CN106335641A - Intelligent sprinkling method and intelligent sprinkling system for airplane - Google Patents
Intelligent sprinkling method and intelligent sprinkling system for airplane Download PDFInfo
- Publication number
- CN106335641A CN106335641A CN201610838051.0A CN201610838051A CN106335641A CN 106335641 A CN106335641 A CN 106335641A CN 201610838051 A CN201610838051 A CN 201610838051A CN 106335641 A CN106335641 A CN 106335641A
- Authority
- CN
- China
- Prior art keywords
- sprinkling
- thing
- shower nozzle
- aircraft
- spray
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 35
- 239000007921 spray Substances 0.000 claims abstract description 113
- 238000000889 atomisation Methods 0.000 claims abstract description 16
- 238000005507 spraying Methods 0.000 claims description 104
- 230000008020 evaporation Effects 0.000 claims description 27
- 238000001704 evaporation Methods 0.000 claims description 27
- 230000036624 brainpower Effects 0.000 claims description 13
- 239000003595 mist Substances 0.000 claims 1
- 239000003795 chemical substances by application Substances 0.000 abstract 2
- 239000008187 granular material Substances 0.000 description 11
- 239000000203 mixture Substances 0.000 description 11
- 230000001133 acceleration Effects 0.000 description 8
- 238000001514 detection method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 238000013016 damping Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention discloses an intelligent sprinkling control method and an intelligent sprinkling control system for an airplane. The method comprises the following steps of: determining a sprinkling route of a work area; determining the sprinkling amplitude of a spray head according to the required atomization degree of plants; determining the sprinkling quantity in unit time according to the sprinkling amplitude; judging whether the airplane is positioned in the work area or not; if the airplane is positioned in the work area, performing sprinkling on the work area according to the sprinkling route and the sprinkling quantity in unit time; determining the actual landing position of a sprinkling agent according to the wind speed and the wind direction; recording the actual landing position of the sprinkling agent so as to obtain the sprinkled area; judging whether a non-sprinkled area exists in the work area or not; if a non-sprinkled area exists in the work area, further performing sprinkling; and if no non-sprinkled area exists in the work area, closing the spray head, and returning back. The intelligent sprinkling method and intelligent sprinkling system provided by the invention are capable of realizing automatic and intelligent sprinkling on the work area.
Description
Technical field
The present invention relates to sprinkling field, more particularly to a kind of aircraft brainpower insufflation method and system.
Background technology
With the increase of global demand, aerial work becomes one of ever-increasing industry, and helicopter sprays and traditional
Spray pattern is compared, and has efficiency high, low cost and labor-saving advantage, however, often by pilot in prior art
Sprinkling work to aircraft is controlled, and because probabilistic problem that anthropic factor causes occurs often, this makees to aerial
The development of industry brings very big inconvenience.
Content of the invention
It is an object of the invention to provide a kind of aircraft brainpower insufflation method and system, the method and system are capable of to work
Make the automatic and intelligent sprinkling in region.
For achieving the above object, the invention provides following scheme:
A kind of airplane spray intelligent control method, comprising:
Determine the sprinkling route of working region；
Fogging degree according to needed for plant determines the sprinkling amplitude of shower nozzle；
Determine the fountain height of unit interval according to described sprinkling amplitude；
Judge whether described aircraft is located at described working region；
If it is, unlatching shower nozzle, according to described spray route, according to the fountain height of described unit interval to described work
Region is sprayed；
The actual landing position spraying thing is determined according to wind speed, wind direction；
Record the described actual landing position spraying thing, sprayed region；
Spray region according to described, judge whether to also have in described working region and do not spray region；
If it is, proceeding to spray；
If it is not, then closing described shower nozzle, make a return voyage.
Optionally, the sprinkling route of described determination working region, specifically includes:
Determine the border of operating area；
Determine the shape of described operating area according to the border of described operating area；
According to the shape of described operating area, determine first sprinkling route spraying in route, described sprinkling route is
The route being made up of a plurality of straight line being parallel to each other, described straight line is 2 points on the described border of connection of straight line；
Determine the spacing between each straight line constituting described sprinkling route.
Optionally, described fogging degree according to needed for plant determines the sprinkling amplitude of shower nozzle, specifically includes:
Obtain the ambient temperature outside fuselage；
Determine the evaporation capacity spraying thing according to described ambient temperature；
Obtain the target fogging degree spraying the described sprinkling thing required for plant in region；
The described primary atomization degree spraying thing is determined according to described evaporation capacity and described target fogging degree；
Sprinkling amplitude according to described primary atomization degree adjusting shower nozzle.
Optionally, the described fountain height determining the unit interval according to described sprinkling amplitude, specifically includes:
Obtain the sprinkling amplitude of described shower nozzle, the sprinkling amplitude of described shower nozzle is sector, and described shower nozzle has two rows, two rows
Shower nozzle is separately positioned on the both sides of described aircraft, and the spraying swath of each described shower nozzle is identical；
According to formulaCalculate the fountain height q in the described aircraft unit interval, wherein, l is
Horizontal range between the farthest shower nozzle of fuselage respectively in described two row's shower nozzles, α is described central angle, and h is described aircraft
Flying height, q be unit area the fountain height needed for operating area, v be aircraft flight speed, k be definite value.
Optionally, the described actual landing position according to wind speed, wind direction determination sprinkling thing, specifically includes:
Obtain the flight speed of described aircraft；
Obtain the wind speed and direction of described aircraft local environment；
Flight speed according to described aircraft and described wind speed, wind direction determine the described deviation spraying thing deviation predeterminated position
Distance and direction, described predeterminated position is that the described thing that sprays lands position under the influence of being not counted in initial velocity and wind speed
Put；
Deviateed described in the deviation distance of predeterminated position and the position calculation of direction and described aircraft according to the described thing that sprays
Spray the actual landing position of thing.
