CN108917590A - Plant protection drone operation quality detection device and its detection method - Google Patents
Plant protection drone operation quality detection device and its detection method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/32—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring areas
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Abstract
The invention discloses a kind of plant protection drone operation quality detection device and its detection methods, including quality detection device, the quality detection device includes casing and the main control unit that casing internal is arranged in, double antenna locating module, power supply and communication module, the main control unit is electrically connected with double antenna locating module and communication module respectively, the power supply respectively with main control unit, double antenna locating module and communication module electrical connection, the double antenna locating module point is connected with the first positioning antenna and the second positioning antenna, the first positioning antenna and the second positioning antenna are separately mounted to the both ends at the top of the spray boom in the plant protection drone, the casing is fixed on the fuselage of the plant protection drone；The present invention can calculate total spraying operation area, effective spraying operation area, drain spray rate and respray rate etc., to evaluate the operation effectiveness of unmanned aerial vehicle according to the job state of operation track point and liquid pump recorded in real time.
Description
Technical field
The invention belongs to plant protection drone technical fields, and in particular to a kind of plant protection drone operation quality detection device and
Its detection method.
Background technique
In recent years, with the appearance of agriculture unmanned plane (unmanned aerial vehicle, UAV), aviation plant protection field
Research and application it is more and more extensive.Currently, plant protection unmanned aerial vehicle is quickly grown, especially in East Asia such as China, Japan, South Korea
Area.In plant protection operation, the operation effectiveness and relationship between efficiency of equipment increase income unmanned aerial vehicle to production cost and farmland, direct shadow
Ring the enthusiasm that peasant uses unmanned plane.
In order to accurately count spray area when plant protection drone operation, to evaluate the operation effectiveness of unmanned aerial vehicle, need
A kind of plant protection drone operation quality detection device and its detection method are invented to solve the above problems.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of plant protection drone work in view of the above shortcomings of the prior art
Industry quality detection device and its detection method, this plant protection drone operation quality detection device and its detection method can be according in real time
The job state of the operation track point and liquid pump of record calculates total spraying operation area, effective spraying operation area, drain spray rate
With the rate of respraying etc., to evaluate the operation effectiveness of unmanned aerial vehicle.
To realize the above-mentioned technical purpose, the technical scheme adopted by the invention is as follows：
A kind of plant protection drone operation quality detection device, including plant protection drone, the plant protection drone include fuselage,
Spray boom and nozzle component, the spray boom are fixed on the fuselage, and the bottom of the spray boom is disposed with from left end to right end
Multiple nozzle components further include quality detection device, and the quality detection device includes casing and is arranged in casing internal
Main control unit, double antenna locating module, power supply and communication module, the main control unit respectively with double antenna locating module and communication
Module electrical connection, the power supply are electrically connected with main control unit, double antenna locating module and communication module respectively, and the double antenna is fixed
Position module point is connected with the first positioning antenna and the second positioning antenna, and the first positioning antenna and the second positioning antenna are pacified respectively
The both ends at the top of the spray boom in the plant protection drone, the casing are fixed on the fuselage of the plant protection drone.
Technical solution as a further improvement of that present invention is equipped with liquid pump and drug storage on the fuselage of the plant protection drone
Tank, the medicine storing pot are connected to by pencil with the spray boom, and the liquid pump is mounted on the pencil, the liquid pump and the electricity
Source connects, and is equipped with the Hall element whether to work for detecting liquid pump, Hall element and quality detection device on the liquid pump
Interior main control unit electrical connection.
Technical solution as a further improvement of that present invention, the communication module include 4G mobile communication module, 4G communication
Antenna and SIM card holder, the SIM card holder are electrically connected by SIM card signal wire with the 4G mobile communication module, and the 4G is mobile
Communication module is electrically connected with 4G communication antenna and main control unit respectively, and the 4G communication antenna is located at the outside of casing and is mounted on
On the fuselage of the plant protection drone, the SIM card holder is for installing SIM card, the 4G mobile communication module and the power supply
Electrical connection, the 4G communication antenna are remotely connected with background server.
Technical solution as a further improvement of that present invention, the main control unit controls chip using STM32F407, described
First positioning antenna and the second positioning antenna are GNSS antenna, and the power supply includes battery holder and power management module, the electricity
Source control module is electrically connected with the battery holder, and the battery holder is moved with the main control unit, double antenna locating module, 4G respectively
Dynamic communication module and liquid pump electrical connection.
