CN107318811B - Fruit tree pesticide spraying device and method - Google Patents
Fruit tree pesticide spraying device and method Download PDFInfo
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- CN107318811B CN107318811B CN201710600793.4A CN201710600793A CN107318811B CN 107318811 B CN107318811 B CN 107318811B CN 201710600793 A CN201710600793 A CN 201710600793A CN 107318811 B CN107318811 B CN 107318811B
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- 238000005507 spraying Methods 0.000 title claims abstract description 417
- 239000000575 pesticide Substances 0.000 title claims abstract description 283
- 235000013399 edible fruits Nutrition 0.000 title claims abstract description 105
- 238000000034 method Methods 0.000 title claims description 13
- 239000007921 spray Substances 0.000 claims abstract description 153
- 239000003814 drug Substances 0.000 claims description 205
- 238000012544 monitoring process Methods 0.000 claims description 19
- 238000003860 storage Methods 0.000 claims description 15
- 239000007788 liquid Substances 0.000 claims description 7
- 239000000446 fuel Substances 0.000 claims description 5
- 238000009826 distribution Methods 0.000 claims description 4
- 239000000295 fuel oil Substances 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 238000011084 recovery Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 5
- 238000002360 preparation method Methods 0.000 abstract description 4
- 229940079593 drug Drugs 0.000 description 14
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000002347 injection Methods 0.000 description 5
- 239000007924 injection Substances 0.000 description 5
- 241000607479 Yersinia pestis Species 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 208000030499 combat disease Diseases 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002420 orchard Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
-
- 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
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Pest Control & Pesticides (AREA)
- Insects & Arthropods (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention provides a fruit tree pesticide spraying device and a spraying method, wherein the fruit tree pesticide spraying device comprises an unmanned aerial vehicle, a control circuit and a spraying device, the spraying method comprises preparation work, spraying route planning, spraying operation and spraying ending, a downward spray head is arranged below the unmanned aerial vehicle, a transverse spray head is arranged above the unmanned aerial vehicle, quick spraying above a fruit tree and transverse spraying among trees can be combined, the fruit tree can be quickly applied, fixed-point spraying operation is carried out from the lower part of a tree crown, the problems that pesticide which cannot be sprayed by a spraying unmanned aerial vehicle spraying from top to bottom cannot reach leaves at the bottom of the tree crown, the pesticide is not applied in place and is insufficient are solved by reasonably planning a spraying route and setting a sinking spraying point, and the spraying effect of three-dimensional, all-dimensional and no dead angle is achieved.
Description
Technical Field
The invention relates to the technical field of pesticide spraying, in particular to a fruit tree pesticide spraying device and a spraying method.
Background
Crop diseases and insect pests are one of the main agricultural disasters in China, and the crop diseases and insect pests have the characteristics of multiple types, large influence and frequent outbreak of disasters. In order to effectively combat diseases and protect the healthy growth of crops, pesticides need to be sprayed to kill pests and prevent the yield reduction of crops.
At present, agricultural practitioners in China are fewer and fewer, and the requirement on agricultural automation is higher and higher. Pesticide spraying in the prior art is mainly established on the basis of a manual spraying mode, the progress is slow, the spraying mode is not fine enough, the personal injury to operators is caused, the requirement for planting large-area crops cannot be met, and the requirement for human-oriented humanistic care cannot be met.
With the development of the unmanned aerial vehicle technology, the pesticide spraying by adopting the unmanned aerial vehicle technology already moves to the actual application stage, so that farmers are liberated from the heavy and dangerous pesticide spraying operation and are deeply welcomed by the farmers.
Among the prior art, the pesticide sprinkler who sprays unmanned aerial vehicle is fixed in the organism below, the direction of shower nozzle is downwards, unmanned aerial vehicle advances at the uniform velocity, because there is a large amount of open grounds between the fruit tree generally, present unmanned aerial vehicle sprays the in-process, there is a large amount of pesticides to fall on the open ground, this will lead to the problem of two aspects, firstly the waste of pesticide, secondly the pollution to soil, pesticide shower nozzle direction is downwards in addition, to the dense fruit tree of leaf, the leaf of crown bottom can not be reachd to the spun pesticide, the dead angle of spraying has been left.
Disclosure of Invention
In order to solve the technical problems, the invention provides a fruit tree pesticide spraying device and a spraying method, and aims to provide the fruit tree pesticide spraying device, the problem that pesticide which is sprayed from top to bottom and cannot be sprayed by a spraying unmanned aerial vehicle cannot reach leaves at the bottom of a crown is solved through the spraying device, and the spraying method designed by the pesticide spraying device can be used for spraying the pesticide to the fruit trees in a three-dimensional manner, so that the problem of spraying dead angles is solved.
The invention provides a fruit tree pesticide spraying device, which comprises an unmanned aerial vehicle, a control circuit and a spraying device, wherein the unmanned aerial vehicle is connected with the control circuit;
the unmanned aerial vehicle comprises a power unit, a body and a camera, wherein the power unit is fixed on the body through threads, the unmanned aerial vehicle comprises 4 power units, and each power unit comprises a rotor wing and a driver;
the control circuit comprises a processor, a storage unit, a GPS (global positioning system) positioning unit, a medicine amount monitoring unit, a power control unit, a medicine spraying switch control unit, a pressure pump control unit, an attitude sensing unit and a height sensing unit, the control circuit is positioned in the machine body, and the processor is respectively connected with the storage unit, the GPS positioning unit, the medicine amount monitoring unit, the power control unit, the medicine spraying switch control unit, the pressure pump control unit, the attitude sensing unit and the height sensing unit;
the spraying device comprises at least one medicine supply unit, a first horizontal spray rod, a second horizontal spray rod, a first spray head, a second spray head, a pressure pump, a spray rod support, a first connecting rod, a second medicine spraying switch, a first medicine spraying switch and a second connecting rod, wherein the medicine supply unit comprises a medicine box, a medicine amount sensor and a medicine supply switch; the medicine chest is fixed below the machine body, the medicine amount sensor is positioned in the medicine chest, the bottom of the medicine chest is provided with a medicine outlet which is connected with the medicine supply switch, the medicine supply switch of the medicine supply unit is connected with the pressure pump through a hose, the pressure pump is connected with the first horizontal spray rod through the first medicine spraying switch through a hose, the pressure pump is connected with the second horizontal spray rod through the second medicine spraying switch through a hose, the first horizontal spray rod is provided with at least two first spray heads, the first spray heads are fixed on the first horizontal spray rod through threads, the second horizontal spray rod is provided with at least two second spray heads, the second spray heads are fixed on the second horizontal spray rod through threads, the spray rod support is fixed below the machine body through the first connecting rod, the first horizontal spray rod is fixed on the spray rod support, the second horizontal spray rod is fixed above the machine body through the second connecting rod;
the power control unit is connected with the power unit, the dosage sensor is connected with the dosage monitoring unit, the pesticide spraying switch control unit is connected with the pesticide supply switch, the first pesticide spraying switch and the second pesticide spraying switch, the pressure pump control unit is connected with the pressure pump, and the camera is connected with the processor;
the camera is fixed in under the spray lance support, and the direction of making a video recording is downward.
