CN104527981B - Method for carrying out pesticide spraying by using farm-oriented unmanned aerial vehicle - Google Patents

Abstract

The invention discloses a method for spraying pesticides by using an agricultural unmanned aerial vehicle, which comprises the following steps: a). Loading powdery solid pesticides in the medicine box of the small agricultural unmanned aerial vehicle; b). Monitoring Atmospheric environmental conditions, to determine whether it is suitable to use small-scale agricultural drones for pesticide spraying operations; c). When it is determined that the atmospheric environmental conditions allow, control the agricultural drones to take off and reach the sky above the field crops Height; d). Monitor the atmospheric environmental conditions again to determine whether it is suitable for the small-scale agricultural drone to carry out pesticide spraying operations; e). When it is determined that the atmospheric environmental conditions allow, operate the small-scale agricultural drone The drone flies along a predetermined route and sprays pesticides; and f). Manipulating the small agricultural drone to return to the ground.

Description

A method of spraying pesticides using agricultural drones

technical field

The invention relates to a method for spraying pesticides on field crops, in particular to a method for spraying pesticides using a small agricultural drone.

Background technique

The technical background related to the present invention will be described below, but these descriptions do not necessarily constitute the prior art of the present invention.

Pesticide spraying occupies a very important position in the agricultural field. The most traditional way is to spray pesticides manually, which is not only time-consuming and labor-intensive, but also has high labor costs and low operating efficiency. The improved use of ground machinery for pesticide spraying has special requirements for farmland machinery. In recent years, the use of small agricultural drones for aerial spraying operations has greatly improved operational efficiency. And more importantly, the agricultural technology of using small agricultural drones for pesticide spraying is more suitable for my country's national conditions, and it has great application value.

However, due to the existing use of small-scale agricultural drones for pesticide spraying operations, the agricultural drones carry diluted medicinal liquids, or separately placed medicinal powders and water as diluents, so that agricultural use is useless. The pesticide loading capacity of the man-machine is limited, so the continuous flight time during operation is also short. That is to say, small agricultural drones need to take off and land repeatedly to reload pesticides during pesticide spraying operations, so their efficiency in pesticide spraying operations is still limited.

Therefore, there is a need in the prior art for a technical solution that can solve the problems of small-scale agricultural drones for pesticide spraying, such as small load capacity, short continuous operation time, and still need to improve operating efficiency.

This application is proposed in view of the above problems. After long-term research, the inventor of the present application has found a way to increase the continuous operation area of small agricultural drones by changing the state of the pesticides carried by small agricultural drones during spraying operations, which not only simplifies the operation program, and improved operational efficiency, overcoming the above-mentioned defects in the prior art of this type of small-scale agricultural unmanned aerial vehicles.

Contents of the invention

The purpose of the present invention is to propose a method for improving the operational efficiency of pesticide spraying on field crops by utilizing the existing small-scale agricultural drones to carry pesticides in different states. This method not only increases the amount of pesticide carried by the agricultural UAV, but also enables the agricultural UAV to spray pesticides in a larger area continuously after one take-off, greatly improving the operating efficiency of the agricultural UAV.

According to one aspect of the present invention, the present invention discloses a method for spraying pesticides using an agricultural unmanned aerial vehicle, which includes the following steps: a). Loading powdery solid pesticides in the medicine box of the agricultural unmanned aerial vehicle Middle; b). Monitor atmospheric environmental conditions to determine whether it is suitable to use agricultural drones for pesticide spraying operations; c). When it is determined that the atmospheric environmental conditions allow, control the agricultural drones to take off and reach the field The altitude above the crops; d). Monitor the atmospheric environmental conditions again to determine whether the agricultural drone is suitable for pesticide spraying operations; e). When it is determined that the atmospheric environmental conditions allow, operate the The agricultural UAV flies along a predetermined route and sprays pesticides; and f). Manipulates the agricultural UAV to return to the ground, wherein the atmospheric environmental conditions include: humidity, temperature and wind speed, and the humidity is not lower than 95%; the step f) includes: manipulating the agricultural UAV to return to the ground after the operation is completed, or when it is detected that the atmospheric environmental conditions are not suitable for operation, manipulating the agricultural UAV to return to the ground; The monitoring of the atmospheric environmental conditions in step b) is performed by a ground monitoring system, and the monitoring of the atmospheric environmental conditions in the step d) is performed by the airborne environmental monitoring of the ground monitoring system and the agricultural unmanned aerial vehicle. jointly executed by the system; the height above the field crops is selected to be less than or equal to 5 meters.

Preferably, the area of the field crops is selected to be less than 1000 mu.

Preferably, the temperature range is selected as 20°C-30°C.

Preferably, the wind speed is selected to be less than 1 m/s.

