CN108045582A - A kind of major-minor UAV system for being used to detecting, preventing corps diseases - Google Patents
A kind of major-minor UAV system for being used to detecting, preventing corps diseases Download PDFInfo
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- CN108045582A CN108045582A CN201711352785.9A CN201711352785A CN108045582A CN 108045582 A CN108045582 A CN 108045582A CN 201711352785 A CN201711352785 A CN 201711352785A CN 108045582 A CN108045582 A CN 108045582A
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 title claims abstract description 56
- 241001347978 Major minor Species 0.000 title claims abstract description 31
- 208000031968 Cadaver Diseases 0.000 title claims abstract description 29
- 238000001228 spectrum Methods 0.000 claims abstract description 36
- 201000010099 disease Diseases 0.000 claims abstract description 27
- 239000007921 spray Substances 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 7
- 241000255925 Diptera Species 0.000 claims abstract description 6
- 238000004064 recycling Methods 0.000 claims description 12
- 238000005507 spraying Methods 0.000 claims description 8
- 239000000126 substance Substances 0.000 claims description 8
- 239000000523 sample Substances 0.000 claims description 6
- 230000003595 spectral effect Effects 0.000 claims description 4
- 230000004913 activation Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000000985 reflectance spectrum Methods 0.000 claims description 3
- 241000607479 Yersinia pestis Species 0.000 abstract description 10
- 230000009418 agronomic effect Effects 0.000 abstract description 6
- 239000002917 insecticide Substances 0.000 abstract description 4
- 238000010835 comparative analysis Methods 0.000 abstract description 3
- 238000003745 diagnosis Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000004611 spectroscopical analysis Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with arrangements to save energy
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Pest Control & Pesticides (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Insects & Arthropods (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Catching Or Destruction (AREA)
Abstract
The present invention relates to a kind of for detecting, preventing the major-minor UAV system of corps diseases, including UAV system, spectra collection system, navigation positioning system, communication connection system and ground data station；UAV system is made of host and multiple slaves, and host delivers slave and flies under navigation positioning system control, and by the optimal flight path of ground data station Plan and shooting hovering point, the real-time image for gathering ground, spectrum are simultaneously sent to ground data station；After ground data station receives the image data that multispectral camera collects, with spectra database comparative analysis, it obtains the situation information of diseases and pests of agronomic crop and classifies, it is sent to the correspondence slave of the corresponding disease for the treatment of, start slave, according to the good route of preplanning fly, spray insecticide to farmland, until completing entire plant protection operation.The present invention carries spectra collection system using unmanned plane and farmland is monitored, and carries out diagnosis and treatment to disease in time, saves manpower and time.
Description
Technical field
It is more particularly to a kind of to be used to detect, prevent corps diseases the present invention relates to agricultural mechanical field
Major-minor UAV system.
Background technology
, it is necessary to do disease observation to crop growth situation during proportion of crop planting, to be examined in time for pest and disease damage
It controls, especially for large area farmland, it is necessary to which artificial detection pest and disease damage and to planting area division mark, not only lost time, but also
It is present with error.
With the development of science and technology, the application of unmanned plane is more and more extensive, for crops are infested or morbidity, nobody is used
Machine is sprayed insecticide, and has been increasingly becoming reduction labor intensity, agriculture labor type rapidly and efficiently.But current plant protection
Unmanned plane is usually to carry out spray pesticide operation, this pattern after the complete plant disease of artificial detection, then for large area farmland
There are two kinds of drawbacks：First, detection is inaccurate, and it is long to expend the time；2nd, be often separate unit unmanned plane to suffering from disease of the same race
Crops large-scale application of pesticides processing, it is impossible to accomplish to handle simultaneously for multiple diseases；However the crops institute in each region is diseased
The situation of insect pest is often different, so the situation of dispenser should also be adaptation to local conditions.
Therefore, Large Area of Crops progress Defect inspection can be directed to by how providing one kind, and can be directed to the more of identification
The problem of unmanned plane operating system that kind disease is prevented in time is those skilled in the art's urgent need to resolve.
The content of the invention
In view of this, the present invention provides a kind of for detecting, preventing the major-minor UAV system of corps diseases, uses
Major-minor unmanned plane carries out Defect inspection for Large Area of Crops, and the multiple diseases that can be directed to identification are prevented in time
It controls, saves time and manpower.