Present invention also offers a kind of aircraft brainpower insufflation system, described system includes:
Spray route determining unit, for determining the sprinkling route of working region；
Shower nozzle sprays amplitude determining unit, determines the sprinkling amplitude of shower nozzle for fogging degree according to needed for plant；
Unit interval fountain height determining unit, for determining the sprinkling of unit interval according to the sprinkling amplitude of described shower nozzle
Amount；
Aircraft position judging unit, for judging whether described aircraft is located at described working region；
Spray unit, for when described aircraft be located at described working region when, open shower nozzle, according to described sprinkling route,
Fountain height according to the described unit interval sprays to described working region；
Spray thing landing position determining unit, for the actual landing position spraying thing is determined according to wind speed, wind direction；
Recording unit, for recording the described actual landing position spraying thing, has been sprayed region；
Do not spray region decision unit, for spraying region according to described, judge whether also have in described working region
Do not spray region；
Described spray unit, is additionally operable to, when being also not spray region in described working region, continue according to described spray
Spill route, according to the fountain height of described unit interval, described working region sprayed；
Make a return voyage unit, for when being not spray region in described working region, closing described shower nozzle, making a return voyage.
Optionally, described sprinkling route determining unit, specifically includes:
Operating area border determination subelement, for determining the border of operating area；
Operating area shape determination subelement, for determining the shape of described operating area according to the border of described operating area
Shape；
Article first, spray route determination subelement, for the shape according to described operating area, determine and spray in route
Article first, spray route, described sprinkling route is the route being made up of a plurality of straight line being parallel to each other, described straight line is for connecting institute
State 2 points on border of straight line；
Spacing determination subelement, for determining the spacing between each straight line constituting described sprinkling route.
Optionally, described shower nozzle sprays amplitude determining unit, specifically includes:
Ambient temperature obtains subelement, for obtaining the ambient temperature outside fuselage；
Evaporation capacity determination subelement, for determining the evaporation capacity spraying thing according to described ambient temperature；
Target fogging degree obtains subelement, for obtaining the mesh of the described sprinkling thing required for the plant sprayed in region
Mark fogging degree；
Spray thing primary atomization degree determination subelement, for determining according to described evaporation capacity and described target fogging degree
The described primary atomization degree spraying thing；
Shower nozzle sprays amplitude adjustment subelement, for the sprinkling amplitude according to described primary atomization degree adjusting shower nozzle.
Optionally, described unit interval fountain height determining unit, specifically includes:
Shower nozzle sprays amplitude and obtains subelement, for obtaining the sprinkling amplitude of described shower nozzle, the sprinkling amplitude of described shower nozzle
For sector, described shower nozzle has two rows, and two row's shower nozzles are separately positioned on the both sides of described aircraft, and the spraying swath of each described shower nozzle
Identical；
Unit interval fountain height computation subunit, for according to formulaCalculate described aircraft
Fountain height q in unit interval, wherein, l be in described two row's shower nozzles respectively the level between the farthest shower nozzle of fuselage away from
From α is described central angle, and h is the flying height of described aircraft, and q is the fountain height needed for operating area of unit area, and v is
The flight speed of aircraft, k is definite value.
Optionally, described sprinkling thing landing position determining unit, specifically includes:
Flight speed obtains subelement, for obtaining the flight speed of described aircraft；
Wind speed and direction obtains subelement, for obtaining the wind speed and direction of described aircraft local environment；
Deviation distance determination subelement, for described in the flight speed according to described aircraft and described wind speed, wind direction determination
Spray thing and deviate the deviation distance of predeterminated position and direction, described predeterminated position be described sprinkling thing be not counted in initial velocity with
And the landing position under the influence of wind speed；
Spray thing landing position computation subunit, for spraying, according to described, deviation distance and the side that thing deviates predeterminated position
To and the position calculation of described aircraft described in spray thing actual landing position.
The specific embodiment being provided according to the present invention, the invention discloses following technique effect: the intelligence that the present invention provides
Spray method voluntarily can be planned to spraying route, and by the judgement to aircraft position, it is determined whether open shower nozzle and enter
Row sprays, and determines the region of sprinkling by calculating the actual landing position spraying thing, is all sprayed when working region is detected
When spilling, it is automatically stopped sprinkling, and make a return voyage it is achieved that entirely spraying the automatization of process, intellectuality.
Brief description
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Need use accompanying drawing be briefly described it should be apparent that, drawings in the following description be only the present invention some enforcement
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the schematic flow sheet of embodiment of the present invention brainpower insufflation method；
Fig. 2 determines the schematic flow sheet spraying route for the embodiment of the present invention；
Fig. 3 is the set location schematic diagram of the present embodiment aircraft shower nozzle；
Fig. 4 determines the schematic flow sheet of sprinkling amplitude for the embodiment of the present invention；
Fig. 5 calculates the method flow diagram of the positional information of all pick-up points spraying thing for the embodiment of the present invention；
Fig. 6 is the geometrical relationship schematic diagram of the position calculation of two end points of the amplitude of landing；
Fig. 7 is the structural representation of embodiment of the present invention aircraft brainpower insufflation system.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
It is an object of the invention to provide a kind of aircraft brainpower insufflation method, enough realizations spray automatic and intelligent to working region
Spill.
Understandable for enabling the above objects, features and advantages of the present invention to become apparent from, below in conjunction with the accompanying drawings and specifically real
The present invention is further detailed explanation to apply mode.
Fig. 1 is the schematic flow sheet of embodiment of the present invention brainpower insufflation method, as shown in figure 1, the method includes following step
Rapid:
Step 101: determine the sprinkling route of working region；
Step 102: fogging degree according to needed for plant determines the sprinkling amplitude of shower nozzle；
Step 103: determine the fountain height of unit interval according to described sprinkling amplitude；
Step 104: judge whether described aircraft is located at described working region；
Step 105: if described aircraft is in described working region, open shower nozzle, according to described sprinkling route, root
Fountain height according to the described unit interval sprays to described working region；
Step 106: the actual landing position spraying thing is determined according to wind speed, wind direction；
Step 107: record the described actual landing position spraying thing, sprayed region；
Step 108: spray region according to described, judge whether to also have in described working region and do not spray region；
Step 109: if also have in described working region not spraying region, proceed to spray；
Step 110: if not spraying region in described working region, closing described shower nozzle, making a return voyage.
