CN106416530A - Agricultural unmanned aerial vehicle-mounted material spreading device and method - Google Patents
Agricultural unmanned aerial vehicle-mounted material spreading device and method Download PDFInfo
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- CN106416530A CN106416530A CN201610654440.8A CN201610654440A CN106416530A CN 106416530 A CN106416530 A CN 106416530A CN 201610654440 A CN201610654440 A CN 201610654440A CN 106416530 A CN106416530 A CN 106416530A
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- unmanned plane
- agricultural unmanned
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- material spreading
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- 239000000463 material Substances 0.000 title claims abstract description 74
- 230000007480 spreading Effects 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005514 two-phase flow Effects 0.000 claims abstract description 4
- 238000009331 sowing Methods 0.000 claims description 32
- 238000007599 discharging Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 claims description 7
- 239000004744 fabric Substances 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 5
- 239000002245 particle Substances 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000008676 import Effects 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 125000000623 heterocyclic group Chemical group 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
- A01C7/16—Seeders with other distributing devices, e.g. brushes, discs, screws or slides
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
-
- 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
- B64D1/02—Dropping, ejecting, or releasing articles
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fertilizing (AREA)
Abstract
The invention relates to the field of agricultural machinery equipment, in particular to an agricultural unmanned aerial vehicle-mounted material spreading device and method. The agricultural unmanned aerial vehicle-mounted material spreading device is characterized in that an agricultural unmanned aerial vehicle (1) and a material spreading device (2) are included, and the material spreading device (2) is mounted on the agricultural unmanned aerial vehicle (1); the material spreading device (2) comprises a material box (21), a draught fan (22), a gas flow distribution box (23) and a flow guide device (26), the gas flow distribution box (23) is provided with a gas flow inlet (231) and a gas flow outlet (232), one end of the flow guide device (26) is provided with a gas flow inlet (262) and a material inlet (261), the other end of the flow guide device (26) is provided with a gas-solid two-phase flow outlet (263), the bottom of the material box (21) is provided with a discharge port, the gas flow inlet (262), the material inlet (261) and the discharge port communicate with one another in a sealed mode, and the draught fan (22) is installed on the gas flow inlet (231).
Description
Technical field
The present invention relates to talents for agri-mechanization field, be specifically related to a kind of agricultural unmanned plane carry material spreading gear and
Method.
Background technology
With the development of agricultural aviation and intelligence communication technology, reading intelligent agriculture equipment starts progressively to replace traditional mechanic
Tool.Seeding method experienced by be sowed from artificial broadcast to mechanical type, even changes to institutional operation.But China's landform is multiple
Miscellaneous, non-plains region cultivated area is relatively big, and especially hilly country and paddy field, ground running machinery is difficult to operation.Additionally, in famine
The serious area of former grade desertification and wasteland are also not suitable for ground machine large area and broadcast sowing grass seeds and seeds operation, and operation is imitated
Rate is low, and vegetation survival rate is not high.
Existing mechanical type broadcasts sowing and common are disc type, Pneumatic type, gear shifting type and spiral in technology, but be mostly with
Based on walking and hand-held machine, it is difficult to deal with the field conditions of complexity.At present, existing both at home and abroad aircraft is utilized to carry out
The technology of farmland operation can solve the problem that the problem of field conditions of complexity, but mostly with large-scale agricultural aircraft based on, build is huge
Greatly, it is desirable to have people drives, needing special airport, manipulation technology requires height, and cost is high.
In recent years, with the development of agricultural unmanned plane, aviation plant protection technology achieves notable achievement.Agricultural unmanned plane volume
Little, flexible movements, load capacity is limited, because it is not limited by field geographical environment, is not affected by the weather, not farming season by mistake, no
Being limited by place, the advantages such as field landing is convenient, and operating efficiency is high, and operation is accurate, cost-effective cause the extensive of society
Concern.Therefore, people begin attempt to utilize and carry out broadcasting sowing operation on agricultural unmanned plane, and agricultural aviation team of Agricultural University Of South China is sent out
Bright agricultural unmanned plane spreading gear, core is that material is broadcasted sowing away by the centrifugal force utilizing wheel disc spins to produce, can be again
Operation under heterocycle border, manipulation is flexibly；The agricultural unmanned plane spreading gear that Zhuhai immortal develops is utilized servos control material outlet,
Shedding the blade on disk has certain inclination angle so that material uniformity increases.
