CN106416530B - A kind of the material spreading gear and method of agricultural unmanned plane carry - Google Patents
A kind of the material spreading gear and method of agricultural unmanned plane carry Download PDFInfo
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- CN106416530B CN106416530B CN201610654440.8A CN201610654440A CN106416530B CN 106416530 B CN106416530 B CN 106416530B CN 201610654440 A CN201610654440 A CN 201610654440A CN 106416530 B CN106416530 B CN 106416530B
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- 239000000463 material Substances 0.000 title claims abstract description 66
- 230000007480 spreading Effects 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000002245 particle Substances 0.000 claims abstract description 5
- 238000009331 sowing Methods 0.000 claims description 34
- 230000001105 regulatory effect Effects 0.000 claims description 13
- 230000001276 controlling effect Effects 0.000 claims description 6
- 238000007599 discharging Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 5
- 239000002801 charged material Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000008676 import Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009313 farming Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 125000000623 heterocyclic group Chemical group 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 241000894007 species Species 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
- A01C7/16—Seeders with other distributing devices, e.g. brushes, discs, screws or slides
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Fertilizing (AREA)
Abstract
The present invention relates to talents for agri-mechanization fields, and in particular to a kind of the material spreading gear and method of agricultural unmanned plane carry.A kind of material spreading gear of agricultural unmanned plane carry, which is characterized in that including agricultural unmanned plane (1) and material spreading gear (2), material spreading gear (2) carry is on agricultural unmanned plane (1)；The material spreading gear (2) includes body feed tank (21), blower (22), airflow diversion case (23) and guiding device (26), the airflow diversion case (23) is equipped with air flow inlet (231) and air stream outlet (232), described guiding device (26) one end is equipped with airflow inlet (262) and material inlet (261), guiding device (26) other end is gas-particle two-phase outflux (263), body feed tank (21) bottom is discharge port, the airflow inlet (262), material inlet (261) is sealed against each other with discharge port to be connected to, the blower (22) is mounted on air flow inlet (231).
Description
Technical field
The present invention relates to talents for agri-mechanization fields, and in particular to a kind of material spreading gear of agricultural unmanned plane carry and
Method.
Background technique
With the development of agricultural aviation and intelligence communication technology, reading intelligent agriculture equipment starts gradually to replace traditional mechanic
Tool.Seeding method experienced from artificial broadcast to mechanical sowing, even change to institutional operation.But China's landform is multiple
Miscellaneous, non-plains region cultivated area is larger, especially hilly country and paddy field, and ground running machinery is difficult to operation.In addition, in famine
The serious area of the desertifications such as original and wasteland are also not suitable for ground machine large area and broadcast sowing grass seeds and tree species operation, operation effect
Rate is low, and vegetation survival rate is not high.
Existing mechanically broadcast sowing common are disc type, Pneumatic type, gear shifting type and spiral in technology, but be mostly with
Based on walking and hand-held machine, it is difficult to deal with complicated field conditions.Currently, existing both at home and abroad carried out using aircraft
The technology of farmland operation is able to solve the problem of complicated field conditions, but mostly based on large-scale agricultural aircraft, figure is huge
Greatly, it needs manned, needs dedicated airport, manipulation technical requirements are high, at high cost.
In recent years, with the development of agricultural unmanned plane, aviation plant protection technology achieves significant achievement.Agricultural unmanned plane volume
Small, flexible movements, load capacity is limited, because it is not limited by field geographical environment, is not affected by the weather, not accidentally farming season, no
It is limited by place, field landing is convenient, and operating efficiency is high, and operation is accurate, and the advantages that saving cost causes the extensive of society
Concern.Therefore, people begin trying using carrying out broadcasting sowing operation, agricultural aviation team, Agricultural University Of South China hair on agricultural unmanned plane
Bright agricultural unmanned plane spreading gear, core are that the centrifugal force generated using wheel disc spins is broadcasted sowing away material, can be multiple
Operation under heterocycle border, manipulation are flexible；Material outlet is controlled using steering engine by the agricultural unmanned plane spreading gear that Zhuhai immortal develops,
Shedding the blade on disk has certain inclination angle, so that material uniformity increases.