In above-mentioned steps 101, the determination of the sprinkling route of working region specifically comprises the following steps again:
Fig. 2 determines, for the embodiment of the present invention, the schematic flow sheet spraying route, as shown in Fig. 2
Step 201: determine the border of operating area；
Step 202: determine the shape of described operating area according to the border of described operating area；
Step 203: according to the shape of described operating area, determine first sprinkling route spraying in route, described spray
Spilling route is the route being made up of a plurality of straight line being parallel to each other, and described straight line is 2 points on the described border of connection of straight line；
Step 204: determine the spacing between each straight line constituting described sprinkling route.
In step 203, specific implementation is: whether the shape judging operating area is the polygon of rule；As
Fruit is then to determine described first sprinkling route according to the longest edge in regular polygon；If it is not, then determining described operation
The inscribe polygon in region, the longest edge in described inscribe polygon is defined as first sprinkling route.
If the polygon of the shape of operating area inherently rule, then calculate the spraying swath width of described aircraft, institute
The spraying swath width stating aircraft is to spray the developed width that thing falls on the ground, that is, spray amplitude, the sprinkling of aircraft in the present embodiment
Structure is located at the both sides of airframe, and Fig. 3 is the set location schematic diagram of the present embodiment aircraft shower nozzle, as shown in figure 3, fuselage two
Side is respectively arranged with row's shower nozzle 301 and 302, and what the spraying swath of shower nozzle can be approximate regards sector as, and the shower nozzle of each shower nozzle is identical, root
According to formulaCalculate aircraft spraying swath width s, wherein, l be described two row's shower nozzles in respectively apart from fuselage
Horizontal range between remote shower nozzle, α is fan-shaped central angle, and h is the flying height of described aircraft.
Obtain the wind speed of described aircraft local environment and the flight speed of described aircraft；
According to the spraying swath width of described aircraft, described wind speed and described flight speed determine described first spray route with
The distance s of described longest edge, specifically, preferable distance s are the half of spraying swath width, but start in itself to spray due to spraying thing
Just speed is carried when going out, and, also suffer from the impact of wind speed, so, consider to spray thing velocity in the horizontal plane,
At this moment, according to the height of aircraft, and freely falling body physicss' formula calculate spray thing from leave aircraft to ground institute
Take time t；The flight speed of described aircraft and described wind speed are carried out Vector modulation, obtains described sprinkling thing in the horizontal plane
Speed v；The described sprinkling actual pick-up point of thing is calculated with the described thing that sprays calm and be not counted in described spray according to formula l=vt
Spill pick-up point during thing initial velocity in the horizontal plane apart from l, the direction spraying thing velocity in the horizontal plane is exactly
Apart from the offset direction of l, asked for apart from l along the component p on spraying swath width according to orientation angle, finally, according to formulaMeter
Calculate and obtain first sprinkling route with longest edge apart from s；
To be s with described longest edge distance, and be defined as parallel to the straight line inside the described polygon of described longest edge
Described first sprinkling route.
In step 204, when determining the spacing sprayed in route between adjacent paths, this spacing is theoretically and flies
Machine spraying swath width, however it is necessary that being adjusted in real time according to the impact of wind speed, particularly as follows:
Distance values between described adjacent straight line are set to the spraying swath width of described aircraft；
The described wind speed of measurement is along the speed of on described aircraft flight direction (i.e. along along spraying swath width) in real time
Component；
Calculate on described aircraft flight direction, spray sprinkling thing when the actual pick-up point of thing deviates calm actual fall
The distance in place, obtains deviation distance；
In real time in sprinkling route according to the spraying swath width adjustment of described deviation distance and described aircraft between each straight line
Distance, the deviation distance specially tried to achieve using said method plus (or deducting) with aircraft spraying swath width, the choosing adding deduct
Select and determine with specific reference to the direction deviateed, the direction of deviation determines according to the direction of the above-mentioned velocity component seeking out.
Aircraft when spraying, (point-blank cover, turn around adjacent by aircraft snake mode on spraying route
Toward contrary direction flight on straight line, by that analogy, form snakelike route), and the longest edge of operating area route the most is advised
The reference drawn, ensure that the time of aircraft flight reaches the shortest, the efficiency of sprinkling reaches highest, meanwhile, present invention further contemplates that
The impact of airplane spray amplitude and wind speed, has ensured that the quality it is ensured that spraying all can be sprayed in operating area.
In a step 102, fogging degree according to needed for plant determines the sprinkling amplitude of shower nozzle, and concrete inclusion again is following to be walked
Rapid: Fig. 4 determines the schematic flow sheet of sprinkling amplitude for the embodiment of the present invention, as shown in figure 4,
Step 401: obtain the ambient temperature outside fuselage；
Step 402: determine the evaporation capacity spraying thing according to described ambient temperature；
Step 403: obtain the target fogging degree spraying the described sprinkling thing required for plant in region；
Step 404: the described primary atomization degree spraying thing is determined according to described evaporation capacity and described target fogging degree；
Step 405: according to the sprinkling amplitude of described primary atomization degree adjusting shower nozzle.
In step 402, specifically include: obtain the relative atmospheric flow velocity spraying composition granule surface；Described relative atmospheric flow velocity
The relatively described speed spraying composition granule of air on composition granule surface is sprayed for spraying composition granule described in dropping process；According to
Described ambient temperature and described relative atmospheric flow velocity determine the evaporation rate spraying thing；Obtain the flying height of aircraft, specially
Obtain the flying height of the aircraft that radar or laser range finder detect；Determined according to described evaporation rate and described flying height
Spray the evaporation capacity of thing.