As a further improvement of the invention, the unmanned aerial vehicle is a four-rotor fuel oil unmanned aerial vehicle.
As a further improvement of the present invention, the connection mode of the medicine box and the machine body is riveting.
As a further improvement of the invention, the medicine quantity sensor is a static pressure liquid level meter or a liquid level transmitter.
As a further improvement of the present invention, the spray rod support and the first connecting rod are fixed by welding, the body and the second connecting rod are fixed by welding, and the second horizontal spray rod and the second connecting rod are fixed by welding.
As a further improvement of the invention, the first horizontal spray bar is connected to the spray bar support by a rotary connection enabling 3 degrees of freedom rotation of the first horizontal spray bar, the processor being connected to the rotary connection.
As a further improvement of the invention, the first horizontal spray rod is telescopic in length, and the telescopic length is 1-4 meters.
As a further improvement of the invention, the first spray head is a 3-nozzle spray head, the included angle between the spraying directions of 3 nozzles is 60 degrees, the second spray head is a 2-nozzle spray head, and the included angle between the 2 nozzles and the horizontal plane is 30-60 degrees.
The invention also provides a spraying method of the fruit tree pesticide spraying device, which comprises the following steps:
step 1, preparation work is carried out, pesticides are injected into the pesticide box, fuel oil is injected into the unmanned aerial vehicle, pipeline inspection is carried out, the processor reads data of the GPS positioning unit, the processor stores the data of the GPS positioning unit in the storage unit, and the data are recorded as original position data;
and 2, planning a spraying route, which comprises the following specific steps:
202, controlling the rotation of a rotor wing of the power unit by the power control unit to drive the fruit tree pesticide spraying device to fly above a region needing pesticide spraying;
and 3, spraying operation, which comprises the following specific steps:
301, the fruit tree pesticide spraying device flies along a planned spraying route, and the vertical distance between the fruit tree pesticide spraying device and the top end of a tree is kept to be about 2-3 meters in the flying process;
303, the processor sends a command for turning on the first pesticide spraying switch to the pesticide spraying switch control unit, the pesticide spraying switch control unit controls the first pesticide spraying switch to be turned on, the processor sends a command for starting the pressure pump to the pressure pump control unit, the pressure pump control unit controls the pressure pump to be started, pesticide is pumped out of the pesticide box, is pressurized by the pressure pump and is continuously sprayed out of the first spray head through the first horizontal spray rod;
305, the fruit tree pesticide spraying device flies to a sinking spraying point, and the processor acquires height data according to the height sensing unit and records the height data as a first height;
307, the processor sends a command for closing the first medicine spraying switch to the medicine spraying switch control unit, the medicine spraying switch control unit controls the first medicine spraying switch to be closed, and the first sprayer stops spraying medicine;
308, the processor sends a descending instruction to the power control unit, and the power control unit controls the power unit to act to drive the fruit tree pesticide spraying device to sink at a sinking spraying point;
311, when the fruit tree pesticide spraying device rises to the first height, the processor sends a command for closing the second pesticide spraying switch to the pesticide spraying switch control unit, the pesticide spraying switch control unit controls the second pesticide spraying switch to be closed, the second sprayer stops spraying pesticide, the processor sends a command for opening the first pesticide spraying switch to the pesticide spraying switch control unit, the pesticide spraying switch control unit controls the first pesticide spraying switch to be opened, and pesticide is continuously sprayed from the first sprayer;
step 314, the processor judges whether the pesticide in the pesticide box is used up or not according to the received pesticide amount data, if the pesticide in the pesticide box is used up, the step 315 is executed, and if the pesticide in the pesticide box is used up, the step 312 is executed;
step 315, the processor records the data of the GPS positioning unit as breakpoint position data;
step 316, the processor sends a command to the pressure pump control unit to stop the pressure pump, the pressure pump control unit controls the pressure pump to stop, the processor sends a command to the pesticide spraying switch control unit to close the pesticide supply switch, the pesticide spraying switch control unit controls the pesticide supply switch to close, the processor sends a command to the pesticide spraying switch control unit to close the second pesticide spraying switch, the pesticide spraying switch control unit controls the second pesticide spraying switch to close, the processor sends a command to the pesticide spraying switch control unit to close the first pesticide spraying switch, and the pressure pump control unit controls the first pesticide spraying switch to close;
step 317, the processor returns to the original point position according to the original point position data, and pesticides are injected into the pesticide box;
step 318, the processor returns the breakpoint position according to the breakpoint position data, and goes to step 302;
and 4, finishing spraying, sending a stop instruction to the pressure pump control unit by the processor, controlling the pressure pump to stop by the pressure pump control unit, sending a command for closing the medicine supply switch, the first medicine spraying switch and the second medicine spraying switch by the medicine spraying switch control unit by the processor, controlling the medicine supply switch, the first medicine spraying switch and the second medicine spraying switch to be closed by the medicine spraying switch control unit, and returning to the original point by the processor according to the original point position data stored by the storage unit.
