser vibrator, for eliminating the medicine that the variable farm chemical applying adjuster sprays by vibrating
Bubble in liquid.
8. soil pesticide device according to claim 7, it is characterised in that the soil pesticide is bored, in addition to position are adjusted
Regulating device；The controller sends mobile described according to the difference of soil pesticide position set in advance and the second place
The shift instruction for the drill bit that soil pesticide is bored, the apparatus for adjusting position moves horizontally the drill bit according to the shift instruction.
9. the soil pesticide device according to claim 1-8 any of which, it is characterised in that the soil pesticide, which is bored, is
Multiple, the controller is bored to multiple soil pesticides by corresponding signal cable be controlled respectively, and the signal cable can
Absorption is in operation vehicle bottom.
10. a kind of soil pesticide method based on laser positioning, it is characterised in that usage right requires 1-9 any of which institute
The soil pesticide device based on laser positioning stated carries out dispenser to soil, including：
Fixed laser terminal is arranged on fixed position, launches modulating lasering beam；
The laser pickoff of mobile laser terminal receives the modulating lasering beam that fixed laser terminal is launched, and determines that the movement swashs
Optical terminus, apart from L, then according to the frequency of the modulating lasering beam, determines the modulation laser to the fixed laser terminal
The angle of beam transmitting, obtains moving the angle [alpha] of laser terminal and fixed laser terminal, so as to obtain the mobile laser terminal
First position；
The relative position that controller is bored according to mobile laser terminal with soil pesticide, determines the drill bit correspondence that the soil pesticide is bored
Soil the second place, the second place is：
Xa=L*cos α+Xb
Ya=L*sin α+Y b
Wherein Xa, Ya are the coordinate of the second place in the horizontal plane, and Xb, Y b are the phase that mobile laser terminal is bored with soil pesticide
To the coordinate of position in the horizontal plane；
The controller according to the second place and the formulation rate pre-set and the corresponding relation of soil pesticide position, it is determined that
The soil pesticide is drilled in the corresponding formulation rate of the second place, and generation includes the dispenser instruction of the correspondence formulation rate；
The soil pesticide, which is bored, receives the dispenser instruction, pierces the soil of the second place, applies the correspondence dispenser
The decoction of amount.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510446921.5A CN105045302B (en) | 2015-07-27 | 2015-07-27 | Soil pesticide device and method based on laser positioning |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510446921.5A CN105045302B (en) | 2015-07-27 | 2015-07-27 | Soil pesticide device and method based on laser positioning |
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| CN105045302A CN105045302A (en) | 2015-11-11 |
| CN105045302B true CN105045302B (en) | 2017-07-25 |
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| CN103314689A (en) * | 2013-06-24 | 2013-09-25 | 西北农林科技大学 | Intelligent orchard ditching and fertilizing machine with automatic navigation function |
| CN104020445A (en) * | 2014-06-10 | 2014-09-03 | 西安电子科技大学 | Indoor laser positioning system based on frequency labeling method |
| CN104076711A (en) * | 2014-06-25 | 2014-10-01 | 中国农业大学 | On-line fixed point predicating method for target soil fertilizer injection at crop root area |
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1000540A1 (en) * | 1998-11-16 | 2000-05-17 | McLoughlin, Daniel | Image processing |
| CN102881219A (en) * | 2012-09-20 | 2013-01-16 | 北京林业大学 | Fruit-tree positioning map constructing device and method |
| CN102907406A (en) * | 2012-09-20 | 2013-02-06 | 北京林业大学 | Accurately targeted drug applying device and method for fruit tree rootstock |
| CN102972383A (en) * | 2012-11-15 | 2013-03-20 | 北京农业信息技术研究中心 | Fluid type pesticide soil disinfection device |
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| CN104076711A (en) * | 2014-06-25 | 2014-10-01 | 中国农业大学 | On-line fixed point predicating method for target soil fertilizer injection at crop root area |
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|---|---|
| CN105045302A (en) | 2015-11-11 |
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