Temperature is higher, and evaporation rate is faster；The relative atmospheric flow velocity spraying composition granule surface is bigger, and evaporation rate is faster.
Carry out spraying during thing sprays in low latitude, ambient temperature and relative atmospheric flow velocity are the major influence factors of evaporation rate.This
Apply for two factors all it is considered that being truly realized the accurate calculating spraying thing evaporation rate and evaporation capacity, thus ensure that
Accurate control to the sprinkling thing fogging degree fallen on plant.
Obtain the relative atmospheric flow velocity spraying composition granule surface, specifically include: obtain actual wind speed；Obtain and spray thing
Falling speed；Here consider the falling speed of the sprinkling composition granule of common size, the top/bottom latitude because spraying composition granule size is poor
Not little, the impact to falling speed less, is therefore represented various big using the falling speed of the sprinkling composition granule of common size
The falling speed of little sprinkling composition granule；Sprinkling composition granule can be affected by wind-force in dropping process, the shadow of air drag
Ring the impact with aerostatic buoyancy, the calculating process spraying the whereabouts acceleration of thing here needs the impact of wind-force, air drag
Impact and the impact of aerostatic buoyancy all take into account；Calculate the air velocity with respect to the described falling speed spraying thing, obtain
To because spraying the air velocity that thing whereabouts produces；By described because spraying air velocity and the described actual wind speed that thing whereabouts produces
Carry out Vector modulation, obtain described relative atmospheric flow velocity.
Obtain actual wind speed, specifically include: obtain the wind that in aircraft flight middle fuselage, wind speed detection device records
Speed；Obtain the speed of aircraft flight；Calculate the vector equal and in opposite direction with the velocity magnitude of described aircraft flight, obtain because
The wind speed that aircraft flight produces；The wind speed that record described wind speed detection device and the described wind speed because of aircraft flight generation are carried out
Vector subtraction obtains the wind speed of described reality.The wind speed of heretofore described aircraft is and records described wind speed detection device
Wind speed and the described wind speed because of aircraft flight generation carry out vector subtraction obtain described reality wind speed.
The measurement of prior art wind speed is all by static wind speed detection device or meteorological probe detection wind speed, does not have
Any technology can be implemented in the accurate detection realizing wind speed in moving object.Therefore, this technical scheme of the application is dashed forward
Break in prior art to the research bottleneck of measuring wind speed it is achieved that technical leap.
Optionally, the described falling speed obtaining sprinkling thing, specifically includes:
The acceleration producing because of wind-force is calculated according to described actual wind speed, obtains transverse acceleration；
Obtain air drag and aerostatic buoyancy；
Calculate because of the acceleration of air drag and aerostatic buoyancy generation, obtain damping acceleration；
The falling speed spraying thing is calculated according to transverse acceleration, damping acceleration and acceleration of gravity.
Optionally, the described evaporation capacity determining sprinkling thing according to described evaporation rate and described flying height, specifically includes:
The fall time spraying thing is determined according to the described falling speed spraying thing and described flying height；
The evaporation capacity spraying thing is determined according to described evaporation rate and described fall time.
Optionally, the target fogging degree of the described sprinkling thing obtaining required for the plant sprayed in region, specifically includes:
Determine the vegetation type in described sprinkling region；
Determine the target fogging degree of the sprinkling thing required for plant according to described vegetation type.
By target fogging degree being determined according to vegetation type so that the present processes and system can be according to plants
Type carries out spraying the control of thing dose, and then makes the technical scheme of the application have more practicality.
In step 103, determine the fountain height of unit interval according to described sprinkling amplitude, specifically include:
Obtain the sprinkling amplitude of described shower nozzle, the sprinkling amplitude of described shower nozzle is sector, and described shower nozzle has two rows, two rows
Shower nozzle is separately positioned on the both sides of described aircraft, and the spraying swath of each described shower nozzle is identical；
According to formulaCalculate the fountain height q of described aircraft unit interval, wherein, l is institute
State in two row's shower nozzles the horizontal range between the farthest shower nozzle of fuselage respectively, α is described central angle, and h is described aircraft
Flying height, q is the fountain height needed for operating area of unit area, and v is the flight speed of aircraft, and k is definite value.
Have determined that the sprinkling amplitude of shower nozzle in a step 102, that is, shower nozzle spray amplitude sector central angle alpha
Know, carry it into formula, you can obtain the fountain height in the aircraft unit interval.
In step 106, the actual landing position spraying thing is determined according to wind speed, wind direction, specifically include: Fig. 5 is this
Bright embodiment calculates the method flow diagram of the positional information of all pick-up points spraying thing, as shown in figure 5,
Step 501: obtain the flight speed of described aircraft；
Step 502: obtain the wind speed and direction of described aircraft local environment；
Step 503: the flight speed according to described aircraft and described wind speed, wind direction determine that described sprinkling thing deviates default position
The deviation distance put and direction, described predeterminated position is described sprinkling thing under the influence of being not counted in initial velocity and wind speed
Landing position；
Step 504: the deviation distance of predeterminated position and the position of direction and described aircraft are deviateed according to described sprinkling thing
Calculate the described actual landing position spraying thing.
In step 503, calculating when landing amplitude of thing of sprinkling, first having to obtain the spraying swath of aircraft both sides shower nozzle, institute
State the amplitude that spraying swath is the liquid that described shower nozzle sprays, the spraying swath of shower nozzle is sector, and described shower nozzle has two rows, and two row's shower nozzles divide
It is not arranged on the both sides of described aircraft, and the spraying swath of each described shower nozzle is identical；
Then according to formulaCalculate on described aircraft spray thing land amplitude s, wherein, l is institute
State in two row's shower nozzles the horizontal range between the farthest shower nozzle of fuselage respectively, α is fan-shaped central angle, h is described aircraft
Flying height.The determiner that this computing formula embodies the amplitude of landing is respectively the set-up mode of aircraft shower nozzle, shower nozzle
Spraying swath and the flying height of aircraft.
