CN109511443B - Aerial spraying operation method of cotton defoliating agent in one-film three-row cultivation mode - Google Patents
Aerial spraying operation method of cotton defoliating agent in one-film three-row cultivation mode Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G13/00—Protecting plants
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- A01G22/00—Cultivation of specific crops or plants not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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Abstract
The invention provides an aviation spraying operation method of a cotton defoliating agent in a one-film three-row cultivation mode, which is compared with the prior art: (1) the invention technically ensures that the effective spraying amplitude of the plant protection unmanned aerial vehicle just can cover or slightly exceed the cotton plants between two or more adjacent handover rows in the single-route operation flying process, meets the practical requirements of a grower that the liquid medicine is not excessively sprayed in the handover rows to cause liquid medicine waste and soil pollution, and realizes accurate, medicine-saving and green operation; (2) the invention enables the effective spraying amplitude of the plant protection unmanned aerial vehicle at different operation heights to correspond to the cotton cultivation mode with equal row spacing of 'one film three lines' popularized in various places in China in a synergic manner, thereby realizing the agricultural and agricultural technology integration in the pesticide spraying process of the plant protection unmanned aerial vehicle and meeting the overall national requirements on the agricultural and agricultural technology integration; (3) the invention provides referential operation specifications for the precise aerial spraying of other pest control agents in the field management process of cotton.
Description
Technical Field
The invention relates to an operation method for carrying out cooperative correspondence on effective spraying amplitude of an aerial plant protection unmanned aerial vehicle and a cotton cultivation mode at different operation heights in the aerial spraying process of a cotton defoliating agent, so as to realize accurate, pesticide-saving and green operation on the basis of agricultural and agricultural technology fusion. More particularly, the invention relates to an aerial spraying operation method of a cotton defoliating agent in a one-film three-row cultivation mode.
Background
When the cotton grows to the later stage, the leaves begin to dry and fall off, and the cotton bolls gradually mature and boll. Nowadays, in order to mechanically pick cotton and reduce impurity content by using a cotton picker, a defoliating ripener is required to be sprayed on cotton before mechanical cotton picking. Defoliant such as magnesium chlorate and SHILIBAO is sprayed on cotton leaves and permeates into the leaves, and absorbs water in the leaves, so that the leaves are dehydrated and withered, and a breaking layer is formed at the petiole implantation point to make the cotton leaves fall off; the ripener such as ethephon has the function of reducing peroxidase activity in boll shells, and after ethephon is sprayed, the balance between ethylene and auxin in the bolls is changed, so that the bolls are cracked. At present, the pesticide spraying machine with higher automation degree, relative flexibility and simplicity has two main types of aerial spraying of a plant protection unmanned aerial vehicle and spraying of a ground locomotive.
At present, discover in using plant protection unmanned aerial vehicle to carry out cotton defoliation medicament aviation spraying operation, the operation personnel often can not stand and go to carrying out aviation spraying operation at the angle that agricultural machinery agronomy fuses. For example, when an operator selects or determines the operation parameters of the plant protection unmanned aerial vehicle, whether the effective spraying width of the selected machine type at different operation heights is matched with the cultivation mode used by operating cotton is not considered, and different relatively fixed cultivation modes are adopted in different domestic cotton cultivation areas such as Xinjiang and Shandong, for example, a three-membrane twelve-row (20cm +40cm) cultivation mode, a one-membrane six-row (66cm +10cm) high-density cultivation mode, a one-membrane three-row (76cm) equal-row-spacing (76cm) cultivation mode and other cultivation modes are formed in the Xinjiang area, a wide-narrow-row (100cm +50cm) cultivation mode is formed in the Shandong area, and the cross-over row spacing is more than 40 cm-100 cm. The plant grower often hopes that its effective spray amplitude of plant protection unmanned aerial vehicle just can cover or slightly surpass the cotton plant between two adjacent handing-over rows in single lane operation flight process to not cause the liquid medicine to spout too much and cause liquid medicine waste and soil pollution in the handing-over row of broad, this also is unanimous with the accurate, province's medicine, the green type operation requirement of advocated in the country. Therefore, in the aerial spraying process of the cotton defoliating agent, the effective spraying amplitude of the aerial plant protection unmanned aerial vehicle at different operation heights is required to correspond to the cotton cultivation mode in a synergistic manner, and accurate, pesticide-saving and green operation on the basis of agricultural and agricultural integration is further achieved.