But, in these devices existing and technology, simply simply mass flow being adjusted, control is not accurate, thing
Stream is discontinuous, and response speed is slow, and there is presently no more perfect control system can be according to agricultural unmanned plane job parameter
Real-time and precise regulation is carried out to the amount of broadcasting sowing.In addition particle is shed away by prior art mainly by the centrifugal force of disk, falls
Planting district is annular or semi-circular band, uneven in the direction planting vertical with agricultural unmanned plane direction of advance.
Content of the invention
The present invention is at least one defect overcoming described in above-mentioned prior art（Not enough）, provide a kind of agricultural unmanned plane to hang
The material spreading gear carrying, further, also provides a kind of agricultural unmanned plane material method for sowing.
It is contemplated that solve above-mentioned technical problem at least to a certain extent.
For solving above-mentioned technical problem, technical scheme is as follows：
The material spreading gear of a kind of agricultural unmanned plane carry, including agricultural unmanned plane and material spreading gear, described material spreads
Broadcasting device carry is on agricultural unmanned plane；Described material spreading gear includes body feed tank, blower fan, airflow diversion case and water conservancy diversion dress
Putting, described airflow diversion case is provided with air flow inlet and air stream outlet, and described guiding device one end is provided with airflow inlet and material
Import, the described guiding device other end is flow export, is discharging opening bottom described body feed tank, described airflow inlet, material inlet
Sealing against each other with discharging opening and connecting, described assembling is on air flow inlet.
Further, it is provided with some screens in described guiding device, between described screen, form gas-particle two-phase flow export.
Further, be provided with discharging governor motion bottom described body feed tank, described discharging governor motion include discharge motor,
Refuse rotor, discharge tongue, hairbrush and material diversion plate, described refuse rotor is arranged on bottom body feed tank, and described material diversion plate is installed
In the side of refuse rotor, described hairbrush is arranged on the opposite side of refuse rotor, and described discharge tongue is positioned at the lower section of refuse rotor, described row
Material motor is used for driving refuse rotor to rotate.
Further, the side of described material diversion plate is curved, and its arc is concentric with the outer arc of refuse rotor, and material is led
The arc of stream plate connects with the outer arc of refuse rotor.
Further, described refuse rotor is provided with hopper, and the width of the arc of described material diversion plate is not less than hopper
Width.
Further, also including control system, described control system includes microprocessor, Position and attitude sensor, air-blower control
System and electric machine control system, described microprocessor with the control of Position and attitude sensor, blower fan control system and discharge motor is respectively
System connects, and described Position and attitude sensor is for the real-time flying height monitoring agricultural unmanned plane and flying speed, described microprocessor
For passing through discharge electric machine control system and blower fan control system respectively according to the monitoring result of Position and attitude sensor to discharge motor
Regulate and control with blower fan.
Further, described blower fan control system includes controller of fan and wind speed measuring circuit, described controller of fan
It is connected with blower fan and microprocessor respectively with wind speed measuring circuit；Described discharge electric machine control system includes that discharge motor controls
Device and tachogenerator, described discharge electric machine controller and tachogenerator are connected with discharge motor and microprocessor respectively.
Further, described control system also includes human-computer interaction device, and described human-computer interaction device leads to microprocessor
News connect.
Further, described Position and attitude sensor is GPS（GNSS）Or inertia combined navigation sensor.