To achieve the above object, the present invention provides following technical solution：
A kind of major-minor UAV system for being used to detecting, preventing corps diseases, including：UAV system, spectra collection system,
Navigation positioning system, communication connection system and ground data station；
The UAV system includes host and slave, and the host delivers the slave and flies in the overhead in proportion of crop planting region
Row；
The navigation positioning system is by the ground data stand control, and the flight road for planning the host and the slave
Line and hovering position；
The spectra collection system is carried by the host, including spectroscopic probe head, spectrometer, camera and storage unit；It is described
Spectroscopic probe head emits light source to crops blade to be detected and receives the spectrum for being detected crops blade and being generated by light source activation；
The camera is mounted on the bottom of the host, for shooting, scanning the image data of crops blade；The spectrometer is adopted
Collect crop map picture and reflectance spectrum, and be sent to the storage unit and stored into row information, the storage unit, which will store, to be believed
Breath is sent to the ground data station.
The ground data station includes control system and spectra database, and the spectra database collects the spectra collection
The spectral information of system acquisition is compared with the spectra database, the crops being diagnosed to be in master camera region
The diseased evil of institute；The location information that the control system is fed back according to master camera image and navigation positioning system, topographic mapping,
And programme path, it is sent to the navigation positioning system and instructs and then the UAV system is controlled to fly；
The communication connecting system：It is transferred for the information at the host, the slave, the ground data station.
It should be noted that host delivers slave in farmland flying overhead, optimal by ground data station Plan
Flight path and shooting hovering point gather the image and spectrum on ground in real time, and image and spectrum are integrated, sort out transmission
To ground data station；After ground data station receives the picture and spectroscopic data that spectra collection system acquisition arrives, with spectroscopic data
Storehouse comparative analysis obtains the situation information of diseases and pests of agronomic crop in detection zone, then by the feelings of all diseases and pests of agronomic crop
Condition information is classified, and is sent to the slave of the corresponding disease for the treatment of, and is passed through navigation positioning system and planned that the optimal of slave flies
Walking along the street line；Start slave, until completing entire plant protection operation, return to the recycling platform of the host.
Preferably, it is above-mentioned it is a kind of for detecting, preventing the major-minor UAV system of corps diseases in, the host further includes
Recycle platform, power plant module A, power module A and main control module；
The recycling platform is for receiving the slave maked a return voyage, and the recycling platform is equipped with the fixing device of the slave；
The power module A is used to provide power supply to the host；
The power plant module A is used to provide flying power；
The main control module is integrated for gathering the image and spectrum on ground in real time, sorts out and be sent to ground data
It stands.
Preferably, it is above-mentioned it is a kind of for detecting, preventing the major-minor UAV system of corps diseases in, the slave bag
It includes power plant module B, power module B, fly control module, chemical spraying device, range finder module；
The power module B is used to provide working power to the slave；
The winged control module is used to receive the route map that the ground data station provides and fly according to route, and by flight course
Position feed back to the ground data station；
The range finder module includes position indicator and height sensor, and the height sensor measures the slave in disease crops
The distance of top makes the chemical spraying device spray when reaching predetermined altitude to plant；The position indicator is accurate after slave is maked a return voyage
Reach the recycling platform of host.
Preferably, it is above-mentioned it is a kind of for detecting, preventing the major-minor UAV system of corps diseases in, the camera
With supplementary lighting sources.
Preferably, it is above-mentioned it is a kind of for detecting, preventing the major-minor UAV system of corps diseases in, the host is same
When deliver multiple slaves.
Preferably, it is above-mentioned it is a kind of for detecting, preventing the major-minor UAV system of corps diseases in, the position indicator
Using laser positioning calibrating installation, flight course acquisition and the distance of other slaves are additionally operable to.
Preferably, it is above-mentioned it is a kind of for detecting, preventing the major-minor UAV system of corps diseases in, the power supply mould
Block A and power module B includes solar panel and rechargeable battery.
Preferably, it is above-mentioned it is a kind of for detecting, prevent the major-minor UAV system of corps diseases in, the spray fills
It puts and further includes dose detector.