Technical solution as a further improvement of that present invention, the main control unit and the two-way serial ports of double antenna locating module are logical
Letter connection.
Technical solution as a further improvement of that present invention is equipped with operation button, electricity lamp and work on the casing
Status lamp, the operation button are connect with the main control unit, and the power supply passes through power control signal line and the master control list
Member connection, the main control unit are electrically connected with the electricity lamp and working condition lamp, and the power supply passes through power supply line and institute respectively
State main control unit, double antenna locating module, 4G mobile communication module and liquid pump electrical connection.
To realize the above-mentioned technical purpose, another technical solution that the present invention takes is：
A kind of detection method of plant protection drone operation quality detection device, includes the following steps：
(1) to detect whether liquid pump works, Hall element will test the operating current of Hall element real-time detection liquid pump
Signal be sent in the main control unit in the quality detection device；
(2) main control unit receives the signal of Hall element transmission and counts the working time of liquid pump so that it is determined that spraying operation
Time；
(3) coordinate information of antenna and the second positioning antenna is positioned by double antenna locating module real-time measurement first and incited somebody to action
Coordinate information is sent to main control unit, and main control unit positions the coordinate information computer of antenna according to the first positioning antenna and second
The coordinate of the mobile tracing point of body, main control unit are filtered by coordinate of the adaptive Gaussian mixture model algorithm to tracing point；
(4) main control unit calculates spray area according to the coordinate of filtered tracing point；
(5) main control unit resprays rate and drain spray rate according to spray area calculating plant protection drone；
(6) main control unit by communication module by spray area, respray rate and drain spray rate feedback to background server.
Technical solution as a further improvement of that present invention, the adaptive Gaussian mixture model algorithm tool in the step (3)
Body is：tiMoment corresponding tracing point PiThe filtered value of coordinate x, y be：
Wherein x (ti),y(ti) it is respectively tiThe x at moment, y-coordinate, i=0,1,2 ...；σ is the broadband ginseng for filtering kernel function
Number.
Technical solution as a further improvement of that present invention, the step (4) specifically include：
Define tracing point PiIt is corresponding sprinkling endpoint coordinate beWherein：
WhereinwiFor the working width of plant protection drone,
θiFor the extending direction of spray boom and the angle of flight path line；
Connect two adjacent tracing point Pi,Pi+1Sprinkling endpoint, obtain tracing point Pi,Pi+1Spray pattern
Pi1Pi2Pi+11Pi+12；
Then two adjacent tracing point Pi,Pi+1Spray area be：
Technical solution as a further improvement of that present invention, the step (5) specifically include：
N number of quadrangle S for representing spray area along trajectory line is obtained by polygon piecewise fitting method1,S2,…,
SN, by Boolean calculation, obtain the gross area S of spraying operationA:
SA=S1∪S2∪S3∪…∪SN,
Sequential connection plant protection drone needs each vertex for the work surface sprayed to obtain the work surface for needing to spray
Geometry SF, then the effective area of spraying operation be：
Sv=SF∩SA,
Then drain spray area SmWith respray area SoRespectively：
Sm=SF-SV,So=(S1∩SA)∪(S2∩SA)∪…∪(SN∩SA),
Then effective spray rate ηv, drain spray rate ηmWith respray rate ηoRespectively：
Beneficial effects of the present invention are：The present invention is mounted in plant protection drone by quality detection device, passes through double days
Line positions simultaneously, can orient the precise position information of the first positioning antenna and the second positioning antenna simultaneously, finally obtain accurate
Flight path point coordinate information, pass through the coordinate information of flight path point and the angle calcu-lation of spray boom and flight path line
The practical region area sprayed of the nozzle component of plant protection drone out, to calculate effective spraying operation area, drain spray rate and again
The data such as spray rate, to evaluate the operation effectiveness of plant protection drone.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is boom structure schematic diagram of the invention.
Fig. 3 is the schematic diagram of spray area of the invention.
Fig. 4 is work flow diagram of the invention.
Specific embodiment
A specific embodiment of the invention is further illustrated below according to Fig. 1 to Fig. 4：
The present embodiment detects the operation shape of plant protection drone spray component (liquid pump) by hardware sensor (Hall element)
State, software carry out the record of initial data.According to the job state of the operation track and spray component that record in real time, calculate total
Working area, effective operation area, pesticide coverage rate, pesticide respray rate etc., thus realize to the operating efficiency of unmanned aerial vehicle and
The evaluation of effect.It is specific as follows.