The present invention also provides a kind of agricultural unmanned plane material method for sowing, uses the material of aforesaid agricultural unmanned plane carry
Spreading gear, specifically includes following steps：
A, charge material into body feed tank on ground；
B, control agricultural unmanned plane and take off, keep presetting operation height；
C, preset according to flying height and flying speed and broadcast sowing fabric width, start blower fan and reach to preset wind speed；
D, startup discharge motor, set the rotating speed of refuse rotor according to default discharge capacity；
E, control agricultural unmanned plane and carry out broadcasting sowing operation according to predefined paths；
F, in broadcasting sowing operation process, by the flying height of the agricultural unmanned plane of Position and attitude sensor Real-time Collection in control system
And airspeed information, and transmit information to microprocessor；When the flying speed of agricultural unmanned plane changes, micro-process
The requirement that device combines, according to the discharge motor speed that the current flight speed collecting and tachogenerator are fed back, the amount of broadcasting sowing determines
The refuse rotor tachometer value preset, by regulation and control discharge electric machine controller, control discharge motor changes rotating speed to adjust withdrawal rate；When
When the flying height of agricultural unmanned plane changes, microprocessor is according to collecting current flying height and wind speed measuring circuit
The blower fan wind speed of feedback combines and broadcasts sowing the wind speed that the requirement determination of wide cut is preset, and by regulation and control controller of fan, control blower fan changes
Become wind speed and broadcast sowing fabric width to adjust；
G, operation complete, and refuse rotor stops operating, and close blower fan, and agricultural unmanned plane makes a return voyage, lands.
Compared with prior art, technical solution of the present invention provides the benefit that：
The present invention utilizes huge discharge refuse rotor to be controlled grain flux on agricultural unmanned plane, it is achieved to material continuous,
Precisely regulation.
The present invention uses Pneumatic type spreading gear, is blown out seed by air-flow, it is not easy to wound kind, and air-flow is more easily-controllable
System, planting passage is parallel with agricultural unmanned plane direction of advance, and fall-sowing area shape is regular, broadcasts sowing uniformly.
The present invention designs the intelligence control system of complete set, can be according to the height of agricultural unmanned plane and pace pair
The amount of broadcasting sowing is regulated in real time, it is achieved be precisely controlled.
The apparatus structure that the present invention relates to is light and handy, convenient handling, is all suitable for fixed-wing and single agricultural unmanned plane of rotor, and
The amount of broadcasting sowing can be adjusted according to agricultural unmanned plane job parameter.
Brief description
Fig. 1 is the overall structure schematic diagram of the embodiment of the present invention 1.
Fig. 2 is the perspective view of material spreading gear.
Fig. 3 is the plan structure schematic diagram of material spreading gear.
Fig. 4 is the sectional structure schematic diagram of material spreading gear.
Fig. 5 is the front view structure schematic diagram of airflow diversion case.
Fig. 6 is the perspective view of airflow diversion case.
Fig. 7 is the structural representation of guiding device.
Fig. 8 is the fundamental diagram of control system.
Accompanying drawing being for illustration only property explanation, it is impossible to be interpreted as the restriction to this patent；In order to the present embodiment is more preferably described, attached
Scheme some parts to have omission, zoom in or out, do not represent the size of actual product；To those skilled in the art,
Some known features and explanation thereof in accompanying drawing may be omitted and be will be understood by；Same or analogous label correspondence is same or similar
Parts；Term the being for illustration only property explanation of position relationship described in accompanying drawing, it is impossible to be interpreted as the restriction to this patent.
Detailed description of the invention
With embodiment, technical scheme is described further below in conjunction with the accompanying drawings.