Disclosure of Invention
The invention aims to provide an aerial spraying operation method of a cotton defoliating agent in a one-film three-row cultivation mode, so as to solve the technical problem. The operation method enables the effective spraying width of the aerial plant protection unmanned aerial vehicle at different operation heights to correspond to a cotton cultivation mode with equal row spacing (76cm) of 'one film and three rows' which is widely popularized in China in a synergistic mode, and further realizes accurate, pesticide-saving and green operation on the basis of agricultural and agricultural integration in the aerial spraying process of the cotton defoliating agent.
The technical problem solved by the invention can be realized by adopting the following technical scheme: the aerial spraying operation method of the cotton defoliating agent in the one-film three-row cultivation mode comprises the following steps.
The first step is as follows: determining the average height of cotton plants and the average width of the cotton plants in the width direction of a single mulching film in a one-film three-line cultivation mode
(A) Calculating the average height of cotton plants on the operation land by adopting a method of sampling measurement and calculating an average value according to the cultivar and the growth period of cotton on the operation land;
(B) according to a one-film three-row cultivation mode of cotton on an operation land, namely three rows of cotton plants are planted on a single mulching film with the width of 2.05m between two adjacent cross-connection rows at the row spacing of 76cm, and the average width of the cotton plants formed by the three rows of cotton plants in the width direction of the single mulching film is calculated by adopting a method of sampling measurement and calculating the average value.
The second step is that: determining the accurate spraying width demand of the average width of cotton plants on a plant protection unmanned aerial vehicle according to cotton cultivation information
(A) According to a one-film three-row cultivation mode of cotton on an operation land, under the condition that the situation that liquid medicine is prevented from being excessively sprayed in a cross-over row with a large width to cause liquid medicine waste and soil pollution is considered, the coverage range of the effective spraying range of the plant protection unmanned aerial vehicle in the single-route operation flying process is determined;
(B) according to the coverage range of the effective spraying amplitude of the plant protection unmanned aerial vehicle determined in the step (A) in the single-route operation flying process and according to a formula WS＝WP+WACalculating the accurate spraying width W of the plant protection unmanned aerial vehicle in the one-film three-row cultivation mode when the plant protection unmanned aerial vehicle carries out the spraying operation of the cotton defoliating agentSIn the formula WPIs a single mulching film widthAverage width of cotton plant formed by three lines of cotton plants in the direction of degree, WAThe spray amplitude is adjusted for additional purposes.
The third step: dotting surveying and mapping and plant protection unmanned aerial vehicle route planning for working cotton plots
(A) The method comprises the following steps of utilizing a surveying and mapping rod to carry out dotting surveying and mapping on recording points at the boundary of an operating cotton plot, in order to ensure that an area surrounded by all the recording points can completely cover the operating plot, so that the phenomenon of missing spraying at the boundary is avoided, firstly, extending the boundary of the operating cotton plot for a certain distance to the outer side of the plot respectively during dotting operation, and then, carrying out dotting surveying and mapping in sequence by taking all intersection points as the recording points;
(B) taking the area surrounded by all the recording points of the dotting and mapping in the step (A) as an operation area, and obtaining the accurate spraying width W of the plant protection unmanned aerial vehicle in the one-film three-row cultivation mode in the second step when the plant protection unmanned aerial vehicle carries out the cotton defoliating agent spraying operationSAnd setting the air route width to be the air route width, and finishing the automatic air route planning of the plant protection unmanned aerial vehicle in the ground station.