In step 504, first have to determine the angle of described airframe direction and parallel or warp；
Land amplitude and geometrical relationship according to spraying thing on described angle, described aircraft calculate and described spray landing of thing
The positional information of two end points of amplitude, Fig. 6 is the geometrical relationship schematic diagram of the position calculation of two end points of the amplitude of landing, such as
It is assumed that aircraft is within Chinese territory shown in Fig. 6, the latitude and longitude coordinates of aircraft are (a, b), and two end points are labeled as first end point 602
With the second end points 604, fuselage 605 is θ with the angle of parallel 603 (warp 601), then according to set relations, can obtain first
The latitude and longitude coordinates of end points areDouble-pointed latitude and longitude coordinates are
The position landing all pick-up points in amplitude of thing is sprayed described in positional information calculation according to described two end points
Information, specifically, these pick-up points are regarded as the point on the straight line that two-end-point is connected to calculate the position of other pick-up points
Information.
In step 505, calculate spray thing from leave aircraft to ground required time t, the landing of thing can be sprayed
Process regards a movement of falling object as, calculates it according to physicss' formula and required lands time t；
The flight speed of described aircraft and described wind speed carried out Vector modulation, obtains described spraying thing in the horizontal plane
Speed v；
The described sprinkling actual pick-up point of thing is calculated with the described thing that sprays calm and be not counted in described spray according to formula l=vt
Spill pick-up point during thing initial velocity in the horizontal plane apart from l；
According to described spray thing speed v in the horizontal plane direction and described apart from l determine described sprinkling thing actual fall
The position in place, in step 504, calculated calm and be not counted in described sprinkling thing initial velocity when (be equivalent to winged
Machine is static to be sprayed and calm situation in the air), spray the landing position coordinate of thing, on this basis, in conjunction with sprinkling thing
Actual landing position with calm and be not counted in described the distance between landing position l and the distance side sprayed during thing initial velocity
Can obtain spraying the actual landing position of thing to (this direction is the direction spraying thing speed v in the horizontal plane).
The brainpower insufflation method that the present invention provides voluntarily can be planned to spraying route, and by aircraft position
Judge, it is determined whether open shower nozzle and sprayed, determine the region of sprinkling by calculating the actual landing position spraying thing, when
When working region is detected and being all sprayed, it is automatically stopped sprinkling, and make a return voyage it is achieved that entirely spraying the automatization of process, intelligence
Energyization.
Present invention also offers a kind of aircraft brainpower insufflation system, Fig. 7 is embodiment of the present invention aircraft brainpower insufflation system
Structural representation, as shown in fig. 7, described system includes:
Spray route determining unit 701, for determining the sprinkling route of working region；
Shower nozzle sprays amplitude determining unit 702, determines the sprinkling amplitude of shower nozzle for fogging degree according to needed for plant；
Unit interval fountain height determining unit 703, for determining the spray of unit interval according to the sprinkling amplitude of described shower nozzle
The amount of spilling；
Aircraft position judging unit 704, for judging whether described aircraft is located at described working region；
Spray unit 705, for when described aircraft is located at described working region, opening shower nozzle, according to described sprinkling road
Line, according to the fountain height of described unit interval, described working region is sprayed；
Spray thing landing position determining unit 706, for the actual landing position spraying thing is determined according to wind speed, wind direction；
Recording unit 707, for recording the described actual landing position spraying thing, has been sprayed region；
Do not spray region decision unit 708, for spraying region according to described, whether also to judge in described working region
Have and do not spray region；
Described spray unit, is additionally operable to, when being also not spray region in described working region, continue according to described spray
Spill route, according to the fountain height of described unit interval, described working region sprayed；
Make a return voyage unit 709, for when being not spray region in described working region, closing described shower nozzle, returning
Boat.
Wherein, described sprinkling route determining unit 701, specifically includes:
Operating area border determination subelement, for determining the border of operating area；
Operating area shape determination subelement, for determining the shape of described operating area according to the border of described operating area
Shape；
Article first, spray route determination subelement, for the shape according to described operating area, determine and spray in route
Article first, spray route, described sprinkling route is the route being made up of a plurality of straight line being parallel to each other, described straight line is for connecting institute
State 2 points on border of straight line；
Spacing determination subelement, for determining the spacing between each straight line constituting described sprinkling route.
Described shower nozzle sprays amplitude determining unit 702, specifically includes:
Ambient temperature obtains subelement, for obtaining the ambient temperature outside fuselage；
Evaporation capacity determination subelement, for determining the evaporation capacity spraying thing according to described ambient temperature；
Target fogging degree obtains subelement, for obtaining the mesh of the described sprinkling thing required for the plant sprayed in region
Mark fogging degree；
Spray thing primary atomization degree determination subelement, for determining according to described evaporation capacity and described target fogging degree
The described primary atomization degree spraying thing；
Shower nozzle sprays amplitude adjustment subelement, for the sprinkling amplitude according to described primary atomization degree adjusting shower nozzle.
Described unit interval fountain height determining unit 703, specifically includes:
Shower nozzle sprays amplitude and obtains subelement, for obtaining the sprinkling amplitude of described shower nozzle, the sprinkling amplitude of described shower nozzle
For sector, described shower nozzle has two rows, and two row's shower nozzles are separately positioned on the both sides of described aircraft, and the spraying swath of each described shower nozzle
Identical；
Unit interval fountain height computation subunit, for according to formulaCalculate described aircraft
Fountain height q in unit interval, wherein, l be in described two row's shower nozzles respectively the level between the farthest shower nozzle of fuselage away from
From α is described central angle, and h is the flying height of described aircraft, and q is the fountain height needed for operating area of unit area, and v is
The flight speed of aircraft, k is definite value.