Embodiment 1
A kind of material spreading gear of agricultural unmanned plane carry, including agricultural unmanned plane 1 and material spreading gear 2, described material
Spreading gear 2 carry is on agricultural unmanned plane 1；Described material spreading gear 2 includes body feed tank the 21st, blower fan 22（The present embodiment is excellent
Elect exhausting blower fan as）, airflow diversion case 23 and guiding device 26, it is gentle that described airflow diversion case 23 is provided with air flow inlet 231
Flow export 232；Described guiding device 26 one end is provided with airflow inlet 262 and material inlet 261；Described guiding device 26 other end
For flow export 263, being provided with some screens 264 in guiding device 26, flow export 263 is for being formed gas-particle two-phase by described screen 264
Flow export；Being discharging opening bottom described body feed tank 21, described airflow inlet the 262nd, material inlet 261 and discharging opening seal against each other even
Logical, described blower fan 22 is arranged on air flow inlet 231.
Being provided with discharging governor motion bottom described body feed tank 21, described discharging governor motion includes discharge motor the 25th, discharge
Wheel the 271st, discharge tongue the 272nd, hairbrush 273 and material diversion plate 274, described refuse rotor 271 is arranged on bottom body feed tank 21, described thing
Material deflector 274 is arranged on the side of refuse rotor 271, and described hairbrush 273 is arranged on the opposite side of refuse rotor 271, described discharge
Tongue 272 is positioned at the lower section of refuse rotor 271, and described discharge motor is used for driving refuse rotor 271 to rotate.
The side of described material diversion plate 274 is curved, and its arc is concentric with the outer arc of refuse rotor 271, and material diversion
The arc of plate 274 connects with the outer arc of refuse rotor 271；Described refuse rotor 271 is provided with hopper 2711, described material diversion plate
The width of the arc of 274 is not less than the width of hopper 2711.
Also including control system, described control system includes microprocessor, Position and attitude sensor, blower fan control system and discharge
Electric machine control system, described microprocessor is connected with Position and attitude sensor, blower fan control system and discharge electric machine control system respectively,
Described Position and attitude sensor is used for basis for the real-time flying height monitoring agricultural unmanned plane and flying speed, described microprocessor
Discharge motor and blower fan are entered by the monitoring result of Position and attitude sensor respectively by discharge electric machine control system and blower fan control system
Row regulation and control;Described blower fan control system includes controller of fan and wind speed measuring circuit, described controller of fan and measuring wind speed
Circuit is connected with blower fan and microprocessor respectively；Described discharge electric machine control system includes discharge electric machine controller and the biography that tests the speed
Sensor, described discharge electric machine controller and tachogenerator are connected with discharge motor and microprocessor respectively;Described control system
System also includes human-computer interaction device, and described human-computer interaction device is connected with microprocessor communications.
Embodiment 2
A kind of agricultural unmanned plane material method for sowing, the material spreading gear of agricultural unmanned plane carry described in embodiment 1 for the employing,
Blower fan uses ducted-fan blower, specifically includes following steps：
A, charge material into body feed tank on ground；
B, control agricultural unmanned plane and take off, keep presetting operation height；
C, preset according to flying height and flying speed and broadcast sowing fabric width, start blower fan and reach to preset wind speed；
D, startup discharge motor, set the rotating speed of refuse rotor according to default discharge capacity；
E, control agricultural unmanned plane and carry out broadcasting sowing operation according to predefined paths；
F, in broadcasting sowing operation process, by the flying height of the agricultural unmanned plane of Position and attitude sensor Real-time Collection in control system
And airspeed information, and transmit information to microprocessor；When the flying speed of agricultural unmanned plane changes, micro-process
The requirement that device combines, according to the discharge motor speed that the current flight speed collecting and tachogenerator are fed back, the amount of broadcasting sowing determines
The refuse rotor tachometer value preset, by regulation and control discharge electric machine controller, control discharge motor changes rotating speed to adjust withdrawal rate；When
When the flying height of agricultural unmanned plane changes, microprocessor is according to collecting current flying height and wind speed measuring circuit
The blower fan wind speed of feedback combines and broadcasts sowing the wind speed that the requirement determination of wide cut is preset, and by regulation and control controller of fan, control blower fan changes
Become wind speed and broadcast sowing fabric width to adjust；
G, operation complete, and refuse rotor stops operating, and close blower fan, and agricultural unmanned plane makes a return voyage, lands.