But in these existing devices and technology, only simply mass flow is adjusted, control not accurate, object
Stream is discontinuous, and response speed is slow, and there is presently no more perfect control systems can be according to agricultural unmanned plane job parameter
Real-time and precise adjusting is carried out to the amount of broadcasting sowing.Furthermore the prior art is mainly shed away particle using the centrifugal force of disk, is fallen
Kind area is annular or semi-circular band, uneven in the direction planting vertical with agricultural unmanned plane direction of advance.
Summary of the invention
The present invention in order to overcome at least one of the drawbacks of the prior art described above (deficiency), provides a kind of agricultural unmanned plane extension
The material spreading gear of load further also provides a kind of agricultural unmanned plane material method for sowing.
The present invention is directed to solve above-mentioned technical problem at least to a certain extent.
In order to solve the above technical problems, technical scheme is as follows:
A kind of material spreading gear of agricultural unmanned plane carry, including agricultural unmanned plane and material spreading gear, the object
Expect spreading gear carry on agricultural unmanned plane；The material spreading gear includes body feed tank, blower, airflow diversion case and water conservancy diversion
Device, the airflow diversion case are equipped with air flow inlet and air stream outlet, and described guiding device one end is equipped with airflow inlet and object
Expect import, the guiding device other end be outflux, the body feed tank bottom be discharge port, the airflow inlet, material into
Mouth is sealed against each other with discharge port to be connected to, and the assembling is on air flow inlet.
Further, it is equipped with several screens in the guiding device, forms gas-particle two-phase outflux between the screen.
Further, the body feed tank bottom be equipped with discharging regulating mechanism, the discharging regulating mechanism include discharge motor,
Refuse rotor, discharge tongue, hairbrush and material diversion plate, the refuse rotor are mounted on body feed tank bottom, the material diversion plate installation
In the side of refuse rotor, the hairbrush is mounted on the other side of refuse rotor, and the discharge tongue is located at the lower section of refuse rotor, the row
Material motor is for driving refuse rotor to rotate.
Further, the side of the material diversion plate is arc-shaped, and the outer arc of arc and refuse rotor is concentric, and material is led
The arc of flowing plate connects with the outer arc of refuse rotor.
Further, the refuse rotor is equipped with hopper, and the width of the arc of the material diversion plate is not less than hopper
Width.
It further, further include control system, the control system includes microprocessor, Position and attitude sensor, air-blower control
System and electric machine control system, the microprocessor respectively with Position and attitude sensor, blower fan control system and discharge motor control system
System connection, the Position and attitude sensor are used for the flying height and flying speed of the agricultural unmanned plane of real-time monitoring, the microprocessor
For passing through discharge electric machine control system and blower fan control system respectively to discharge motor according to the monitoring result of Position and attitude sensor
Regulated and controled with blower.
Further, the blower fan control system includes controller of fan and wind speed measuring circuit, the controller of fan
It is connect respectively with blower and microprocessor with wind speed measuring circuit；The discharge electric machine control system includes discharge motor control
Device and velocity sensor, the discharge electric machine controller and velocity sensor are connect with discharge motor and microprocessor respectively.
Further, the control system further includes human-computer interaction device, and the human-computer interaction device and microprocessor are logical
News connection.
Further, the Position and attitude sensor is GPS (GNSS) or inertia combined navigation sensor.
The present invention also provides a kind of agricultural unmanned plane material method for sowing, using the material of agricultural unmanned plane carry above-mentioned
Spreading gear, specifically includes the following steps:
A, body feed tank is charged material on ground；
B, it controls agricultural unmanned plane to take off, keeps default operation height；
C, breadth is broadcasted sowing according to flying height and flying speed are default, starting blower reaches default wind speed；
D, start discharge motor, according to the revolving speed of preset discharge capacity setting refuse rotor；
E, agricultural unmanned plane is controlled to carry out broadcasting sowing operation according to predefined paths；
F, in broadcasting sowing operation process, the flight of agricultural unmanned plane is acquired in real time by the Position and attitude sensor in control system
Height and airspeed information, and transmit information to microprocessor；It is micro- when the flying speed of agricultural unmanned plane changes
Processor combines the requirement for the amount of broadcasting sowing according to the discharge motor speed that collected current flight speed and velocity sensor are fed back
Determine preset refuse rotor tachometer value, by regulating and controlling discharge electric machine controller, control discharge motor changes revolving speed to adjust discharge
Amount；When the flying height of agricultural unmanned plane changes, microprocessor is surveyed according to current flying height and wind speed is collected
The blower wind speed of amount electronic feedback combines the requirement for broadcasting sowing wide cut to determine preset wind speed, by regulating and controlling controller of fan, control
Blower changes wind speed and broadcasts sowing breadth to adjust；
G, operation is completed, and refuse rotor stops operating, and closes blower, and agricultural unmanned plane makes a return voyage, lands.