Described sprinkling thing landing position determining unit 707, specifically includes:
Flight speed obtains subelement, for obtaining the flight speed of described aircraft；
Wind speed and direction obtains subelement, for obtaining the wind speed and direction of described aircraft local environment；
Deviation distance determination subelement, for described in the flight speed according to described aircraft and described wind speed, wind direction determination
Spray thing and deviate the deviation distance of predeterminated position and direction, described predeterminated position be described sprinkling thing be not counted in initial velocity with
And the landing position under the influence of wind speed；
Spray thing landing position computation subunit, for spraying, according to described, deviation distance and the side that thing deviates predeterminated position
To and the position calculation of described aircraft described in spray thing actual landing position.
The brainpower insufflation system that the present invention provides voluntarily can be planned to spraying route, and by aircraft position
Judge, it is determined whether open shower nozzle and sprayed, determine the region of sprinkling by calculating the actual landing position spraying thing, when
When working region is detected and being all sprayed, it is automatically stopped sprinkling, and make a return voyage it is achieved that entirely spraying the automatization of process, intelligence
Energyization.
In this specification, each embodiment is described by the way of going forward one by one, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For system disclosed in embodiment
For, because it corresponds to the method disclosed in Example, so description is fairly simple, say referring to method part in place of correlation
Bright.
Specific case used herein is set forth to the principle of the present invention and embodiment, the saying of above example
Bright it is only intended to help and understands the method for the present invention and its core concept；Simultaneously for one of ordinary skill in the art, foundation
The thought of the present invention, all will change in specific embodiments and applications.In sum, this specification content is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of airplane spray intelligent control method is it is characterised in that include:
Determine the sprinkling route of working region；
Fogging degree according to needed for plant determines the sprinkling amplitude of shower nozzle；
Determine the fountain height of unit interval according to described sprinkling amplitude；
Judge whether described aircraft is located at described working region；
If it is, unlatching shower nozzle, according to described spray route, according to the fountain height of described unit interval to described working region
Sprayed；
The actual landing position spraying thing is determined according to wind speed, wind direction；
Record the described actual landing position spraying thing, sprayed region；
Spray region according to described, judge whether to also have in described working region and do not spray region；
If it is, proceeding to spray；
If it is not, then closing described shower nozzle, make a return voyage.
2. method according to claim 1, it is characterised in that the sprinkling route of described determination working region, specifically includes:
Determine the border of operating area；
Determine the shape of described operating area according to the border of described operating area；
According to the shape of described operating area, determine first sprinkling route spraying in route, described sprinkling route is by many
The route that the straight line that bar is parallel to each other is constituted, described straight line is 2 points on the described border of connection of straight line；
Determine the spacing between each straight line constituting described sprinkling route.
3. method according to claim 1 is it is characterised in that described fogging degree according to needed for plant determines the spray of shower nozzle
Spill amplitude, specifically include:
Obtain the ambient temperature outside fuselage；
Determine the evaporation capacity spraying thing according to described ambient temperature；
Obtain the target fogging degree spraying the described sprinkling thing required for plant in region；
The described primary atomization degree spraying thing is determined according to described evaporation capacity and described target fogging degree；
Sprinkling amplitude according to described primary atomization degree adjusting shower nozzle.
4. method according to claim 1 is it is characterised in that the described spray determining the unit interval according to described sprinkling amplitude
The amount of spilling, specifically includes:
Obtain the sprinkling amplitude of described shower nozzle, the sprinkling amplitude of described shower nozzle is sector, and described shower nozzle has two rows, two row's shower nozzles
It is separately positioned on the both sides of described aircraft, and the spraying swath of each described shower nozzle is identical；
According to formulaCalculate the fountain height q in the described aircraft unit interval, wherein, l is described two
Horizontal range between the farthest shower nozzle of fuselage respectively in row's shower nozzle, α is described central angle, and h is the flight of described aircraft
Highly, q is the fountain height needed for operating area of unit area, and v is the flight speed of aircraft, and k is definite value.
5. method according to claim 1 it is characterised in that described according to wind speed, wind direction determine spray thing actual fall
Position, specifically includes:
Obtain the flight speed of described aircraft；
Obtain the wind speed and direction of described aircraft local environment；
Flight speed according to described aircraft and described wind speed, wind direction determine the described deviation distance spraying thing deviation predeterminated position
And direction, described predeterminated position is described sprinkling landing position under the influence of being not counted in initial velocity and wind speed for the thing；
Sprinkling described in the deviation distance of predeterminated position and the position calculation of direction and described aircraft is deviateed according to the described thing that sprays
The actual landing position of thing.
6. a kind of aircraft brainpower insufflation system is it is characterised in that described system includes:
Spray route determining unit, for determining the sprinkling route of working region；
Shower nozzle sprays amplitude determining unit, determines the sprinkling amplitude of shower nozzle for fogging degree according to needed for plant；
Unit interval fountain height determining unit, for determining the fountain height of unit interval according to the sprinkling amplitude of described shower nozzle；
Aircraft position judging unit, for judging whether described aircraft is located at described working region；
Spray unit, for when described aircraft is located at described working region, opening shower nozzle, according to described sprinkling route, basis
The fountain height of described unit interval sprays to described working region；
Spray thing landing position determining unit, for the actual landing position spraying thing is determined according to wind speed, wind direction；
Recording unit, for recording the described actual landing position spraying thing, has been sprayed region；
Do not spray region decision unit, for spraying region according to described, judge whether to also have in described working region and do not spray
Spill region；
Described spray unit, is additionally operable to, when being also not spray region in described working region, continue according to described sprinkling road
Line, according to the fountain height of described unit interval, described working region is sprayed；
Make a return voyage unit, for when being not spray region in described working region, closing described shower nozzle, making a return voyage.
7. system according to claim 6, it is characterised in that described sprinkling route determining unit, specifically includes:
Operating area border determination subelement, for determining the border of operating area；
Operating area shape determination subelement, for determining the shape of described operating area according to the border of described operating area；
Article first, spray route determination subelement, for the shape according to described operating area, determine first spraying in route
Bar sprays route, and described sprinkling route is the route being made up of a plurality of straight line being parallel to each other, and described straight line is to connect described side
2 points of straight line in boundary；
Spacing determination subelement, for determining the spacing between each straight line constituting described sprinkling route.