Obviously, the above embodiment of the present invention is only for clearly demonstrating example of the present invention, and is not right
The restriction of embodiments of the present invention.For those of ordinary skill in the field, also may be used on the basis of the above description
To make other changes in different forms.Here without also cannot all of embodiment be given exhaustive.All at this
Any modification, equivalent and the improvement etc. made within the spirit of invention and principle, should be included in the claims in the present invention
Protection domain within.
Claims (10)
1. the material spreading gear of an agricultural unmanned plane carry, it is characterised in that include agricultural unmanned plane（1）Broadcast sowing with material
Device（2）, described material spreading gear（2）Carry is at agricultural unmanned plane（1）On；Described material spreading gear（2）Including material
Case（21）, blower fan（22）, airflow diversion case（23）And guiding device（26）, described airflow diversion case（23）It is provided with air flow inlet
（231）And air stream outlet（232）, described guiding device（26）One end is provided with airflow inlet（262）And material inlet（261）, institute
State guiding device（26）The other end is gas-particle two-phase flow export（263）, described body feed tank（21）Bottom is discharging opening, described air-flow
Import（262）, material inlet（261）Seal against each other with discharging opening and connect, described blower fan（22）It is arranged on air flow inlet（231）
On.
2. the material spreading gear of agricultural unmanned plane carry according to claim 1, it is characterised in that described guiding device
（26）It is inside provided with some screens（264）, described screen（264）Between formed gas-particle two-phase flow export（263）.
3. the material spreading gear of agricultural unmanned plane carry according to claim 1, it is characterised in that described body feed tank
（21）Bottom is provided with discharging governor motion, and described discharging governor motion includes discharge motor（25）, refuse rotor（271）, discharge tongue
（272）, hairbrush（273）With material diversion plate（274）, described refuse rotor（271）It is arranged on body feed tank（21）Bottom, described material
Deflector（274）It is arranged on refuse rotor（271）Side, described hairbrush（273）It is arranged on refuse rotor（271）Opposite side, institute
State discharge tongue（272）It is positioned at refuse rotor（271）Lower section, described discharge motor is used for driving refuse rotor（271）Rotate.
4. the material spreading gear of agricultural unmanned plane carry according to claim 3, it is characterised in that described material diversion
Plate（274）Side curved, its arc and refuse rotor（271）Outer arc concentric, and material diversion plate（274）Arc and row
Material wheel（271）Outer arc connect.
5. the material spreading gear of agricultural unmanned plane carry according to claim 4, it is characterised in that described refuse rotor
（271）It is provided with hopper（2711）, described material diversion plate（274）Arc width be not less than hopper（2711）Width.
6. the material spreading gear of the agricultural unmanned plane carry according to any one of claim 3-5, it is characterised in that also wrap
Including control system, described control system includes microprocessor, Position and attitude sensor, blower fan control system and electric machine control system, institute
State microprocessor to be connected with Position and attitude sensor, blower fan control system and discharge electric machine control system respectively, described Position and attitude sensor
For flying height and the flying speed of the agricultural unmanned plane of real-time monitoring, described microprocessor is for the prison according to Position and attitude sensor
Survey result to be regulated and controled discharge motor and blower fan by discharge electric machine control system and blower fan control system respectively.
7. the material spreading gear of agricultural unmanned plane carry according to claim 6, it is characterised in that described air-blower control
System includes controller of fan and wind speed measuring circuit, described controller of fan and wind speed measuring circuit respectively with blower fan and micro-
Processor connects；Described discharge electric machine control system includes discharge electric machine controller and tachogenerator, described discharge motor control
Device processed and tachogenerator are connected with discharge motor and microprocessor respectively.
8. the material spreading gear of agricultural unmanned plane carry according to claim 7, it is characterised in that described control system
Also including human-computer interaction device, described human-computer interaction device is connected with microprocessor communications.