Preferably, it is above-mentioned it is a kind of for detecting, preventing the major-minor UAV system of corps diseases in, the slave exists
The starting geographical coordinate, terminal geographical coordinate and flight path of every section of route are recorded in flight course, is sent to ground data
It stands.
It can be seen via above technical scheme that compared with prior art, one kind provided by the invention is used to detect, prevent agriculture
Spectra collection system is combined by the major-minor UAV system of crop disease with unmanned plane plant protection technology, is delivered using host more
A slave, host observation diseases and pests of agronomic crop situation, slave is sprayed insecticide, and host can deliver multiple slaves, Neng Gouzhen
Multiple unmanned planes are carried out to the different types of pest and disease damage situation of crops to spray insecticide simultaneously, solve large area farmland once only
Drug can be sprayed for the problem that a kind of disease, and cause to repeat spray or drain spray, improve efficiency.
Description of the drawings
Fig. 1 is a kind of flow diagram for the major-minor UAV system for being used to detect, prevent corps diseases of the present invention；
Fig. 2 is a kind of main machine frame structural representation for the major-minor UAV system for being used to detect, prevent corps diseases of the present invention
Figure；
Fig. 3 is that the present invention is a kind of to be illustrated for detecting, preventing the slave frame structure of the major-minor UAV system of corps diseases
Figure.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
The embodiment of the invention discloses a kind of for detecting, preventing the major-minor UAV system of corps diseases, using master
Machine delivers multiple slaves and gathers image and spectral information in farmland overhead, is sent to ground data station and carries out analyzing and diagnosing, ground
Data station sends instructions to the slave of the corresponding disease for the treatment of, and plans the flight path of slave, carries out spray prevention.
As shown in Figure 1, the embodiment of the invention discloses a kind of for detecting, preventing the major-minor unmanned plane system of corps diseases
System, including：UAV system, spectra collection system, navigation positioning system, communication connection system and ground data station；
UAV system includes host and slave, and host delivers flying overhead of the slave in proportion of crop planting region；
Navigation positioning system plans the flight path and hovering position of host and slave by ground data stand control；
Spectra collection system is carried by host, including spectroscopic probe head, spectrometer, camera and storage unit；Spectroscopic probe head is to treating
Detection crops blade transmitting light source simultaneously receives the spectrum that detected crops blade is generated by light source activation；Camera is mounted on
The bottom of host, for shooting the image data of scanning crops blade；Spectrometer collection crop map picture and reflectance spectrum, hair
Storage unit storage information is given, storage unit is sent to ground data station by information is stored；
Ground data station includes control system and spectra database, and spectra database collects the spectrum letter of spectra collection system acquisition
Breath, is compared with spectra database, the diseased evil of crops institute being diagnosed to be in master camera region；Control system according to
The location information of master camera image and navigation positioning system feedback, topographic mapping, and programme path, to navigation positioning system
It sends and instructs and then control UAV system flight；
Communication connecting system transfers for host, slave, the information at ground data station.
In order to further optimize above-mentioned technical proposal, host further includes recycling platform, power plant module A, power module A and master
Control module；
Recycling platform recycles the fixing device that platform is equipped with slave for receiving the slave maked a return voyage；
Power module A is used to provide power supply to host；
Power plant module A is used to provide flying power；
Main control module is integrated for gathering the image and spectrum on ground in real time, sorts out and be sent to ground data station.
In order to further optimize above-mentioned technical proposal, slave includes power plant module B, power module B, flies control module, spray
Device, range finder module；
Power module B is used to provide working power to slave；
Fly control module to be used to receive the route map of ground data station offer and fly according to route, and the position of flight course is anti-
Ground data of feeding station；
Range finder module includes position indicator and height sensor, and height sensor measures distance of the slave above disease crops,
Chemical spraying device is made to spray when reaching predetermined altitude to plant；Position indicator accurately reaches the recycling platform of host after slave is maked a return voyage.
In order to further optimize above-mentioned technical proposal, camera carries supplementary lighting sources.
Advantageous effect using the above program is to carry out shooting required photograph for providing camera using lighting source
It is bright, the influence of shade and non-uniform phenomenon is eliminated, is effectively guaranteed the quality of image.
In order to further optimize above-mentioned technical proposal, host delivers multiple slaves simultaneously.