The present embodiment provides a kind of plant protection drone operation quality detection device, including plant protection drone, the plant protection without
Man-machine includes fuselage 1, spray boom 2 and nozzle component 3, and the spray boom 2 is fixed on the fuselage 1, and the bottom of the spray boom 2 is from a left side
It holds right end to be disposed with multiple nozzle components 3, further includes quality detection device, referring to Fig. 1 and Fig. 2, the quality testing
Device includes casing and is arranged in the main control unit of casing internal, double antenna locating module, power supply and communication module, the master
Control unit is electrically connected with double antenna locating module and communication module respectively, and the power supply is positioned with main control unit, double antenna respectively
Module and communication module electrical connection, the double antenna locating module point are connected with the first positioning antenna 4 and the second positioning antenna 5,
The first positioning antenna 4 and the second positioning antenna 5 are separately mounted to the two of the top of the spray boom 2 in the plant protection drone
End, the casing are fixed on the fuselage 1 of the plant protection drone.Double antenna locating module is that double antenna multisystem is high-precision fixed
Position module.
Liquid pump and medicine storing pot are installed, the medicine storing pot passes through pencil and the spray on the fuselage 1 of the plant protection drone
Bar 2 is connected to, and the liquid pump is mounted on the pencil, and the liquid pump is connect with the power supply, is equipped with and is used on the liquid pump
The Hall element whether detection liquid pump works, Hall element are electrically connected with the main control unit in quality detection device.
The communication module includes 4G mobile communication module, 4G communication antenna and SIM card holder, and the SIM card holder passes through SIM
Card signal line is electrically connected with the 4G mobile communication module, the 4G mobile communication module respectively with 4G communication antenna and master control list
Member electrical connection, the 4G communication antenna are located at the outside of casing and are mounted on the fuselage 1 of the plant protection drone, the SIM
Deck is remotely connected with for installing SIM card, the 4G mobile communication module and the power electric connection, the 4G communication antenna
Background server.Main control unit connects 4G mobile communication module by usb communication, and main control unit belongs to USB main equipment, and 4G is mobile
Communication module belongs to USB from equipment.
The main control unit controls chip using STM32F407, and the first positioning antenna 4 and the second positioning antenna 5 are
GNSS antenna, the power supply include battery holder and power management module, and the power management module is electrically connected with the battery holder,
The battery holder is electrically connected with the main control unit, double antenna locating module, 4G mobile communication module and liquid pump respectively.
The main control unit is connect with the two-way serial communication of double antenna locating module.
Operation button, electricity lamp and working condition lamp, the operation button and the master control list are installed on the casing
Member connection, the power supply are connect by power control signal line with the main control unit, the main control unit and the electricity lamp
It is electrically connected with working condition lamp, the power supply passes through power supply line respectively and the main control unit, double antenna locating module, 4G are mobile
Communication module and liquid pump electrical connection.
The present embodiment controls chip using STM32F407, with the following functions：(1) user's operation key is detected, is carried out each
Item corresponding operating is such as switched on, shuts down.(2) display color and flashing mould of working condition lamp are controlled according to working state of system
Formula.(3) according to the display color and flash pattern of the electricity of the battery in the battery holder detected control electricity lamp.(4) basis
The demand of working condition controls the switch of power management module from each submodule power supply to system.(5) it is controlled by USB
Quectel EC20 4G mobile communication module, and established be connected to the network by 4G mobile communications network and background server in turn,
To from background server obtain positioning real time calibration data, additionally by location data, the spray area being calculated, respray
Rate and drain spray rate are reported to background server storage record.(6) the two-way serial communication of chip is controlled by STM32F407 to control
Trimble MB-TWO double antenna multisystem high accuracy positioning module, STM32F407 control chip will be obtained from background server
Positioning real time calibration data be transferred to double antenna multisystem high accuracy positioning module, wherein positioning real time calibration data be fix
The temporal information and location coordinate information of base station, double antenna multisystem high accuracy positioning module calculate standard by Differential positioning
True location data, STM32F407 control chip and accurate location data are reported to background server.