The invention has the following beneficial effects: the invention provides a fruit tree pesticide spraying device and a spraying method, wherein a downward spray head is arranged below an unmanned aerial vehicle, and a transverse spray head is arranged above the unmanned aerial vehicle, so that the combination of quick spraying above fruit trees and transverse spraying among trees can be realized, the rapid pesticide application operation on fruit forests can be realized, the fixed point spraying operation is performed from the lower part of a crown, the problems that pesticide which cannot be sprayed by a spraying unmanned aerial vehicle spraying from top to bottom cannot reach leaves at the bottom of the crown, the pesticide application is not in place and is insufficient are solved by reasonably planning a spraying route and setting a sinking spraying point, and the three-dimensional, all-dimensional and dead-angle-free spraying effect is achieved.
Drawings
Fig. 1 is a schematic structural view of a fruit tree pesticide spraying device in a first embodiment of the invention.
Fig. 2 is an electrical control schematic diagram of a fruit tree pesticide spraying device in a first embodiment of the invention.
FIG. 3 is a flow chart of a fruit tree pesticide spraying method according to a second embodiment of the present invention.
Fig. 4 is a detailed flowchart of step 2 in fig. 3.
Fig. 5 is a detailed flowchart of step 3 in fig. 3.
Fig. 6 is a schematic structural view of a fruit tree pesticide spraying device in a third embodiment of the invention.
Fig. 7 is an electrical control schematic diagram of a fruit tree pesticide spraying device in a third embodiment of the invention.
FIG. 8 is a flow chart of a fruit tree pesticide spraying method in a fourth embodiment of the present invention.
In the figure, 100, unmanned plane; 101. a power unit; 102. a body; 103. a camera; 200. a control circuit; 201. a processor; 202. a storage unit; 203. a GPS positioning unit; 204. a dose monitoring unit; 205. a power control unit; 206. a pesticide spraying switch control unit; 207. a pressure pump control unit; 208. an attitude sensing unit; 209. a height sensing unit; 300. a spraying device; 301. a medicine chest; 302. a first horizontal spray bar; 303. a second horizontal spray bar; 304. a first nozzle; 305. a second nozzle; 306. a pressure pump; 307. a drug dose sensor; 308. a medicine supply switch; 309. a spray rod support; 310. a first connecting rod; 311. a second pesticide spraying switch; 312. a first pesticide spraying switch; 313. a second connecting rod; 321. a second medicine box; 327. a second drug dose sensor; 328. a second medicine supply switch.
Detailed Description
The invention is described in further detail below with reference to the drawings and specific examples.
Embodiment 1, as shown in fig. 1 and 2, the fruit tree pesticide spraying device of the present invention includes an unmanned aerial vehicle 100, a control circuit 200, and a spraying device 300;
the unmanned aerial vehicle 100 comprises a power unit 101, a body 102 and a camera 103, wherein the power unit 101 is fixed on the body 102 through threads, the unmanned aerial vehicle 100 comprises 4 power units 101, and each power unit 101 comprises a rotor and a driver;
the drone 100 is a quad-rotor fuel drone;
the control circuit 200 comprises a processor 201, a storage unit 202, a GPS positioning unit 203, a medicine amount monitoring unit 204, a power control unit 205, a medicine spraying switch control unit 206, a pressure pump control unit 207, an attitude sensing unit 208 and a height sensing unit 209, wherein the control circuit 200 is positioned inside the machine body 102, and the processor 201 is respectively connected with the storage unit 202, the GPS positioning unit 203, the medicine amount monitoring unit 204, the power control unit 205, the medicine spraying switch control unit 206, the pressure pump control unit 207, the attitude sensing unit 208 and the height sensing unit 209;
the spraying device 300 comprises at least one medicine supply unit, a first horizontal spray rod 302, a second horizontal spray rod 303, a first spray head 304, a second spray head 305, a pressure pump 306, a spray rod bracket 309, a first connecting rod 310, a second medicine spraying switch 311, a first medicine spraying switch 312 and a second connecting rod 313, wherein the medicine supply unit comprises a medicine box 301, a medicine amount sensor 307 and a medicine supply switch 308; the medicine box 301 is fixed below the machine body 102, the medicine quantity sensor 307 is located in the medicine box 301, a medicine outlet is formed in the bottom of the medicine box 301 and is connected with a medicine supply switch 308, the medicine supply switch 308 of the medicine supply unit is connected with the pressure pump 306 through a hose, the pressure pump 306 is connected with the first horizontal spray rod 302 through a first medicine spraying switch 312 through a hose, the pressure pump 306 is connected with the second horizontal spray rod 303 through a second medicine spraying switch 311 through a hose, at least two first spray heads 304 are arranged on the first horizontal spray rod 302, the first spray heads 304 are fixed on the first horizontal spray rod 302 through threads, at least two second spray heads 305 are arranged on the second horizontal spray rod 303, the second spray heads 305 are fixed on the second horizontal spray rod 303 through threads, the spray rod support 309 is fixed below the machine body 102 through a first connecting rod 310, the first horizontal spray rod 302 is fixed on the spray rod support 309, and the second horizontal spray rod 303 is fixed above the machine body 102 through;
the medicine boxes 301 are connected with the machine body 102 in a riveting mode, and a medicine quantity sensor 307 is placed in each medicine box 301;
a medicine supply switch 308 is arranged in front of the pressure pump 306, mainly for preventing the pressure pump 306 from idling;
the first horizontal spray rod 302 is telescopic, the telescopic length is 1-4 meters, the first horizontal spray rod 302 is provided with a telescopic control device, the telescopic control device is connected with the processor 201, and the processor 201 sends a contraction or opening instruction to the telescopic control device, so that the telescopic control device is controlled to drive the first horizontal spray rod 302 to contract or open, and the first horizontal spray rod 302 is in a contraction state or an opening state;
the second horizontal spray bar 303 is a shorter spray bar with a length of 1-2 meters, preferably 1 meter;
the first spray head 304 is a 3-nozzle spray head, the included angle between the spraying directions of 3 nozzles is 60 degrees, the second spray head 305 is a 2-nozzle spray head, the included angle between 2 nozzles and the horizontal plane is 30-60 degrees, preferably 45 degrees, and the horizontal range of pesticide sprayed from the nozzle of the second spray head can be furthest ensured;