Compared with prior art, the beneficial effect of technical solution of the present invention is:
The present invention controls grain flux on agricultural unmanned plane using huge discharge refuse rotor, realizes the company to material
Continuous, precisely adjusting.
The present invention uses Pneumatic type spreading gear, is blown out seed by air-flow, it is not easy to wound kind, and air-flow is more easily-controllable
System, planting channel is parallel with agricultural unmanned plane direction of advance, and fall-sowing area shape is regular, broadcasts sowing uniformly.
The present invention designs the intelligence control system of complete set, can be according to the height and forward speed pair of agricultural unmanned plane
The amount of broadcasting sowing is adjusted in real time, and realization is precisely controlled.
Apparatus structure of the present invention is light and handy, convenient for loading and unloading, is all suitable for fixed-wing and the agricultural unmanned plane of single rotor, and
The amount of broadcasting sowing can be adjusted according to agricultural unmanned plane job parameter.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the embodiment of the present invention 1.
Fig. 2 is the schematic perspective view of material spreading gear.
Fig. 3 is the overlooking structure diagram of material spreading gear.
Fig. 4 is the schematic cross-sectional view of material spreading gear.
Fig. 5 is the schematic view of the front view of airflow diversion case.
Fig. 6 is the schematic perspective view of airflow diversion case.
Fig. 7 is the structural schematic diagram of guiding device.
Fig. 8 is the working principle diagram of control system.
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable；The same or similar label corresponds to same or similar
Component；The terms describing the positional relationship in the drawings are only for illustration, should not be understood as the limitation to this patent.
Specific embodiment
The following further describes the technical solution of the present invention with reference to the accompanying drawings and examples.
Embodiment 1
A kind of material spreading gear of agricultural unmanned plane carry, including agricultural unmanned plane 1 and material spreading gear 2, it is described
2 carry of material spreading gear is on agricultural unmanned plane 1；The material spreading gear 2 includes body feed tank 21, blower 22(this implementation
Example is preferably exhausting blower), airflow diversion case 23 and guiding device 26, the airflow diversion case 23 is equipped with air flow inlet 231
With air stream outlet 232；Described 26 one end of guiding device is equipped with airflow inlet 262 and material inlet 261；The guiding device 26 is another
One end is outflux 263, and several screens 264 are equipped in guiding device 26, and outflux 263 is to form gas-solid by the screen 264
Two-phase outflux；21 bottom of body feed tank is discharge port, and the airflow inlet 262, material inlet 261 and discharge port are mutually close
Envelope connection, the blower 22 are mounted on air flow inlet 231.
21 bottom of body feed tank is equipped with discharging regulating mechanism, and the discharging regulating mechanism includes discharge motor 25, discharge
Wheel 271, discharge tongue 272, hairbrush 273 and material diversion plate 274, the refuse rotor 271 are mounted on 21 bottom of body feed tank, the object
Material deflector 274 is mounted on the side of refuse rotor 271, and the hairbrush 273 is mounted on the other side of refuse rotor 271, the discharge
Tongue 272 is located at the lower section of refuse rotor 271, and the discharge motor is for driving refuse rotor 271 to rotate.
The side of the material diversion plate 274 is arc-shaped, and the outer arc of arc and refuse rotor 271 is concentric, and material diversion
The arc of plate 274 connects with the outer arc of refuse rotor 271；The refuse rotor 271 is equipped with hopper 2711, the material diversion plate
The width of 274 arc is not less than the width of hopper 2711.