9. the material spreading gear of agricultural unmanned plane carry according to claim 8, it is characterised in that described pose senses
Device is GPS（GNSS）Or inertia combined navigation sensor.
10. an agricultural unmanned plane material method for sowing, it is characterised in that use the agricultural unmanned plane described in claim 9 to hang
The material spreading gear carrying, specifically includes following steps：
A, charge material into body feed tank on ground；
B, control agricultural unmanned plane and take off, keep presetting operation height；
C, preset according to flying height and flying speed and broadcast sowing fabric width, start blower fan and reach to preset wind speed；
D, startup discharge motor, set the rotating speed of refuse rotor according to default discharge capacity；
E, control agricultural unmanned plane and carry out broadcasting sowing operation according to predefined paths；
F, in broadcasting sowing operation process, by the flying height of position in the control system money agricultural unmanned plane of sensor Real-time Collection
And airspeed information, and transmit information to microprocessor；When the flying speed of agricultural unmanned plane changes, micro-process
The requirement that device combines, according to the discharge motor speed that the current flight speed collecting and tachogenerator are fed back, the amount of broadcasting sowing determines
The refuse rotor tachometer value preset, by regulation and control discharge electric machine controller, control discharge motor changes rotating speed to adjust withdrawal rate；When
When the flying height of agricultural unmanned plane changes, microprocessor is according to collecting current flying height and wind speed measuring circuit
The blower fan wind speed of feedback combines and broadcasts sowing the wind speed that the requirement determination of wide cut is preset, and by regulation and control controller of fan, control blower fan changes
Become wind speed and broadcast sowing fabric width to adjust；
G, operation complete, and refuse rotor stops operating, and close blower fan, and agricultural unmanned plane makes a return voyage, lands.
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| CN201610654440.8A CN106416530B (en) | 2016-08-11 | 2016-08-11 | A kind of the material spreading gear and method of agricultural unmanned plane carry |
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| CN201610654440.8A CN106416530B (en) | 2016-08-11 | 2016-08-11 | A kind of the material spreading gear and method of agricultural unmanned plane carry |
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| CN106416530B CN106416530B (en) | 2019-08-16 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097958A (en) * | 2017-04-20 | 2017-08-29 | 浙江大学 | The UAS and method of a kind of variable fertilization |
| CN107690896A (en) * | 2017-08-31 | 2018-02-16 | 广东容祺智能科技有限公司 | A kind of seed based on agricultural miniature unmanned plane precisely broadcasts sowing system and method |
| CN108791889A (en) * | 2018-06-13 | 2018-11-13 | 刘交兵 | A kind of hygroscopicity aviation dry powder sowing apparatus |
| CN108861611A (en) * | 2018-06-22 | 2018-11-23 | 深圳高科新农技术有限公司 | A kind of unmanned plane solid material blowing device |
| CN109699245A (en) * | 2017-10-25 | 2019-05-03 | 江苏翰雅生态农业有限公司 | A kind of sustainable agriculture planting equipment |
| CN109769785A (en) * | 2017-11-15 | 2019-05-21 | 广州极飞科技有限公司 | Flight instruments and based on its material ejection control method, device, system |
| CN110373985A (en) * | 2019-07-10 | 2019-10-25 | 安徽省交通规划设计研究总院股份有限公司 | Two-component graticule knife-coat application equipment |
| WO2020063057A1 (en) * | 2018-09-30 | 2020-04-02 | 广州极飞科技有限公司 | Material broadcast sowing device, unmanned aerial vehicle and material broadcast sowing method |
| WO2020173306A1 (en) * | 2019-02-27 | 2020-09-03 | 广州极飞科技有限公司 | Method and device for adjusting broadcasting amount, unmanned aerial vehicle, and storage medium |
| US10814980B2 (en) | 2017-09-02 | 2020-10-27 | Precision Drone Services Intellectual Property, Llc | Distribution assembly for an aerial vehicle |
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