The present embodiment uses double antenna multisystem high accuracy positioning module, provides high-precision positioning function, property for system
Can feature with function be：(1) double antenna positions simultaneously, can orient the exact position of two antennas simultaneously.(2) simultaneously using more
The signal of a global position system is positioned, including：GPS, Beidou, Galileo, GLONASS etc..(3) use is from serial ports
The collected satellite data of positioning real time calibration data and aerial signal received carries out the positioning that fusion calculation obtains Centimeter Level
As a result.
The present embodiment also provides a kind of detection method of plant protection drone operation quality detection device, includes the following steps：
Referring to fig. 4, (1) uses the contactless measurement based on direct current mutual inductance principle, and detection plant protection unmanned aerial vehicle is worked as
The working condition of preceding liquid pump.Specially：The operating current of Hall element (non-contact method of magnetic core coil) real-time detection liquid pump
To detecting whether liquid pump works, the signal that Hall element passes sequentially through A/D conversion chip and USB data line will test is sent to
In main control unit in the quality detection device, and then realize the real-time detection of liquid pump working condition；
(2) main control unit receives the signal of Hall element transmission and counts the working time of liquid pump so that it is determined that spraying operation
Time period t；
(3) coordinate information of antenna 4 and the second positioning antenna 5 is positioned by double antenna locating module real-time measurement first,
And the Differential positioning by positioning real time calibration data calculates accurate coordinate information, so that it is determined that the spraying swath of plant protection drone
Direction, and main control unit is sent by coordinate information, main control unit positions the seat of antenna 5 according to the first positioning antenna 4 and second
The coordinate of the mobile tracing point of information computer body 1 is marked, the coordinate of the mobile tracing point of fuselage 1 is the seat of the first positioning antenna 4
The midpoint coordinates of the coordinate points line of punctuate and the second positioning antenna 5, main control unit is by adaptive Gaussian mixture model algorithm to rail
The coordinate of mark point is filtered；
(4) main control unit calculates spray area according to the coordinate of filtered tracing point；
(5) main control unit resprays rate and drain spray rate according to spray area calculating plant protection drone；
(6) main control unit by communication module by spray area, respray rate and drain spray rate feedback to background server.
Adaptive Gaussian mixture model algorithm in the step (3) is specially：
tiMoment corresponding tracing point PiThe filtered value of coordinate x, y be：
Wherein x (ti),y(ti) it is respectively tiThe tracing point P at momentiX before filtering, y-coordinate, i=0,1,2 ...；σ is filter
The broadband parameter of wave kernel function is determined according to sample frequency.
The step (4) specifically includes：
Define tracing point PiIt is corresponding sprinkling endpoint coordinate beWherein：
WhereinwiFor the working width of plant protection drone,
θiFor tiThe extending direction of moment spray boom 2 and the angle of flight path line；Flight path line is the line of each tracing point；
As shown in figure 3, two tracing point P that connection is adjacenti,Pi+1Sprinkling endpoint, obtain tracing point Pi,Pi+1Sprinkling
Shape Pi1Pi2Pi+11Pi+12；In figureFor tracing point PiThe filtered value of coordinate,For track
Point Pi+1The filtered value of coordinate,For tracing point PiThe seat of corresponding two sprinklings endpoint
Scale value,For tracing point Pi+1The coordinate value of corresponding two sprinklings endpoint；
θi+1For ti+1The extending direction of moment spray boom 2 and the angle of flight path line；
SiFor the square P in such as Fig. 3i1Pi2Pi+11Pi+12Area, then two adjacent tracing point Pi,Pi+1Spraying area
Product SiFor：
The step (5) specifically includes：
T is obtained by polygon piecewise fitting methodNAlong N number of four sides for representing spray area of trajectory line in activity duration
Shape S1,S2,…,SN, by " simultaneously " operation of boolean, obtain tNThe gross area S of spraying operation in activity durationA:
SA=S1∪S2∪S3∪3∪SN,
Sequential connection plant protection drone needs each vertex for the work surface sprayed to obtain the work surface for needing to spray
Geometry SF, then the effective area of spraying operation be：
Sv=SF∩SA,
Then drain spray area SmWith respray area SoRespectively：
Sm=SF-SV,So=(S1∩SA)∪(S2∩SA)∪…∪(SN∩SA),
Then effective spray rate ηv, drain spray rate ηmWith respray rate ηoRespectively：
Plant protection drone operation quality detection device of the invention can accurately count sprinkling when plant protection drone operation
Area resprays rate and drain spray rate, to evaluate the operating efficiency and effect of unmanned aerial vehicle.