Advantageous effect using the above program is the treatment that sprays simultaneously to the farmland progress multiple diseases in detection zone,
Improve efficiency.
In order to further optimize above-mentioned technical proposal, position indicator uses laser positioning calibrating installation, is additionally operable to flight course
Obtain the distance with other slaves.
In order to further optimize above-mentioned technical proposal, power module A and power module B include solar panel and can fill
Battery.
Advantageous effect using the above program is that UAV system is powered using both of which, improves nobody
The cruising ability of machine system, and improve the work efficiency of unmanned plane.
In order to further optimize above-mentioned technical proposal, chemical spraying device further includes dose detector.
Advantageous effect using the above program is, slave dose can be monitored in real time in sprinkling pharmaceutical procedures and
When dose is supplemented.
In order to further optimize above-mentioned technical proposal, slave records the geographical seat of starting of every section of route in flight course
Mark, terminal geographical coordinate and flight path, are sent to ground data station.
Advantageous effect using the above program is, the route of flight and geographical location point that ground data station records slave
Analysis confirms, further improves the performance level of slave spray, the crops monolithic region of omission is sprayed.
A kind of major-minor UAV system for being used to detecting, preventing corps diseases is present embodiments provided, such as Fig. 2-3 institutes
Show, specific operation process is：In farmland flying overhead, spectra collection system acquisition is detected region for host delivery slave flight
Image and spectroscopic data, and image and spectrum integrated, sorts out and is sent to ground data station；Ground data station receives figure
After sheet data, with spectra database comparative analysis, these data processings to collecting obtain the feelings of diseases and pests of agronomic crop afterwards
Condition information；Then the situation information of all diseases and pests of agronomic crop obtained is classified, and is sent to the pair of the corresponding disease for the treatment of
Machine, and the flight path planned is sent to slave by navigation positioning system；Start slave so that itself and ground data station
Docking, according to the good route of preplanning fly, under the measurement of height sensor, slave carries chemical spraying device and reaches predetermined spray
Height is spilt, while using position indicator slave flight course is avoided to collide with other slaves, until entire plant protection operation is completed,
The recycling platform of host is accurately returned to finally by position indicator.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so description is fairly simple, related part is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (9)
1. a kind of major-minor UAV system for being used to detecting, preventing corps diseases, which is characterized in that including：UAV system,
Spectra collection system, navigation positioning system, communication connection system and ground data station；
The UAV system includes host and slave, and the host delivers the slave and flies in the overhead in proportion of crop planting region
Row；
The navigation positioning system is by the ground data stand control, and the flight road for planning the host and the slave
Line and hovering position；
The spectra collection system is carried by the host, including spectroscopic probe head, spectrometer, camera and storage unit；It is described
Spectroscopic probe head emits light source to crops blade to be detected and receives the spectrum for being detected crops blade and being generated by light source activation；
The camera is mounted on the bottom of the host, for shooting, scanning the image data of crops blade；The spectrometer is adopted
Collect crop map picture and reflectance spectrum, and the crop map picture and spectral information of acquisition are sent to the storage unit and carried out
Information stores, and the storage unit is sent to the ground data station by information is stored；
The ground data station includes control system and spectra database, and the spectra database collects the spectra collection system
The spectral information of acquisition is compared with the spectra database, and the crops being diagnosed to be in master camera region are suffered from
Disease；The location information that the control system is fed back according to master camera image and navigation positioning system, topographic mapping, and advise
Route is drawn, is sent to the navigation positioning system and is instructed and then the UAV system is controlled to fly；
The communication connecting system transfers for the host, the slave, the information at the ground data station.
2. a kind of for detecting, preventing the major-minor UAV system of corps diseases according to claim 1, feature exists
In the host further includes recycling platform, power plant module A, power module A and main control module；
The recycling platform is for receiving the slave maked a return voyage, and the recycling platform is equipped with the fixing device of the slave；
The power module A is used to provide power supply to the host；
The power plant module A is used to provide flying power；
The main control module in real time gather ground image and spectrum, and integrated, sort out after be sent to describedly
Face data station.