It further include control system, the control system includes microprocessor, Position and attitude sensor, blower fan control system and discharge
Electric machine control system, the microprocessor are connect with Position and attitude sensor, blower fan control system and discharge electric machine control system respectively,
The Position and attitude sensor is used for the flying height and flying speed of the agricultural unmanned plane of real-time monitoring, and the microprocessor is used for basis
The monitoring result of Position and attitude sensor pass through respectively discharge electric machine control system and blower fan control system to discharge motor and blower into
Row regulation;The blower fan control system includes controller of fan and wind speed measuring circuit, the controller of fan and measuring wind speed
Circuit is connect with blower and microprocessor respectively；The discharge electric machine control system includes discharge electric machine controller and the biography that tests the speed
Sensor, the discharge electric machine controller and velocity sensor are connect with discharge motor and microprocessor respectively;The control system
System further includes human-computer interaction device, and the human-computer interaction device is connect with microprocessor communications.
Embodiment 2
A kind of agricultural unmanned plane material method for sowing is broadcasted sowing using the material of agricultural unmanned plane carry described in embodiment 1
Device, blower use ducted-fan blower, specifically includes the following steps:
A, body feed tank is charged material on ground；
B, it controls agricultural unmanned plane to take off, keeps default operation height；
C, breadth is broadcasted sowing according to flying height and flying speed are default, starting blower reaches default wind speed；
D, start discharge motor, according to the revolving speed of preset discharge capacity setting refuse rotor；
E, agricultural unmanned plane is controlled to carry out broadcasting sowing operation according to predefined paths；
F, in broadcasting sowing operation process, the flight of agricultural unmanned plane is acquired in real time by the Position and attitude sensor in control system
Height and airspeed information, and transmit information to microprocessor；It is micro- when the flying speed of agricultural unmanned plane changes
Processor combines the requirement for the amount of broadcasting sowing according to the discharge motor speed that collected current flight speed and velocity sensor are fed back
Determine preset refuse rotor tachometer value, by regulating and controlling discharge electric machine controller, control discharge motor changes revolving speed to adjust discharge
Amount；When the flying height of agricultural unmanned plane changes, microprocessor is surveyed according to current flying height and wind speed is collected
The blower wind speed of amount electronic feedback combines the requirement for broadcasting sowing wide cut to determine preset wind speed, by regulating and controlling controller of fan, control
Blower changes wind speed and broadcasts sowing breadth to adjust；
G, operation is completed, and refuse rotor stops operating, and closes blower, and agricultural unmanned plane makes a return voyage, lands.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (9)
1. a kind of material spreading gear of agricultural unmanned plane carry, which is characterized in that broadcasted sowing including agricultural unmanned plane (1) and material
Device (2), material spreading gear (2) carry is on agricultural unmanned plane (1)；The material spreading gear (2) includes material
Case (21), blower (22), airflow diversion case (23) and guiding device (26), the airflow diversion case (23) are equipped with air flow inlet
(231) and air stream outlet (232), described guiding device (26) one end are equipped with airflow inlet (262) and material inlet (261), institute
Stating guiding device (26) other end is gas-particle two-phase outflux (263), and body feed tank (21) bottom is discharge port, the air-flow
Import (262), material inlet (261) are sealed against each other with discharge port and are connected to, and the blower (22) is mounted on air flow inlet (231)
On；
Body feed tank (21) bottom is equipped with discharging regulating mechanism, and the discharging regulating mechanism includes discharge motor (25), discharge
Wheel (271), discharge tongue (272), hairbrush (273) and material diversion plate (274), the refuse rotor (271) are mounted on body feed tank
(21) bottom, the material diversion plate (274) are mounted on the side of refuse rotor (271), and the hairbrush (273) is mounted on refuse rotor
(271) the other side, the discharge tongue (272) are located at the lower section of refuse rotor (271), and the discharge motor is for driving refuse rotor
(271) it rotates.
2. the material spreading gear of agricultural unmanned plane carry according to claim 1, which is characterized in that the guiding device
(26) several screens (264) are equipped in, form gas-particle two-phase outflux (263) between the screen (264).
3. the material spreading gear of agricultural unmanned plane carry according to claim 1, which is characterized in that the material diversion
The side of plate (274) is arc-shaped, and arc and the outer arc of refuse rotor (271) are concentric, and the arc of material diversion plate (274) and row
The outer arc of material wheel (271) connects.
4. the material spreading gear of agricultural unmanned plane carry according to claim 3, which is characterized in that the refuse rotor
(271) hopper (2711) are equipped with, the width of the arc of the material diversion plate (274) is not less than the width of hopper (2711).