The fourth step: determining the flying height of the plant protection unmanned aerial vehicle under the accurate spraying amplitude of the height of the plant canopy according to the flying height of the plant protection unmanned aerial vehicle under the effective spraying amplitude of the ground
(A) Selecting a plant protection unmanned aerial vehicle model for carrying out cotton defoliation agent spraying operation, and determining the corresponding relation between various effective spraying amplitudes of the plant protection unmanned aerial vehicle model to the ground surface and the theoretical flying height of the plant protection unmanned aerial vehicle model to the ground surface according to the arrangement form of the spray heads on the plant protection unmanned aerial vehicle model and the operation performance calibrated by the plant protection unmanned aerial vehicle model;
(B) selecting the accurate spraying amplitude W from the effective spraying amplitude of the selected plant protection unmanned aerial vehicle to the earth surface in the second stepSAnd (C) determining the accurate spraying amplitude W according to the consistent numerical values and the corresponding relation between the effective spraying amplitudes of the machine type to the earth surface and the theoretical flying height of the machine type to the earth surface in the step (A)SCorresponding theoretical flying height H to the earth surfaceRThen according to formula HS＝HR+HPCalculating the accurate flying height H of the selected plant protection unmanned aerial vehicle under the accurate spraying amplitude of the height of the cotton plant canopySIn the formula HPThe average height of cotton plants on the work land collected in the first step.
The fifth step: unmanned aerial vehicle aerial spraying operation for cotton defoliation medicament plant protection
With the help of the plant protection unmanned aerial vehicle selected in the fourth step, according to the operation plot dotting mapping and air route planning conditions completed in the third step, the accurate flight height H of the selected plant protection unmanned aerial vehicle under the accurate spraying amplitude of the height of the cotton plant canopy is calculated in the fourth stepSAnd as the actual ground operation height, performing flying operation along the mulching film laying direction at a certain flying speed to finish aerial spraying of cotton defoliating agents on the operation land.
The cross-over row refers to a blank area formed between two adjacent mulching films in the one-film three-row cultivation mode due to the fact that cotton plants are not sown.
The coverage range of the effective spraying width of the plant protection unmanned aerial vehicle in the single-route operation flying process means that the effective spraying width of the plant protection unmanned aerial vehicle just covers or slightly exceeds the average width of cotton plants formed by three rows of cotton plants in the width direction of a single mulching film.
The additional adjustment of the spray width WAThe numerical range of (A) is 0 to 0.5 m.
And during dotting operation, the boundaries of the cotton plots are respectively extended to the outer sides of the plots by a certain distance, and the numerical range of the distance is 0.3-0.5 m.
The flight speed range of the plant protection unmanned aerial vehicle is 2.0-4.5 m/s.
Plant protection unmanned aerial vehicle is one of electronic many rotors, electronic single rotor, the single rotor of oil-driven.
Compared with the prior art, the invention has the following advantages: (1) the aviation spraying operation method of the cotton defoliating agent in the one-film three-row cultivation mode provided by the invention has the advantages that the effective spraying amplitude of the plant protection unmanned aerial vehicle in the single-line operation flying process can just cover or slightly exceed the average width of cotton plants formed by three rows of cotton plants in the width direction of a single mulching film, the practical requirements that a planting user does not want to spray the chemical liquid too much in a wider cross-over row to cause chemical liquid waste and soil pollution are met, and the accurate, chemical-saving and green operation is realized; (2) the aerial spraying operation method of the cotton defoliating agent under the one-film three-line cultivation mode provided by the invention has the advantages that the effective spraying amplitude of the plant protection unmanned aerial vehicle under different operation heights is in cooperative correspondence with the one-film three-line equal-line-spacing cotton cultivation mode popularized and adopted in multiple places in China, the agricultural and agricultural technology fusion in the spraying process of the plant protection unmanned aerial vehicle is realized, and the general national requirements on the agricultural and agricultural technology fusion are met; (3) the aerial spraying operation method of the cotton defoliating agent in the one-film three-row cultivation mode provides referential operation specifications for accurate aerial spraying of other pest control agents in the field management process of cotton.
Drawings
FIG. 1 is a flow chart of an aerial spraying operation method of a cotton defoliating agent in a one-film three-row cultivation mode.
FIG. 2 shows the precise spraying width W of the plant protection unmanned aerial vehicle during the cotton defoliating agent spraying operation in the one-film three-row cultivation mode of the inventionSAverage width W of cotton plantPAdditionally adjusting the spray width WAPrecise flying height HSTheoretical flying height to earth surface HRAverage height of cotton plant HPSchematic diagram of the relationship between them.
In the figure: 1. plastic film 2, cotton plant 3, handing-over line 4, accurate spraying area 5, plant protection unmanned aerial vehicle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Referring to fig. 1 and 2, the invention relates to an aerial spraying operation method of a cotton defoliating agent in a membrane three-row cultivation mode, which comprises the following steps.