the spray rod support 309 and the first connecting rod 310 are fixed in a fusion mode, the machine body 102 and the second connecting rod 313 are fixed in a fusion mode, the second horizontal spray rod 303 and the second connecting rod 313 are fixed in a fusion mode, the first horizontal spray rod 302 is connected with the spray rod support 309 through a rotary connecting piece, the first horizontal spray rod 302 can rotate in 3 degrees of freedom, the processor 201 is connected with the rotary connecting piece, the angle of the first horizontal spray rod 302 is controlled, the first horizontal spray rod 302 can spray fruit trees at any angle, and the pesticide spraying dead angle is further guaranteed;
the drug quantity sensor 307 is a static pressure liquid level meter or a liquid level transmitter;
the power control unit 205 is connected with the power unit 101, the medicine amount sensor 307 is connected with the medicine amount monitoring unit 204, the medicine spraying switch control unit 206 is connected with the medicine supply switch 308, the first medicine spraying switch 312 and the second medicine spraying switch 311, the pressure pump control unit 207 is connected with the pressure pump 306, and the camera 103 is connected with the processor 201;
The embodiment has the following beneficial effects: through set up the shower nozzle downwards in the unmanned aerial vehicle below, the unmanned aerial vehicle top sets up horizontal shower nozzle, can realize spraying fast in the fruit tree top and transversely spray between the tree and combine together, can realize carrying out the operation of applying pesticides fast to the fruit tree, the fixed point sprays the operation from the crown below, the length of first horizontal spray bar is scalable, guarantee that sprinkler can get into constrictive space and spray the operation, the pesticide that spouts the unable spraying of medicine unmanned aerial vehicle that spouts of having solved from last spout medicine downwards can't reach crown bottom leaf, the medicine of applying pesticides is not in place, insufficient problem, reach three-dimensionally, it is all-round, the effect of spraying at no dead angle.
Embodiment 2, as shown in fig. 3, a spraying method of a fruit tree pesticide spraying device according to a first embodiment of the present invention includes:
step 1, preparation work, pesticide injection medicine box 301, fuel injection unmanned aerial vehicle 100 and pipeline inspection, wherein a processor 201 reads data of a GPS positioning unit 203, and the processor 201 stores the data of the GPS positioning unit 203 in a storage unit 202 and records the data as original position data;
step 2, spray route planning, the specific steps are shown in fig. 4, and the method comprises the following steps:
the fruit trees in the orchard are generally distributed according to rows, the spraying route is planned to be a snake-shaped route along the gaps among the rows of the fruit trees in step 205, and the route planning is beneficial to improving the operation efficiency and saving fuel.
Step 3, spraying operation, as shown in fig. 5, includes the following steps:
301, flying the fruit tree pesticide spraying device along a planned spraying route, wherein the vertical distance between the fruit tree pesticide spraying device and the top end of a tree is kept to be about 2-3 meters in the flying process;
the fruit tree pesticide spraying device keeps a vertical distance of about 2-3 meters from the top end of a tree in the flying process, so that a diffused space is formed after the pesticide is sprayed from the first spray head 304, the spraying range is expanded, meanwhile, the sprayed liquid medicine is ensured to have a certain speed and penetrate into the crown of the tree, and the pesticide can exert a better effect;
305, the fruit tree pesticide spraying device flies to a sinking spraying point, and the processor 201 acquires height data according to the height sensing unit 209 and records the height data as a first height;
the medicine of spouting that sinks mainly is the problem of spraying of solving the tree crown bottom, and the distance that the general distance ground of tree crown bottom is about 1 meter, and consequently the lower extreme that highly should guarantee sprinkler after sinking is apart from 1 meter on ground, keeps the distance with ground simultaneously, prevents that the pesticide that sprays from falling to ground, reduces the pollution to the environment.
308, the processor 201 sends a descending instruction to the power control unit 205, and the power control unit 205 controls the power unit 101 to act to drive the pesticide spraying device of the fruit tree to sink at the sinking spraying point;
311, when the fruit tree pesticide spraying device rises to a first height, the processor 201 sends a command to the pesticide spraying switch control unit 206 to close the second pesticide spraying switch 311, the pesticide spraying switch control unit 206 controls the second pesticide spraying switch 311 to be closed, the second spray nozzle 305 stops spraying pesticide, the first horizontal spray rod 302 is turned on, the processor 201 sends a command to the pesticide spraying switch control unit 206 to turn on the first pesticide spraying switch 312, the pesticide spraying switch control unit 206 controls the first pesticide spraying switch 312 to be opened, and pesticide is continuously sprayed from the first spray nozzle 304;
step 314, the processor 201 judges whether the pesticide in the pesticide box 301 is used up or not according to the received pesticide amount data, if the pesticide is used up, the step 315 is switched to, and if the pesticide is not used up, the step 312 is switched to;
step 315, the processor 201 records the data of the GPS positioning unit 203 as breakpoint position data;
step 316, the processor 201 sends a command to the pressure pump control unit 207 to stop the pressure pump 306, the pressure pump control unit 207 controls the pressure pump 306 to stop, the processor 201 sends a command to the spraying switch control unit 206 to close the medicine supply switch 308, the spraying switch control unit 206 controls the medicine supply switch 308 to close, the processor 201 sends a command to the spraying switch control unit 206 to close the second spraying switch 311, the spraying switch control unit 206 controls the second spraying switch 311 to close, the processor 201 sends a command to the spraying switch control unit 206 to close the first spraying switch 312, and the pressure pump control unit 207 controls the first spraying switch 312 to close;
step 317, the processor 201 returns to the original point position according to the original point position data, and injects the pesticide into the pesticide box 301;
step 318, the processor 201 returns the breakpoint position according to the breakpoint position data, and goes to step 302;
and 4, finishing spraying, sending a stop instruction to the pressure pump control unit 207 by the processor 201, controlling the pressure pump 306 to stop by the pressure pump control unit 207, sending instructions to close the medicine supply switch 308, the first medicine spraying switch 312 and the second medicine spraying switch 311 by the processor 201 to the medicine spraying switch control unit 206, controlling the medicine supply switch 308, the first medicine spraying switch 312 and the second medicine spraying switch 311 to be closed by the medicine spraying switch control unit 206, and returning the processor 201 to the original point according to the original point position data stored in the storage unit 202.