Protection scope of the present invention includes but is not limited to embodiment of above, and protection scope of the present invention is with claims
Subject to, replacement, deformation, the improvement that those skilled in the art that any pair of this technology is made is readily apparent that each fall within of the invention
Protection scope.
Claims (10)
1. a kind of plant protection drone operation quality detection device, including plant protection drone, the plant protection drone includes fuselage, spray
Bar and nozzle component, the spray boom are fixed on the fuselage, and the bottom of the spray boom is disposed with more from left end to right end
A nozzle component, it is characterised in that：It further include quality detection device, the quality detection device includes casing and is arranged in machine
Main control unit, double antenna locating module, power supply and communication module inside shell, the main control unit respectively with double antenna positioning mould
Block and communication module electrical connection, the power supply is electrically connected with main control unit, double antenna locating module and communication module respectively, described
Double antenna locating module point is connected with the first positioning antenna and the second positioning antenna, the first positioning antenna and the second positioning day
Line is separately mounted to the both ends at the top of the spray boom in the plant protection drone, and the casing is fixed on the plant protection drone
On fuselage.
2. plant protection drone operation quality detection device according to claim 1, it is characterised in that：The plant protection drone
Fuselage on liquid pump and medicine storing pot be installed, the medicine storing pot is connected to by pencil with the spray boom, and the liquid pump is mounted on institute
It states on pencil, the liquid pump is connect with the power supply, and the Hall member whether to work for detecting liquid pump is equipped on the liquid pump
Part, Hall element are electrically connected with the main control unit in quality detection device.
3. plant protection drone operation quality detection device according to claim 2, it is characterised in that：The communication module packet
4G mobile communication module, 4G communication antenna and SIM card holder are included, the SIM card holder is mobile logical by SIM card signal wire and the 4G
Believe module electrical connection, the 4G mobile communication module is electrically connected with 4G communication antenna and main control unit respectively, and the 4G communicates day
Line is located at the outside of casing and is mounted on the fuselage of the plant protection drone, and the SIM card holder is described for installing SIM card
4G mobile communication module and the power electric connection, the 4G communication antenna are remotely connected with background server.
4. plant protection drone operation quality detection device according to claim 3, it is characterised in that：The main control unit is adopted
Chip is controlled with STM32F407, the first positioning antenna and the second positioning antenna are GNSS antenna, and the power supply includes battery
Seat and power management module, the power management module be electrically connected with the battery holder, the battery holder respectively with the master control
Unit, double antenna locating module, 4G mobile communication module and liquid pump electrical connection.
5. plant protection drone operation quality detection device according to claim 2, it is characterised in that：The main control unit with
The two-way serial communication connection of double antenna locating module.
6. plant protection drone operation quality detection device according to claim 2, it is characterised in that：It is installed on the casing
There are operation button, electricity lamp and working condition lamp, the operation button is connect with the main control unit, and the power supply passes through power supply
Control signal wire is connect with the main control unit, and the main control unit is electrically connected with the electricity lamp and working condition lamp, described
Power supply passes through power supply line respectively and is electrically connected with the main control unit, double antenna locating module, 4G mobile communication module and liquid pump.
7. a kind of detection method of plant protection drone operation quality detection device according to claim 2, it is characterised in that：
Include the following steps：
(1) operating current of Hall element real-time detection liquid pump is to detect whether liquid pump works, the letter that Hall element will test
It number is sent in the main control unit in the quality detection device；
(2) main control unit receives signal that Hall element is sent and counts the working time of liquid pump so that it is determined that when spraying operation
Between；
(3) coordinate information of antenna and the second positioning antenna positioned by double antenna locating module real-time measurement first and by coordinate
Information is sent to main control unit, and main control unit calculates fuselage according to the coordinate information of the first positioning antenna and the second positioning antenna and moves
The coordinate of dynamic tracing point, main control unit are filtered by coordinate of the adaptive Gaussian mixture model algorithm to tracing point；
(4) main control unit calculates spray area according to the coordinate of filtered tracing point；
(5) main control unit resprays rate and drain spray rate according to spray area calculating plant protection drone；
(6) main control unit by communication module by spray area, respray rate and drain spray rate feedback to background server.