8. system according to claim 6, it is characterised in that described shower nozzle sprays amplitude determining unit, specifically includes:
Ambient temperature obtains subelement, for obtaining the ambient temperature outside fuselage；
Evaporation capacity determination subelement, for determining the evaporation capacity spraying thing according to described ambient temperature；
Target fogging degree obtains subelement, for obtaining the target mist of the described sprinkling thing required for the plant sprayed in region
Change degree；
Spray thing primary atomization degree determination subelement, described in determining according to described evaporation capacity and described target fogging degree
Spray the primary atomization degree of thing；
Shower nozzle sprays amplitude adjustment subelement, for the sprinkling amplitude according to described primary atomization degree adjusting shower nozzle.
9. system according to claim 6, it is characterised in that described unit interval fountain height determining unit, specifically includes:
Shower nozzle sprays amplitude and obtains subelement, and for obtaining the sprinkling amplitude of described shower nozzle, the sprinkling amplitude of described shower nozzle is fan
Shape, described shower nozzle has two rows, and two row's shower nozzles are separately positioned on the both sides of described aircraft, and the spraying swath phase of each described shower nozzle
With；
Unit interval fountain height computation subunit, for according to formulaCalculate described aircraft unit
Fountain height q in time, wherein, l is the horizontal range between the farthest shower nozzle of fuselage respectively in described two row's shower nozzles, α
For described central angle, h is the flying height of described aircraft, and q is the fountain height needed for operating area of unit area, and v is aircraft
Flight speed, k be definite value.
10. system according to claim 6, it is characterised in that described sprinkling thing landing position determining unit, is specifically wrapped
Include:
Flight speed obtains subelement, for obtaining the flight speed of described aircraft；
Wind speed and direction obtains subelement, for obtaining the wind speed and direction of described aircraft local environment；
Deviation distance determination subelement, determines described sprinkling for the flight speed according to described aircraft and described wind speed, wind direction
Thing deviates deviation distance and the direction of predeterminated position, and described predeterminated position is that described sprinkling thing is being not counted in initial velocity and wind
Landing position under the influence of speed；
Spray thing landing position computation subunit, for according to described spray thing deviate the deviation distance of predeterminated position and direction with
And described in the position calculation of described aircraft, spray the actual landing position of thing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838051.0A CN106335641A (en) | 2016-09-21 | 2016-09-21 | Intelligent sprinkling method and intelligent sprinkling system for airplane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610838051.0A CN106335641A (en) | 2016-09-21 | 2016-09-21 | Intelligent sprinkling method and intelligent sprinkling system for airplane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106335641A true CN106335641A (en) | 2017-01-18 |
Family
ID=57840206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610838051.0A Pending CN106335641A (en) | 2016-09-21 | 2016-09-21 | Intelligent sprinkling method and intelligent sprinkling system for airplane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106335641A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018233164A1 (en) * | 2017-06-21 | 2018-12-27 | 深圳市大疆创新科技有限公司 | Flight control method, information processing device, program and recording medium |
| WO2019080759A1 (en) * | 2017-10-23 | 2019-05-02 | 广州极飞科技有限公司 | Aerial vehicle, cruise spraying control method and device therefor, and control terminal |
| CN109725646A (en) * | 2017-10-27 | 2019-05-07 | 广州极飞科技有限公司 | Spray method, device and terminal |
| CN109855629A (en) * | 2019-03-15 | 2019-06-07 | 朱彬 | A kind of mission planning method, apparatus and electronic equipment |
| CN109917798A (en) * | 2019-02-01 | 2019-06-21 | 北京农业智能装备技术研究中心 | A kind of agricultural aviation application method and system |
| CN110461148A (en) * | 2017-03-24 | 2019-11-15 | 巴斯夫农化商标有限公司 | Drift correction during the application of crop protection agents |
| CN111741897A (en) * | 2019-04-29 | 2020-10-02 | 深圳市大疆创新科技有限公司 | Control method and device of unmanned aerial vehicle, spraying system, unmanned aerial vehicle and storage medium |
| CN112162572A (en) * | 2020-09-27 | 2021-01-01 | 深圳市优必选科技股份有限公司 | Epidemic prevention robot and disinfection control method and device thereof |
| CN113329624A (en) * | 2019-01-21 | 2021-08-31 | 拜耳公司 | Aircraft with a flight control device |
| CN114616530A (en) * | 2020-12-30 | 2022-06-10 | 深圳市大疆创新科技有限公司 | Spraying operation control method and device, agricultural unmanned aerial vehicle and storage medium |
| RU2776757C2 (en) * | 2017-03-24 | 2022-07-26 | Басф Агро Трейдмаркс Гмбх | Correction for demolition in introduction of plant protection products |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102360219A (en) * | 2011-09-13 | 2012-02-22 | 无锡汉和航空技术有限公司 | Method for continuously spraying pesticide by unmanned helicopter |
| US20140239085A1 (en) * | 2010-04-15 | 2014-08-28 | Textron Innovations, Inc. | On-Board Water Spray System For Aircraft |
| CN105707040A (en) * | 2016-01-29 | 2016-06-29 | 北京农业智能装备技术研究中心 | Accurate aerial spraying control system and method for aircraft |
| CN105843250A (en) * | 2016-03-28 | 2016-08-10 | 深圳高科新农技术有限公司 | Unmanned plane-based chemical spraying method, unmanned plane and unmanned plane system |
| CN105843236A (en) * | 2016-03-17 | 2016-08-10 | 中山飞旋天行航空科技有限公司 | Plant protection unmanned plane spraying control system and spraying control method thereof |