5. according to the material spreading gear of the described in any item agricultural unmanned plane carries of claim 2-4, which is characterized in that also wrap
Control system is included, the control system includes microprocessor, Position and attitude sensor, blower fan control system and electric machine control system, institute
It states microprocessor to connect with Position and attitude sensor, blower fan control system and discharge electric machine control system respectively, the Position and attitude sensor
For the flying height and flying speed of the agricultural unmanned plane of real-time monitoring, the microprocessor is used for the prison according to Position and attitude sensor
Survey result passes through discharge electric machine control system and blower fan control system respectively and regulates and controls to discharge motor and blower.
6. the material spreading gear of agricultural unmanned plane carry according to claim 5, which is characterized in that the air-blower control
System includes controller of fan and wind speed measuring circuit, the controller of fan and wind speed measuring circuit respectively with blower and micro-
Processor connection；The discharge electric machine control system includes discharge electric machine controller and velocity sensor, the discharge motor control
Device and velocity sensor processed are connect with discharge motor and microprocessor respectively.
7. the material spreading gear of agricultural unmanned plane carry according to claim 6, which is characterized in that the control system
It further include human-computer interaction device, the human-computer interaction device is connect with microprocessor communications.
8. the material spreading gear of agricultural unmanned plane carry according to claim 7, which is characterized in that the pose sensing
Device is GPS (GNSS) or inertia combined navigation sensor.
9. a kind of agricultural unmanned plane material method for sowing, which is characterized in that use agricultural unmanned plane carry according to any one of claims 8
Material spreading gear, specifically includes the following steps:
A, body feed tank is charged material on ground；
B, it controls agricultural unmanned plane to take off, keeps default operation height；
C, breadth is broadcasted sowing according to flying height and flying speed are default, starting blower reaches default wind speed；
D, start discharge motor, according to the revolving speed of preset discharge capacity setting refuse rotor；
E, agricultural unmanned plane is controlled to carry out broadcasting sowing operation according to predefined paths；
F, in broadcasting sowing operation process, the flight for acquiring agricultural unmanned plane in real time by the Position and attitude sensor in control system is high
Degree and airspeed information, and transmit information to microprocessor；When the flying speed of agricultural unmanned plane changes, micro- place
It manages device and combines the requirement for the amount of broadcasting sowing true according to the discharge motor speed that collected current flight speed and velocity sensor are fed back
Fixed preset refuse rotor tachometer value, by regulating and controlling discharge electric machine controller, control discharge motor changes revolving speed to adjust withdrawal rate；
When the flying height of agricultural unmanned plane changes, microprocessor is electric according to current flying height and measuring wind speed is collected
The blower wind speed of road feedback combines the requirement for broadcasting sowing wide cut to determine preset wind speed, by regulating and controlling controller of fan, controls blower
Change wind speed and broadcasts sowing breadth to adjust；
G, operation is completed, and refuse rotor stops operating, and closes blower, and agricultural unmanned plane makes a return voyage, lands.
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| RU214427U1 (en) * | 2022-04-11 | 2022-10-26 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Воронежский государственный лесотехнический университет имени Г.Ф. Морозова" | Pneumatic Seeding Machine for UAV |
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| CN107690896A (en) * | 2017-08-31 | 2018-02-16 | 广东容祺智能科技有限公司 | A kind of seed based on agricultural miniature unmanned plane precisely broadcasts sowing system and method |
| AU2018325456B2 (en) | 2017-09-02 | 2022-09-08 | Precision Drone Services Intellectual Property, Llc | Seed distribution assembly for an aerial vehicle |
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| CN110373985A (en) * | 2019-07-10 | 2019-10-25 | 安徽省交通规划设计研究总院股份有限公司 | Two-component graticule knife-coat application equipment |
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|---|---|---|---|---|
| CN205952320U (en) * | 2016-08-11 | 2017-02-15 | 华南农业大学 | Material spreading device of agricultural unmanned aerial vehicle carry |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU214427U1 (en) * | 2022-04-11 | 2022-10-26 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Воронежский государственный лесотехнический университет имени Г.Ф. Морозова" | Pneumatic Seeding Machine for UAV |
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| Publication number | Publication date |
|---|---|
| CN106416530A (en) | 2017-02-22 |
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