The embodiment has the following beneficial effects: spraying route and setting up the point of spraying that sinks through rational planning, can realize carrying out the operation of applying medicine to the fruit tree fast to compromise the application of medicine to the branch leaf of fruit tree bottom, solve the not in place, insufficient problem of applying medicine, reach the effect of spraying at three-dimensional, all-round, no dead angle.
Embodiment 3, as shown in fig. 6 and 7, a fruit tree pesticide spraying apparatus according to a third embodiment of the present invention is different from the first embodiment in that a second pesticide supply unit is added, and the second pesticide supply unit includes a pesticide box 321, a pesticide amount sensor 327, and a pesticide supply switch 328;
a medicine box 321 is fixed below the machine body 102, a medicine quantity sensor 327 is positioned in the medicine box 321, a medicine outlet is arranged at the bottom of the medicine box 321 and is connected with a medicine supply switch 328, and the medicine supply switch 328 of the second medicine supply unit is connected with the pressure pump 306 through a hose;
the drug quantity sensor 327 is connected with the drug quantity monitoring unit 204, and the drug spraying switch control unit 206 is connected with the drug supply switch 328;
the embodiment has the following beneficial effects: set up two independent confession medicine units, can carry two kinds of pesticides on the one hand to the realization is sprayed corresponding pesticide in succession to different crops, and on the other hand can spray two kinds of not existing pesticides to same crop.
Example 4, as shown in fig. 3, the fruit tree pesticide spraying device according to the third example of the present invention is a corresponding spraying method,
step 1, preparation work, namely, a first pesticide injection medicine box 301, a second pesticide injection medicine box 321, a fuel injection unmanned aerial vehicle 100 and pipeline inspection, wherein a processor 201 reads data of a GPS positioning unit 203, and the processor 201 stores the data of the GPS positioning unit 203 in a storage unit 202 and records the data as original position data;
the first pesticide is applied to A fruit trees, and the second pesticide is applied to B fruit trees;
step 2, spray route planning, as shown in fig. 8, the specific steps include:
and 3, spraying operation, which comprises the following specific steps:
step 302A, the processor 201 sends an instruction to turn on the medicine supply switch 308 to the medicine spraying switch control unit 206, and the medicine spraying switch control unit 206 controls the medicine supply switch 308 to be turned on;
step 303A, the processor 201 sends a command to the spraying switch control unit 206 to turn on the first spraying switch 312, the spraying switch control unit 206 controls the first spraying switch 312 to turn on, the processor 201 sends a command to the pressure pump control unit 207 to start the pressure pump 306, the pressure pump control unit 207 controls the pressure pump 306 to start, the first pesticide is pumped out of the pesticide box 301, is pressurized by the pressure pump 306, and is continuously sprayed out from the first spray head 304 through the first horizontal spray rod 302;
step 304A, the processor 201 acquires data of the GPS positioning unit 203, determines whether the spraying device is located at a sinking spraying point, if so, turns to step 305A, otherwise, turns to step 312A;
step 305A, the fruit tree pesticide spraying device flies to a sinking spraying point, and the processor 201 acquires height data according to the height sensing unit 209 and records the height data as a first height;
step 306A, the processor 201 sends an instruction to open the second spraying switch 311 to the spraying switch control unit 206, and the first pesticide is pumped out of the pesticide box 301, pressurized by the pressure pump 306, and continuously sprayed out of the second spray head 305 through the second horizontal spray rod 303;
307A, the processor 201 sends a command to the spraying switch control unit 206 to close the first spraying switch 312, the spraying switch control unit 206 controls the first spraying switch 312 to close, the first spraying nozzle 304 stops spraying medicine, and the first horizontal spraying rod 302 is in a contracted state;
step 308A, the processor 201 sends a descending instruction to the power control unit 205, and the power control unit 205 controls the power unit 101 to act to drive the pesticide spraying device of the fruit tree to sink at the sinking spraying point;
step 309A, when the fruit tree pesticide spraying device is 0.5 m away from the ground, the processor 201 sends a descending stopping instruction to the power control unit 205, and the power control unit 205 controls the power unit 101 to act to drive the fruit tree pesticide spraying device to stop descending;
step 310A, the processor 201 sends a height restoring instruction to the power control unit 205 according to the first height, and the power control unit 205 controls the power unit 101 to act;
311A, when the fruit tree pesticide spraying device rises to a first height, the processor 201 sends a command of closing the second pesticide spraying switch 311 to the pesticide spraying switch control unit 206, the pesticide spraying switch control unit 206 controls the second pesticide spraying switch 311 to be closed, the second spray nozzle 305 stops spraying pesticide, the first horizontal spray rod 302 is changed into an open state, the processor 201 sends a command of opening the first pesticide spraying switch 312 to the pesticide spraying switch control unit 206, the pesticide spraying switch control unit 206 controls the first pesticide spraying switch 312 to be opened, and the first pesticide is continuously sprayed from the first spray nozzle 304;
step 312A, the fruit tree pesticide spraying device flies along a planned spraying route, the processor 201 acquires data of the GPS positioning unit 203, the crop type is judged, if the crop type is A fruit tree planting area, the step 302A is turned, and if the crop type is B fruit tree planting area, the step 302B is turned;
step 313A, the medicine quantity monitoring unit 204 acquires the medicine quantity data of the medicine quantity sensor 307 in real time, monitors the medicine quantity in the medicine chest 301, and the medicine quantity monitoring unit 204 transmits the medicine quantity data to the processor 201;
step 314A, the processor 201 determines whether the first pesticide in the medicine box 301 is used up according to the received medicine amount data, and if the first pesticide is used up, the process goes to step 315A, otherwise, the process goes to step 312A;
step 315A, the processor 201 records the data of the GPS positioning unit 203 as breakpoint position data;