The first step is as follows: determining the average height of cotton plants and the average width of the cotton plants in the width direction of a single mulching film in a one-film three-line cultivation mode
(A) The cotton variety planted in a certain operation land is luzhou cotton 532, the land adopts a mechanical cultivation mode that one film is used, three lines are equal, the row spacing is 76cm, the width of the mulching film is 2.05m, the planting density is 6000 plants/mu, and the average height of the cotton plants on the operation land is calculated to be 0.9m by adopting a method of sampling measurement and calculating the average value;
(B) according to the one-film three-row cultivation mode of cotton on the operation land, the average width of cotton plants formed by three rows of cotton plants in the width direction of the single mulching film is calculated to be 2.3m by adopting a method of sampling measurement and calculating an average value.
The second step is that: determining the accurate spraying width demand of the average width of cotton plants on a plant protection unmanned aerial vehicle according to cotton cultivation information
(A) According to the one-film three-row cultivation mode of cotton on the operation land, under the condition that the situation that liquid medicine is prevented from being excessively sprayed in a cross-over row with a large width to cause liquid medicine waste and soil pollution is considered, the effective spraying amplitude of the plant protection unmanned aerial vehicle is determined to slightly exceed the average width of cotton plants formed by three rows of cotton plants in the width direction of a single mulching film by 0.2m in the single-route operation flying process;
(B) according to the coverage range of the effective spraying amplitude of the plant protection unmanned aerial vehicle determined in the step (A) in the single-route operation flying process and according to a formula WS＝WP+WACalculating the accurate spraying width W of the plant protection unmanned aerial vehicle in the one-film three-row cultivation mode when the plant protection unmanned aerial vehicle carries out the spraying operation of the cotton defoliating agentS2.5m, wherein the average width W of cotton plants formed by three lines of cotton plants in the width direction of the single mulching film determined according to the first stepP2.3m, the jet width W is adjusted additionally as determined in step (A)AIs 0.2 m.
The third step: dotting surveying and mapping and plant protection unmanned aerial vehicle route planning for working cotton plots
(A) The recording points at the boundary of the operating cotton plot are subjected to dotting surveying and mapping by using a surveying and mapping rod, in order to ensure that the area surrounded by all the recording points can completely cover the operating plot, thereby avoiding the phenomenon of missing spraying at the boundary, the boundary of the operating cotton plot is respectively expanded to the outer side of the plot by 0.4m during dotting operation, and then all the intersection points are taken as the recording points to carry out dotting surveying and mapping in sequence;
(B) taking the area surrounded by all the recording points of the dotting and mapping in the step (A) as an operation area, and obtaining the accurate spraying width W of the plant protection unmanned aerial vehicle in the one-film three-row cultivation mode in the second step when the plant protection unmanned aerial vehicle carries out the cotton defoliating agent spraying operationSNamely, 2.5m is set as the width of the air route, and the automatic planning of the air route of the plant protection unmanned aerial vehicle is completed in the ground station.
The fourth step: determining the flying height of the plant protection unmanned aerial vehicle under the accurate spraying amplitude of the height of the plant canopy according to the flying height of the plant protection unmanned aerial vehicle under the effective spraying amplitude of the ground
(A) The polar-flight P20 electric multi-rotor-wing plant protection unmanned aerial vehicle is selected as a model for implementing cotton defoliation agent spraying operation, and according to the arrangement form of the spray heads on the model and the operation performance calibrated by the model, the corresponding relation between various effective spraying amplitudes of the model to the earth surface and the theoretical flying height of the model to the earth surface is determined: when the theoretical flying heights of the machine type to the ground surface are respectively 1.0m, 1.5m, 2.0m, 2.5m, 3.0m and 3.5m, the corresponding effective spraying amplitudes to the ground surface are respectively 2.0m, 2.5m, 3.0m, 3.5m, 4.0m and 4.5 m;
(B) selecting the accurate spraying amplitude W from the effective spraying amplitude of the selected plant protection unmanned aerial vehicle to the earth surface in the second stepSAnd (C) determining the accurate spraying amplitude W according to the consistent numerical values and the corresponding relation between the effective spraying amplitudes of the machine type to the earth surface and the theoretical flying height of the machine type to the earth surface in the step (A)SIs 2.5m corresponding to the theoretical flying height H to the earth surfaceRIs 1.5m, then according to formula HS＝HR+HPCalculating the accurate flying height H of the selected plant protection unmanned aerial vehicle under the accurate spraying amplitude of the height of the cotton plant canopySIs 2.4m, wherein HPThe average height of cotton plants on the work land collected in the first step was 0.9 m.