8. the detection method of plant protection drone operation quality detection device according to claim 7, it is characterised in that：It is described
The step of (3) in adaptive Gaussian mixture model algorithm be specially：
tiMoment corresponding tracing point PiThe filtered value of coordinate x, y be：
Wherein x (ti),y(ti) it is respectively tiThe x at moment, y-coordinate, i=0,1,2 ...；σ is the broadband parameter for filtering kernel function.
9. the detection method of plant protection drone operation quality detection device according to claim 8, it is characterised in that：It is described
The step of (4) specifically include：
Define tracing point PiIt is corresponding sprinkling endpoint coordinate beWherein：
WhereinwiFor the working width of plant protection drone, θiFor
The extending direction of spray boom and the angle of flight path line；
Connect two adjacent tracing point Pi,Pi+1Sprinkling endpoint, obtain tracing point Pi,Pi+1Spray pattern Pi1Pi2Pi+ 11Pi+12；
Then two adjacent tracing point Pi,Pi+1Spray area be：
10. the detection method of plant protection drone operation quality detection device according to claim 9, it is characterised in that：Institute
The step of stating (5) specifically includes：
N number of quadrangle S for representing spray area along trajectory line is obtained by polygon piecewise fitting method1,S2,…,SN, lead to
Boolean calculation is crossed, the gross area S of spraying operation is obtainedA:
SA=S1∪S2∪S3∪…∪SN,
Sequential connection plant protection drone needs each vertex for the work surface sprayed to obtain the several of the work surface for needing to spray
What shape SF, then the effective area of spraying operation be：
Sv=SF∩SA,
Then drain spray area SmWith respray area SoRespectively：
Sm=SF-SV,So=(S1∩SA)∪(S2∩SA)∪…∪(SN∩SA),
Then effective spray rate ηv, drain spray rate ηmWith respray rate ηoRespectively：
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810448741.4A CN108917590A (en) | 2018-05-11 | 2018-05-11 | Plant protection drone operation quality detection device and its detection method |
| PCT/CN2018/120308 WO2019137136A1 (en) | 2018-05-11 | 2018-12-11 | Plant protection unmanned aerial vehicle operation quality detection apparatus and detection method therefor |
| AU2018401058A AU2018401058A1 (en) | 2018-05-11 | 2018-12-11 | Plant protection unmanned aerial vehicle operation quality detection apparatus and detection method therefor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810448741.4A CN108917590A (en) | 2018-05-11 | 2018-05-11 | Plant protection drone operation quality detection device and its detection method |
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| CN201810448741.4A Pending CN108917590A (en) | 2018-05-11 | 2018-05-11 | Plant protection drone operation quality detection device and its detection method |
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| AU (1) | AU2018401058A1 (en) |
| WO (1) | WO2019137136A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109709971A (en) * | 2018-12-10 | 2019-05-03 | 北京云无忧大数据科技有限公司 | For the method and apparatus of plant protection, storage medium and electronic equipment |
| WO2019137136A1 (en) * | 2018-05-11 | 2019-07-18 | 农业部南京农业机械化研究所 | Plant protection unmanned aerial vehicle operation quality detection apparatus and detection method therefor |
| CN110244335A (en) * | 2019-06-04 | 2019-09-17 | 深圳供电局有限公司 | Double antenna unjammable navigation device and unmanned plane |
| EP4005684A4 (en) * | 2019-07-23 | 2023-07-26 | Toyo Seikan Co., Ltd. | Unmanned aerial vehicle |
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| CN111868566B (en) * | 2019-10-11 | 2023-10-03 | 安徽中科智能感知科技股份有限公司 | Agricultural machinery operation area measuring and calculating method based on positioning drift measuring and calculating model |
| CN113091755B (en) * | 2019-12-19 | 2024-04-09 | 广州极飞科技股份有限公司 | Method, device, equipment and storage medium for tracking motion trail |
| CN115931415B (en) * | 2023-02-22 | 2023-05-16 | 埃森农机常州有限公司 | Spraying effect testing device of soybean and corn banded composite planting pesticide spraying plant protection machine |
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Also Published As
| Publication number | Publication date |
|---|---|
| AU2018401058A1 (en) | 2020-06-25 |
| WO2019137136A1 (en) | 2019-07-18 |
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