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This invention discloses a plant protection drone for precision seeding, belonging to the field of agricultural drone technology. It includes a central body and four arc-shaped arms that can move relative to the central body. Each arm is equipped with a power unit and rotors. Driven by a deformation drive mechanism, the arms can switch between a cruising state (forming a circular shape) and an operational state (arching inward to form a three-dimensional structure). In the cruising state, the rotor planes are coplanar, resulting in high aerodynamic efficiency; in the operational state, the rotor planes are raised and moved away from the seeding device, effectively isolating the downwash airflow from interfering with the seeded material, significantly improving seeding accuracy and uniformity. This invention solves the technical problem of seeding drift caused by rotor wind fields in existing plant protection drones.

The invention discloses a power-driven vacuum optical tweezer particle lifting and supporting system. According to the invention, near the sample loading port of the vacuum cavity, the power assembly is utilized to make the target microspheres generate acceleration, and the particles pass through the diversion port in an emission mode and then directly enter an optical trap capture area from the sample loading port. According to the invention, the motion state of the target microsphere entering the light trap capture area is accurately controlled, the time required for realizing light suspension is realized, the power assembly can be conveniently moved and does not go deep into the vacuum cavity, the vacuum cavity is not shielded by additional parts, and the interference of gas desorption, electrostatic effect and continuous vibration in the traditional support scheme on the capture of the microsphere is avoided; and the light trap lifting efficiency is improved.

The application discloses a kind of relative radiation calibration method and device based on heterologous yaw data fusion, the method includes: according to the yaw imaging model generated by satellite probe element information to generate yaw data;Utilize imaging time length model to generate yaw data imaging time, and judge whether yaw data imaging time satisfies the requirement of pre-set threshold value, if satisfy;Utilize gray detection model to generate yaw data gray range, and judge whether yaw data gray range satisfies the requirement of pre-set threshold value, if satisfy, then carry out straight line detection and regulation processing to generate each probe element statistical data;Based on each probe element statistical data to generate yaw coefficient.The application is analyzed by yaw imaging characteristics, and proposes the mathematical model of the relative radiation calibration coefficient generation of multi-section yaw data fusion, not only determines the shortest time length of effective yaw data, also solves the problem that single-section yaw data covers incomplete gray scale range, and high-efficiency visible light yaw relative radiation calibration can be realized.