step 316A, the processor 201 sends a command to the pressure pump control unit 207 to stop the pressure pump 306, the pressure pump control unit 207 controls the pressure pump 306 to stop, the processor 201 sends a command to the spraying switch control unit 206 to close the medicine supply switch 308, the spraying switch control unit 206 controls the medicine supply switch 308 to close, the processor 201 sends a command to the spraying switch control unit 206 to close the second spraying switch 311, the spraying switch control unit 206 controls the second spraying switch 311 to close, the processor 201 sends a command to the spraying switch control unit 206 to close the first spraying switch 312, and the pressure pump control unit 207 controls the first spraying switch 312 to close;
step 317A, the processor 201 returns to the origin position according to the origin position data, and injects the first pesticide into the pesticide box 301;
step 318A, the processor 201 returns the breakpoint position according to the breakpoint position data, and goes to step 302A;
step 302B, the processor 201 sends an instruction to turn on the second medicine supply switch 328 to the medicine spraying switch control unit 206, and the medicine spraying switch control unit 206 controls the second medicine supply switch 328 to be turned on;
step 303B, the processor 201 sends a command to the spraying switch control unit 206 to turn on the first spraying switch 312, the spraying switch control unit 206 controls the first spraying switch 312 to turn on, the processor 201 sends a command to the pressure pump control unit 207 to start the pressure pump 306, the pressure pump control unit 207 controls the pressure pump 306 to start, the second pesticide is pumped out of the second pesticide box 321, pressurized by the pressure pump 306, and continuously sprayed out of the first spray head 304 through the first horizontal spray rod 302;
step 304B, the processor 201 acquires data of the GPS positioning unit 203, determines whether the spraying device is located at a sinking spraying point, if so, turns to step 305B, otherwise, turns to step 312B;
step 305B, the fruit tree pesticide spraying device flies to a sinking spraying point, and the processor 201 acquires height data according to the height sensing unit 209 and records the height data as a first height;
step 306B, the processor 201 sends a command to the spraying switch control unit 206 to open the second spraying switch 311, so that the second pesticide is pumped out of the second pesticide box 321, pressurized by the pressure pump 306, and continuously sprayed out of the second spray head 305 through the second horizontal spray rod 303;
307B, the processor 201 sends a command to the spraying switch control unit 206 to close the first spraying switch 312, the spraying switch control unit 206 controls the first spraying switch 312 to close, the first spraying nozzle 304 stops spraying medicine, and the first horizontal spraying rod 302 is in a contracted state;
step 308B, the processor 201 sends a descending instruction to the power control unit 205, and the power control unit 205 controls the power unit 101 to act to drive the pesticide spraying device for the fruit tree to sink at the sinking spraying point;
step 309B, when the fruit tree pesticide spraying device is 0.5 m away from the ground, the processor 201 sends a descending stopping instruction to the power control unit 205, and the power control unit 205 controls the power unit 101 to act to drive the fruit tree pesticide spraying device to stop descending;
step 310B, the processor 201 sends a height restoring instruction to the power control unit 205 according to the first height, and the power control unit 205 controls the power unit 101 to act;
311B, when the fruit tree pesticide spraying device rises to the first height, the processor 201 sends a command to the pesticide spraying switch control unit 206 to close the second pesticide spraying switch 311, the pesticide spraying switch control unit 206 controls the second pesticide spraying switch 311 to be closed, the second spray nozzle 305 stops spraying pesticide, the first horizontal spray rod 302 is changed into an open state, the processor 201 sends a command to the pesticide spraying switch control unit 206 to open the first pesticide spraying switch 312, the pesticide spraying switch control unit 206 controls the first pesticide spraying switch 312 to be opened, and the second pesticide is continuously sprayed from the first spray nozzle 304;
step 312B, the fruit tree pesticide spraying device flies along the planned spraying route, the processor 201 acquires data of the GPS positioning unit 203, the crop type is judged, if the crop type is A fruit tree planting area, the step 302A is turned, and if the crop type is B fruit tree planting area, the step 302B is turned;
step 313B, the drug quantity monitoring unit 204 acquires the drug quantity data of the second drug quantity sensor 327 in real time, monitors the drug quantity in the second drug box 321, and the drug quantity monitoring unit 204 transmits the drug quantity data to the processor 201;
step 314B, the processor 201 determines whether the second pesticide in the second pesticide box 321 is used up according to the received pesticide amount data, and if the second pesticide is used up, the process goes to step 315B, otherwise, the process goes to step 312B;
step 315B, the processor 201 records the data of the GPS positioning unit 203 as breakpoint position data;
step 316B, the processor 201 sends a command to the pressure pump control unit 207 to stop the pressure pump 306, the pressure pump control unit 207 controls the pressure pump 306 to stop, the processor 201 sends a command to the spraying switch control unit 206 to close the second spraying switch 328, the spraying switch control unit 206 controls the second spraying switch 328 to close, the processor 201 sends a command to the spraying switch control unit 206 to close the second spraying switch 311, the spraying switch control unit 206 controls the second spraying switch 311 to close, the processor 201 sends a command to the spraying switch control unit 206 to close the first spraying switch 312, and the pressure pump control unit 207 controls the first spraying switch 312 to close;
step 317B, the processor 201 returns to the origin position according to the origin position data, and injects the second pesticide into the second medicine box 321;
step 318B, the processor 201 returns the breakpoint position according to the breakpoint position data, and goes to step 302B;
and 4, finishing spraying, sending a stop instruction to the pressure pump control unit 207 by the processor 201, controlling the pressure pump 306 to stop by the pressure pump control unit 207, sending instructions to close the medicine supply switch 308, the second medicine supply switch 328, the first medicine spraying switch 312 and the second medicine spraying switch 311 by the processor 201 to the medicine spraying switch control unit 206, controlling the medicine supply switch 308, the second medicine supply switch 328, the first medicine spraying switch 312 and the second medicine spraying switch 311 to be closed by the medicine spraying switch control unit 206, and returning the processor 201 to the original point according to the original point position data stored in the storage unit 202.
Various modifications may be made to the above without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is therefore intended to be limited not by the above description, but rather by the scope of the appended claims.