The fifth step: unmanned aerial vehicle aerial spraying operation for cotton defoliation medicament plant protection
With the help of the plant protection unmanned aerial vehicle selected in the fourth step, according to the operation plot dotting mapping and air route planning conditions completed in the third step, the accurate flight height H of the selected plant protection unmanned aerial vehicle under the accurate spraying amplitude of the height of the cotton plant canopy is calculated in the fourth stepSNamely 2.4m is taken as the actual ground operation height, the flying operation is carried out along the mulching film laying direction according to the flying speed of 4.0m/s, and the aerial spraying of the cotton defoliating agent on the operation land is completed.
The cross-over row refers to a blank area formed between two adjacent mulching films in the one-film three-row cultivation mode due to the fact that cotton plants are not sown.
Finally, it should be noted that: the foregoing embodiments are provided only for illustrating and describing the fundamental principles, main features and advantages of the present invention, and it will be understood by those skilled in the art that the present invention is not limited by the foregoing embodiments, and various modifications or equivalent substitutions may be made without departing from the spirit and scope of the present invention, which shall be covered by the claims of the present invention.
Claims (7)
1. An aviation spraying operation method of cotton defoliating agent in a membrane three-row cultivation mode is characterized by comprising the following steps: the first step is as follows: determining the average height of cotton plants and the average width of the cotton plants in the width direction of a single mulching film in a one-film three-line cultivation mode
(A) Calculating the average height of cotton plants on the operation land by adopting a method of sampling measurement and calculating an average value according to the cultivar and the growth period of cotton on the operation land;
(B) according to a one-film three-row cultivation mode of cotton on an operation land, namely three rows of cotton plants are planted on a single mulching film with the width of 2.05m between two adjacent cross-connecting rows at the row spacing of 76cm, and the average width of the cotton plants formed by the three rows of cotton plants in the width direction of the single mulching film is calculated by adopting a method of sampling measurement and calculating the average value;
the second step is that: determining the accurate spraying width demand of the average width of cotton plants on a plant protection unmanned aerial vehicle according to cotton cultivation information
(A) According to a one-film three-row cultivation mode of cotton on an operation land, under the condition that the situation that liquid medicine is prevented from being excessively sprayed in a cross-over row with a large width to cause liquid medicine waste and soil pollution is considered, the coverage range of the effective spraying range of the plant protection unmanned aerial vehicle in the single-route operation flying process is determined;
(B) according to the coverage range of the effective spraying amplitude of the plant protection unmanned aerial vehicle determined in the step (A) in the single-route operation flying process and according to a formula WS＝WP+WACalculating the accurate spraying width W of the plant protection unmanned aerial vehicle in the one-film three-row cultivation mode when the plant protection unmanned aerial vehicle carries out the spraying operation of the cotton defoliating agentSIn the formula WPIs a single mulching film width squareAverage width of cotton plant formed by three lines of cotton plants upward, WAAdjusting the spray amplitude for additional purposes;
the third step: dotting surveying and mapping and plant protection unmanned aerial vehicle route planning for working cotton plots
(A) The method comprises the following steps of utilizing a surveying and mapping rod to carry out dotting surveying and mapping on recording points at the boundary of an operating cotton plot, in order to ensure that an area surrounded by all the recording points can completely cover the operating plot, so that the phenomenon of missing spraying at the boundary is avoided, firstly, extending the boundary of the operating cotton plot for a certain distance to the outer side of the plot respectively during dotting operation, and then, carrying out dotting surveying and mapping in sequence by taking all intersection points as the recording points;
(B) taking the area surrounded by all the recording points of the dotting and mapping in the step (A) as an operation area, and obtaining the accurate spraying width W of the plant protection unmanned aerial vehicle in the one-film three-row cultivation mode in the second step when the plant protection unmanned aerial vehicle carries out the cotton defoliating agent spraying operationSSetting the air route width, and finishing automatic air route planning of the plant protection unmanned aerial vehicle in the ground station;