3. a kind of for detecting, preventing the major-minor UAV system of corps diseases according to claim 1, feature exists
In the slave includes power plant module B, power module B, flies control module, chemical spraying device, range finder module；
The power module B is used to provide working power to the slave；
The winged control module is used to receive the route map that the ground data station provides and fly according to route, and by flight course
Position feed back to the ground data station；
The range finder module includes position indicator and height sensor, and the height sensor measures the slave in disease crops
The distance of top makes the chemical spraying device spray when reaching predetermined altitude to plant；The position indicator is accurate after slave is maked a return voyage
Reach the recycling platform of the host.
4. a kind of for detecting, preventing the major-minor UAV system of corps diseases according to claim 1, feature exists
In the camera carries supplementary lighting sources.
5. a kind of for detecting, preventing the major-minor UAV system of corps diseases according to claim 1, feature exists
In the host delivers multiple slaves simultaneously.
6. a kind of for detecting, preventing the major-minor UAV system of corps diseases according to claim 3, feature exists
In the position indicator uses laser positioning calibrating installation, is additionally operable to flight course acquisition and the distance of other slaves.
7. a kind of major-minor UAV system for being used to detecting, preventing corps diseases, feature according to Claims 2 or 3
It is, the power module A and the power module B include solar panel and rechargeable battery.
8. a kind of for detecting, preventing the major-minor UAV system of corps diseases according to claim 3, feature exists
In the chemical spraying device further includes dose detector.
9. a kind of for detecting, preventing the major-minor UAV system of corps diseases according to claim 3, feature exists
In the slave records the starting geographical coordinate, terminal geographical coordinate and flight path of every section of route in flight course, hair
Give ground data station.
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| CN108983823A (en) * | 2018-08-27 | 2018-12-11 | 安徽农业大学 | A kind of plant protection drone cluster cooperative control method |
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| CN109191321A (en) * | 2018-09-18 | 2019-01-11 | 苏州格目软件技术有限公司 | A kind of unmanned plane agricultural operation system based on information sharing |
| CN109845715A (en) * | 2019-03-06 | 2019-06-07 | 广州极飞科技有限公司 | Pesticide spraying control method, device, equipment and storage medium |
| CN110053774A (en) * | 2019-05-17 | 2019-07-26 | 河南科技学院 | Control method for larger animal cultivation epidemic disease acquisition early warning system |
| CN110282135A (en) * | 2019-06-14 | 2019-09-27 | 江苏农林职业技术学院 | A kind of accurate spraying system of plant protection drone pesticide and spraying method |
| CN110825118A (en) * | 2019-12-23 | 2020-02-21 | 河南大学 | Multi-unmanned aerial vehicle cooperative farmland spraying method based on deep learning algorithm |
| CN111174792A (en) * | 2020-01-16 | 2020-05-19 | 上海电机学院 | UWB-based unmanned aerial vehicle indoor pipeline detection image acquisition method |
| CN111990388A (en) * | 2020-05-27 | 2020-11-27 | 农业农村部南京农业机械化研究所 | Selective spraying system, cooperative pesticide application system and cooperative method |
| CN112015200A (en) * | 2020-07-31 | 2020-12-01 | 湖南省西瓜甜瓜研究所 | Agricultural unmanned aerial vehicle group cooperative operation system, cooperative operation method and unmanned aerial vehicle |
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| CN113647281A (en) * | 2021-07-22 | 2021-11-16 | 盘锦光合蟹业有限公司 | Weeding method and system |
| CN113693049A (en) * | 2021-08-18 | 2021-11-26 | 贵州省农业科技信息研究所（贵州省农业科技信息中心） | Hot pepper aphid machine carries spectral detector |
| CN114089650A (en) * | 2021-09-28 | 2022-02-25 | 游佳凝 | Intelligent farmland pesticide spraying electronic automatic control system based on Internet of things |
| CN114503972A (en) * | 2022-02-15 | 2022-05-17 | 薛金莲 | Intelligent management system for information equipment |
| CN114503972B (en) * | 2022-02-15 | 2024-02-20 | 内蒙古快为科技有限公司 | Intelligent management system of informatization equipment |
| CN117110214A (en) * | 2023-09-01 | 2023-11-24 | 河北华厚天成环保技术有限公司 | Water quality analysis system and method based on hyperspectral imaging of unmanned aerial vehicle |
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