Claims (9)
1. A fruit tree pesticide spraying device is characterized by comprising an unmanned aerial vehicle (100), a control circuit (200) and a spraying device (300);
the unmanned aerial vehicle (100) comprises a power unit (101), a body (102) and a camera (103), wherein the power unit (101) is fixed on the body (102) through threads, the unmanned aerial vehicle (100) comprises 4 power units (101), and each power unit (101) comprises a rotor and a driver;
the control circuit (200) comprises a processor (201), a storage unit (202), a GPS (global positioning system) positioning unit (203), a medicine amount monitoring unit (204), a power control unit (205), a medicine spraying switch control unit (206), a pressure pump control unit (207), an attitude sensing unit (208) and a height sensing unit (209), wherein the control circuit (200) is located inside the machine body (102), and the processor (201) is respectively connected with the storage unit (202), the GPS positioning unit (203), the medicine amount monitoring unit (204), the power control unit (205), the medicine spraying switch control unit (206), the pressure pump control unit (207), the attitude sensing unit (208) and the height sensing unit (209);
the spraying device (300) comprises at least one medicine supply unit, a first horizontal spraying rod (302), a second horizontal spraying rod (303), a first spray head (304), a second spray head (305), a pressure pump (306), a spraying rod support (309), a first connecting rod (310), a second medicine spraying switch (311), a first medicine spraying switch (312) and a second connecting rod (313), wherein the medicine supply unit comprises a medicine box (301), a medicine amount sensor (307) and a medicine supply switch (308); the pesticide box (301) is fixed below the machine body (102), the pesticide amount sensor (307) is located in the pesticide box (301), a pesticide outlet is formed in the bottom of the pesticide box (301), the pesticide outlet is connected with the pesticide supply switch (308), the pesticide supply switch (308) of the pesticide supply unit is connected with the pressure pump (306) through a hose, the pressure pump (306) is connected with the first horizontal spray rod (302) through the hose via the first pesticide spray switch (312), the pressure pump (306) is connected with the second horizontal spray rod (303) through the second pesticide spray switch (311) via the hose, at least two first spray heads (304) are arranged on the first horizontal spray rod (302), the first spray heads (304) are fixed on the first horizontal spray rod (302) through threads, at least two second spray heads (305) are arranged on the second horizontal spray rod (303), the second spray head (305) is fixed on the second horizontal spray rod (303) through threads, the spray rod bracket (309) is fixed below the machine body (102) through the first connecting rod (310), the first horizontal spray rod (302) is fixed on the spray rod bracket (309), and the second horizontal spray rod (303) is fixed above the machine body (102) through the second connecting rod (313);
the power control unit (205) is connected with the power unit (101), the medicine quantity sensor (307) is connected with the medicine quantity monitoring unit (204), the medicine spraying switch control unit (206) is connected with the medicine supply switch (308), the first medicine spraying switch (312) and the second medicine spraying switch (311), the pressure pump control unit (207) is connected with the pressure pump (306), and the camera (103) is connected with the processor (201);
the camera (103) is fixed under the spray rod support (309), and the shooting direction is downward.
2. The fruit tree pesticide spraying device of claim 1, wherein the drone (100) is a quad-rotor fuel drone.
3. The fruit tree pesticide spraying device as claimed in claim 1, wherein the pesticide box (301) is connected with the machine body (102) in a riveting manner.
4. The fruit tree pesticide spraying device of claim 1, wherein the pesticide amount sensor (307) is a static pressure liquid level meter or a liquid level transmitter.
5. The fruit tree pesticide spraying device as claimed in claim 1, wherein the spray rod support (309) and the first connecting rod (310) are fixed in a welded manner, the machine body (102) and the second connecting rod (313) are fixed in a welded manner, and the second horizontal spray rod (303) and the second connecting rod (313) are fixed in a welded manner.
6. The fruit tree pesticide spraying device as recited in claim 1, wherein the first horizontal spray bar (302) is connected with the spray bar support (309) through a rotary connection piece, so that the first horizontal spray bar (302) can rotate with 3 degrees of freedom, and the processor (201) is connected with the rotary connection piece.
7. The fruit tree pesticide spraying device as recited in claim 1, wherein the first horizontal spray bar (302) is telescopic in length, and the telescopic length is 1-4 meters.
8. The fruit tree pesticide spraying device of claim 1, wherein the first spray head (304) is a 3-nozzle spray head, the included angle between the spraying directions of 3 nozzles is 60 degrees, the second spray head (305) is a 2-nozzle spray head, and the included angle between the 2 nozzles and the horizontal plane is 30-60 degrees.