the fourth step: determining the flying height of the plant protection unmanned aerial vehicle under the accurate spraying amplitude of the height of the plant canopy according to the flying height of the plant protection unmanned aerial vehicle under the effective spraying amplitude of the ground
(A) Selecting a plant protection unmanned aerial vehicle model for carrying out cotton defoliation agent spraying operation, and determining the corresponding relation between various effective spraying amplitudes of the plant protection unmanned aerial vehicle model to the ground surface and the theoretical flying height of the plant protection unmanned aerial vehicle model to the ground surface according to the arrangement form of the spray heads on the plant protection unmanned aerial vehicle model and the operation performance calibrated by the plant protection unmanned aerial vehicle model;
(B) selecting the accurate spraying amplitude W from the effective spraying amplitude of the selected plant protection unmanned aerial vehicle to the earth surface in the second stepSAnd (C) determining the accurate spraying amplitude W according to the consistent numerical values and the corresponding relation between the effective spraying amplitudes of the machine type to the earth surface and the theoretical flying height of the machine type to the earth surface in the step (A)SCorresponding theoretical flying height H to the earth surfaceRThen according to formula HS＝HR+HPCalculating the accurate flying height H of the selected plant protection unmanned aerial vehicle under the accurate spraying amplitude of the height of the cotton plant canopySIn the formula HPThe average height of cotton plants on the operation land collected in the first step;
the fifth step: unmanned aerial vehicle aerial spraying operation for cotton defoliation medicament plant protection
With the help of the plant protection unmanned aerial vehicle selected in the fourth step, according to the operation plot dotting mapping and air route planning conditions completed in the third step, the accurate flight height H of the selected plant protection unmanned aerial vehicle under the accurate spraying amplitude of the height of the cotton plant canopy is calculated in the fourth stepSAnd as the actual ground operation height, performing flying operation along the mulching film laying direction at a certain flying speed to finish aerial spraying of cotton defoliating agents on the operation land.
2. The aerial spraying operation method of cotton defoliating agent under one-film three-row cultivation mode according to claim 1, characterized in that: the cross-over row refers to a blank area formed between two adjacent mulching films in the one-film three-row cultivation mode due to the fact that cotton plants are not sown.
3. The aerial spraying operation method of cotton defoliating agent under one-film three-row cultivation mode according to claim 1, characterized in that: the coverage range of the effective spraying width of the plant protection unmanned aerial vehicle in the single-route operation flying process means that the effective spraying width of the plant protection unmanned aerial vehicle just covers or slightly exceeds the average width of cotton plants formed by three rows of cotton plants in the width direction of a single mulching film.
4. The aerial spraying operation method of cotton defoliating agent under one-film three-row cultivation mode according to claim 1, characterized in that: the additional adjustment of the spray width WAThe numerical range of (A) is 0 to 0.5 m.
5. The aerial spraying operation method of cotton defoliating agent under one-film three-row cultivation mode according to claim 1, characterized in that: and during dotting operation, the boundaries of the cotton plots are respectively extended to the outer sides of the plots by a certain distance, and the numerical range of the distance is 0.3-0.5 m.
6. The aerial spraying operation method of cotton defoliating agent under one-film three-row cultivation mode according to claim 1, characterized in that: the flight speed range of the plant protection unmanned aerial vehicle is 2.0-4.5 m/s.
7. The aerial spraying operation method of cotton defoliating agent under one-film three-row cultivation mode according to claim 1, characterized in that: plant protection unmanned aerial vehicle is one of electronic many rotors, electronic single rotor, the single rotor of oil-driven.
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| PCT/CN2019/115500 WO2020098528A1 (en) | 2018-11-15 | 2019-11-05 | Aerial spraying operation method for cotton defoliant in one-film-three-row cultivation pattern |
| ZA2019/07572A ZA201907572B (en) | 2018-11-15 | 2019-11-15 | Method for aerial spraying operation of cotton defoliating chemical in one-film three-row cultivation mode |
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| ZA201907572B (en) | 2021-06-30 |
| CN109511443A (en) | 2019-03-26 |
| WO2020098528A1 (en) | 2020-05-22 |
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