| CN105905302A (en) * | 2016-06-02 | 2016-08-31 | 中国农业大学 | Intelligent pesticide applying system and control method of plant protection unmanned aerial vehicle |
-
2016
- 2016-09-21 CN CN201610838051.0A patent/CN106335641A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140239085A1 (en) * | 2010-04-15 | 2014-08-28 | Textron Innovations, Inc. | On-Board Water Spray System For Aircraft |
| CN102360219A (en) * | 2011-09-13 | 2012-02-22 | 无锡汉和航空技术有限公司 | Method for continuously spraying pesticide by unmanned helicopter |
| CN105707040A (en) * | 2016-01-29 | 2016-06-29 | 北京农业智能装备技术研究中心 | Accurate aerial spraying control system and method for aircraft |
| CN105843236A (en) * | 2016-03-17 | 2016-08-10 | 中山飞旋天行航空科技有限公司 | Plant protection unmanned plane spraying control system and spraying control method thereof |
| CN105843250A (en) * | 2016-03-28 | 2016-08-10 | 深圳高科新农技术有限公司 | Unmanned plane-based chemical spraying method, unmanned plane and unmanned plane system |
| CN105905302A (en) * | 2016-06-02 | 2016-08-31 | 中国农业大学 | Intelligent pesticide applying system and control method of plant protection unmanned aerial vehicle |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110461148A (en) * | 2017-03-24 | 2019-11-15 | 巴斯夫农化商标有限公司 | Drift correction during the application of crop protection agents |
| US11608175B2 (en) | 2017-03-24 | 2023-03-21 | Basf Agro Trademarks Gmbh | Drift correction during the application of crop protection agents |
| RU2776757C2 (en) * | 2017-03-24 | 2022-07-26 | Басф Агро Трейдмаркс Гмбх | Correction for demolition in introduction of plant protection products |
| CN110461148B (en) * | 2017-03-24 | 2022-07-05 | 巴斯夫农化商标有限公司 | Drift correction during application of crop protection agents |
| CN109843722A (en) * | 2017-06-21 | 2019-06-04 | 深圳市大疆创新科技有限公司 | Flight control method, information processing unit, program and recording medium |
| WO2018233164A1 (en) * | 2017-06-21 | 2018-12-27 | 深圳市大疆创新科技有限公司 | Flight control method, information processing device, program and recording medium |
| US11771076B2 (en) | 2017-06-21 | 2023-10-03 | SZ DJI Technology Co., Ltd. | Flight control method, information processing device, program and recording medium |
| WO2019080759A1 (en) * | 2017-10-23 | 2019-05-02 | 广州极飞科技有限公司 | Aerial vehicle, cruise spraying control method and device therefor, and control terminal |
| CN109725646A (en) * | 2017-10-27 | 2019-05-07 | 广州极飞科技有限公司 | Spray method, device and terminal |
| CN113329624A (en) * | 2019-01-21 | 2021-08-31 | 拜耳公司 | Aircraft with a flight control device |
| CN109917798A (en) * | 2019-02-01 | 2019-06-21 | 北京农业智能装备技术研究中心 | A kind of agricultural aviation application method and system |
| CN109855629A (en) * | 2019-03-15 | 2019-06-07 | 朱彬 | A kind of mission planning method, apparatus and electronic equipment |
| CN111741897A (en) * | 2019-04-29 | 2020-10-02 | 深圳市大疆创新科技有限公司 | Control method and device of unmanned aerial vehicle, spraying system, unmanned aerial vehicle and storage medium |
| CN112162572A (en) * | 2020-09-27 | 2021-01-01 | 深圳市优必选科技股份有限公司 | Epidemic prevention robot and disinfection control method and device thereof |
| CN114616530A (en) * | 2020-12-30 | 2022-06-10 | 深圳市大疆创新科技有限公司 | Spraying operation control method and device, agricultural unmanned aerial vehicle and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106335641A (en) | Intelligent sprinkling method and intelligent sprinkling system for airplane | |
| CN106249758B (en) | A kind of determination method and system of airplane spray route | |
| Bae et al. | Flight attitudes and spray patterns of a roll-balanced agricultural unmanned helicopter | |
| CN106613571A (en) | Pesticide spraying method and system | |
| CN108716919A (en) | Plant protection drone path planning method based on arbitrary polygon clear area | |
| CN102360219B (en) | Method for continuously spraying pesticide by unmanned helicopter | |
| CN108594850A (en) | The method, apparatus of flight course planning and the unmanned machine operation of control based on unmanned plane | |
| CN107688354A (en) | The UAS and its control method of a kind of autonomous flight | |
| CN105843236A (en) | Plant protection unmanned plane spraying control system and spraying control method thereof | |
| WO2015161352A1 (en) | Unmanned aerial vehicle (uav) used for agricultural activity and the application of pesticides and fertilizers | |
| CN106327024A (en) | Unmanned aerial vehicle pesticide spray path planning system and unmanned aerial vehicle pesticide spray path planning method | |
| CN106597369B (en) | A kind of control method of unmanned plane, control platform, control system | |
| CN104484717A (en) | Onboard flight path prediction method based on current air route | |
| CN106997209A (en) | Plant protection unmanned plane sprays operational method and system | |
| CN106240825A (en) | A kind of airplane spray control method and system | |
| CN106155081A (en) | A kind of rotor wing unmanned aerial vehicle target monitoring on a large scale and accurate positioning method | |
| CN104793201A (en) | Modified variable-structure grid interaction multi-model filtering method for tracking hypersonic-speed target of near space | |
| CN110254722A (en) | A kind of aerocraft system and its method, the product with computer program | |
| CN105383699A (en) | Unmanned aerial vehicle pesticide spraying device with stirring function | |
| CN105903590A (en) | Spraying flow automatic control system | |
| CN208530856U (en) | A kind of plant protection drone weeder adapting to clinoform | |
| CN114503046A (en) | Aircraft | |
| CN106292685B (en) | The model of an airplane and its flight control method and system | |
| Shi et al. | Numerical simulation and experimental verification of the deposition concentration of an unmanned aerial vehicle | |
| Zhou et al. | Simulation and optimization of multi spray factors in UAV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170118 |