9. The spraying method of the fruit tree pesticide spraying device as claimed in any one of claims 1 to 8, which comprises the following steps:
step 1, preparing work, injecting pesticides into the pesticide box (301), injecting fuel oil into the unmanned aerial vehicle (100) and checking pipelines, reading data of the GPS positioning unit (203) by the processor (201), storing the data of the GPS positioning unit (203) in the storage unit (202) by the processor (201), and recording the data as original position data;
and 2, planning a spraying route, which comprises the following specific steps:
step 201, the processor (201) sends a takeoff instruction to the power control unit (205);
step 202, the power control unit (205) controls the rotor of the power unit (101) to rotate to drive the fruit tree pesticide spraying device to fly above a region needing pesticide spraying;
step 203, the height sensing unit (209) acquires height data and transmits the height data to the processor (201), and when the height reaches 20 meters, the processor (201) sends a rotation stopping instruction to the power control unit (205) to drive the fruit tree pesticide spraying device to rotate and stop above a region needing pesticide spraying;
step 204, the camera (103) takes a picture of a pesticide spraying area, and the camera (103) transmits the picture to the processor (201);
step 205, the processor (201) identifies the photos in the step 204, identifies the distribution of fruit trees and tree row gaps needing spraying, plans a spraying route, and the processor (201) plans a sinking spraying point along the planned spraying route;
and 3, spraying operation, which comprises the following specific steps:
301, the fruit tree pesticide spraying device flies along a planned spraying route, and the vertical distance between the fruit tree pesticide spraying device and the top end of a tree is kept to be about 2-3 meters in the flying process;
step 302, the processor (201) sends an instruction of opening the medicine supply switch (308) to the medicine spraying switch control unit (206), and the medicine spraying switch control unit (206) controls the medicine supply switch (308) to be opened;
303, the processor (201) sends a command of turning on the first pesticide spraying switch (312) to the pesticide spraying switch control unit (206), the pesticide spraying switch control unit (206) controls the first pesticide spraying switch (312) to be turned on, the processor (201) sends a command of starting the pressure pump (306) to the pressure pump control unit (207), the pressure pump control unit (207) controls the pressure pump (306) to be started, pesticide is pumped out of the pesticide box (301), is pressurized by the pressure pump (306), and is continuously sprayed out of the first spray head (304) through the first horizontal spray rod (302);
step 304, the processor (201) acquires data of the GPS positioning unit (203), judges whether the spraying device is positioned at a sinking spraying point, if so, turns to step 305, otherwise, turns to step 312;
305, the fruit tree pesticide spraying device flies to a sinking spraying point, and the processor (201) acquires height data according to the height sensing unit (209) and records the height data as a first height;
step 306, the processor (201) sends a command of opening the second spraying switch (311) to the spraying switch control unit (206), pesticide is pumped out of the pesticide box (301), is pressurized by the pressure pump (306), and is continuously sprayed out of the second spray head (305) through the second horizontal spray rod (303);
307, the processor (201) sends a command of turning off the first spraying switch (312) to the spraying switch control unit (206), the spraying switch control unit (206) controls the first spraying switch (312) to be turned off, and the first spraying nozzle (304) stops spraying;
308, the processor (201) sends a descending instruction to the power control unit (205), and the power control unit (205) controls the power unit (101) to act to drive the fruit tree pesticide spraying device to sink at a sinking spraying point;
step 309, when the fruit tree pesticide spraying device is 0.5 m away from the ground, the processor (201) sends a descending stopping instruction to the power control unit (205), and the power control unit (205) controls the power unit (101) to act to drive the fruit tree pesticide spraying device to stop descending;
step 310, the processor (201) sends a height recovery command to the power control unit (205) according to the first height, and the power control unit (205) controls the power unit (101) to act;
311, when the fruit tree pesticide spraying device rises to the first height, the processor (201) sends a command of turning off the second pesticide spraying switch (311) to the pesticide spraying switch control unit (206), the pesticide spraying switch control unit (206) controls the second pesticide spraying switch (311) to be turned off, the second spray head (305) stops spraying pesticide, the processor (201) sends a command of turning on the first pesticide spraying switch (312) to the pesticide spraying switch control unit (206), the pesticide spraying switch control unit (206) controls the first pesticide spraying switch (312) to be turned on, and pesticide is continuously sprayed from the first spray head (304);
step 312, the fruit tree pesticide spraying device flies along the planned spraying route;
step 313, the medicine quantity monitoring unit (204) acquires the medicine quantity data of the medicine quantity sensor (307) in real time, monitors the medicine quantity in the medicine chest (301), and transmits the medicine quantity data to the processor (201);
step 314, the processor (201) judges whether the pesticide in the pesticide box (301) is used up according to the received pesticide amount data, if the pesticide in the pesticide box is used up, the step 315 is switched to, and if the pesticide in the pesticide box is used up, the step 312 is switched to;
step 315, the processor (201) records the data of the GPS positioning unit (203) as breakpoint position data;
step 316, the processor (201) sends a stop pressure pump (306) command to the pressure pump control unit (207), the pressure pump control unit (207) controls the pressure pump (306) to stop, the processor (201) sends a command to the spray switch control unit (206) to close the spray switch (308), the pesticide spraying switch control unit (206) controls the pesticide supply switch (308) to be closed, the processor (201) sends an instruction to the second spray switch control unit (206) to close the second spray switch (311), the spraying switch control unit (206) controls the second spraying switch (311) to be closed, the processor (201) sends a command to the spray switch control unit (206) to close the first spray switch (312), the pressure pump control unit (207) controls the first spray switch (312) to be closed;
step 317, the processor (201) returns to the origin position according to the origin position data, and injects pesticide into the medicine box (301);
step 318, the processor (201) returns the breakpoint position according to the breakpoint position data, and goes to step 302;
and 4, finishing spraying, sending a stop instruction to the pressure pump control unit (207) by the processor (201), controlling the pressure pump (306) to stop by the pressure pump control unit (207), sending instructions for closing the medicine supply switch (308), the first medicine spraying switch (312) and the second medicine spraying switch (311) to the medicine spraying switch control unit (206) by the processor (201), controlling the medicine supply switch (308), the first medicine spraying switch (312) and the second medicine spraying switch (311) to be closed by the medicine spraying switch control unit (206), and returning to the original point by the processor (201) according to the original point position data stored in the storage unit (202).
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| CN108713544A (en) * | 2018-06-08 | 2018-10-30 | 安徽省华之慧生态农业发展有限公司 | A kind of pesticide spraying unmanned plane |
| CN108835084A (en) * | 2018-06-28 | 2018-11-20 | 芜湖新尚捷智能信息科技有限公司 | A kind of unmanned plane for spraying insecticide |
| CN108910048A (en) * | 2018-08-24 | 2018-11-30 | 杨艳鹏 | A kind of floated chemical spraying device of more rotors of large arm exhibition |
| CN109720578B (en) * | 2019-01-15 | 2024-02-06 | 南京林业大学 | Unmanned aerial vehicle variable accurate pesticide application system and method |
| CN110432247A (en) * | 2019-08-22 | 2019-11-12 | 杨红坤 | A kind of greenhouse suspension type pesticide automatic spraying device |
| CN112602690B (en) * | 2020-11-26 | 2021-10-15 | 中国农业大学 | Full-coverage intelligent three-dimensional plant protection system and method for fruit tree canopy |
| CN112825839A (en) * | 2021-01-19 | 2021-05-25 | 夏正鑫 | Unmanned aerial vehicle pesticide spraying system for fruit tree plant protection |
| CN114868506A (en) * | 2022-04-08 | 2022-08-09 | 湖北省应通农林科技有限公司 | High-efficient mixed agricultural sprinkler |
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