Preferably, the field crop is at least one of rice, wheat, rape, and corn.

Preferably, the ground environment monitoring system includes more than one monitoring station arranged on the field crop.

Description of drawings

The features and advantages of the present invention will become more comprehensible through the following detailed description provided with reference to the accompanying drawings, in which:

Fig. 1 is a schematic flow sheet showing an embodiment of the pesticide spraying method according to the present invention;

2 is a schematic diagram of a small-scale agricultural drone carrying out pesticide spraying operations on rice in the field according to an embodiment of the method of using an agricultural drone for pesticide spraying according to the present invention;

Fig. 3 is a schematic diagram showing an existing small-scale agricultural unmanned aerial vehicle and its control and monitoring system applicable to the method of pesticide spraying of the present invention;

Fig. 4-6 is the schematic diagram that shows the existing small agricultural unmanned aerial vehicle that is applicable to the method for pesticide spraying of the present invention, shows the medicine box, medicine rod and spray nozzle etc. that are set on the small agricultural unmanned aerial vehicle part.

Explanation of reference signs

1 Body 2 Control and monitoring system

3 Power system 4 Ground monitoring system

11 spraying mechanism 111 medicine box

112 actuating device 113 medicine bar

114 nozzle 115 base

116 support frame 21 airborne sensor

22 Wireless data receiving module 23 Spraying operation judgment module

41 wireless data transmission module 42, 43, 44, 45 ground environment monitoring stations

detailed description

Exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The description of the exemplary embodiments is for the purpose of illustration only, and in no way limits the invention and its application or usage.

With my country's progress towards agricultural modernization, the development of agricultural technology is changing with each passing day, and more and more fields of agricultural operations are replacing manual operations with machine operations. Agricultural crops such as field crops basically need to be sprayed with pesticides during the growth process no matter because of growth reasons or due to the need to eliminate diseases and insect pests. The operation of pesticide spraying is currently shifting from manual to mechanized, and as mentioned above, the current commonly used operation scheme for large-scale planting is: use small agricultural drones (also known as small agricultural drones) to Pesticide spraying is carried out on a large area of field crop planting area, which not only improves the operation efficiency compared with manual spraying of pesticides, but also completely avoids the poisoning of manual workers due to spraying pesticides in the past . Crops suitable for spraying pesticides with small agricultural drones include field crops such as rice, rapeseed, wheat, and corn.

The basic operation process of pesticide spraying by small agricultural UAV is: take off the small agricultural UAV through the ground control system, and the small agricultural UAV carries or is equipped with a pesticide spraying device. Then the agricultural drone is manipulated to fly above the canopy of the field crops to be sprayed. Generally, the agricultural drone needs to maintain a stable flight at low altitude and low speed. Then start the environmental monitoring system to collect the environmental parameter data of the ground monitoring points and the data of the aerial environmental parameters. Based on the data of these environmental parameters, it is determined whether the atmospheric environmental conditions are suitable for spraying operations. Start the spraying mechanism when it is judged appropriate, and then the agricultural drone will start the low-altitude spraying operation. After the spraying operation is over, the agricultural drone returns to the ground. Or when the real-time monitoring data shows that the atmospheric environment conditions are no longer suitable for operation, order the agricultural drone to return to the ground.

However, as mentioned earlier, there are also some problems in the currently commonly used small-scale agricultural drones for pesticide spraying operations. Specifically, since the small-scale agricultural drones for operation need to be loaded with diluted liquid pesticides, or loaded with powder and water separately, so as to be mixed and sprayed on the agricultural drones before spraying, thus causing agricultural useless The load capacity of man-machines is limited, so the area for continuous spraying operations is also limited. This requires agricultural drones to take off and land repeatedly, and constantly reload pesticides, so the operating efficiency is still limited.

In addition, the aerial spraying of pesticides currently used generally carries liquid pesticides, that is, pesticides diluted with water in a certain proportion. Due to the heavy weight of liquid pesticides, manned fixed-wing aircraft are usually used for operations, but this This operation method is suitable for large-scale farm spraying operations of more than 1,000 mu. If the operation area is small and medium-sized, such as hundreds of acres, there will be problems such as high cost. The small agricultural UAV also has limitations in operating efficiency due to the small load capacity of the liquid.

In view of this, the present application proposes an improved method of using a small agricultural drone for pesticide spraying operations. Specifically, the agricultural UAV is only loaded with powdery solid pesticides with a high density of active ingredients, and the water needed to dilute these powdery solid pesticides is mainly from the moisture in the atmosphere or the moisture from the pre-spray irrigation of field crops . Therefore, there is no need to carry water for diluting pesticides, which can increase the amount of pesticides carried at one time, increase the area of continuous spraying operations, reduce the load of drones, and improve operating efficiency.

Specifically, referring to accompanying drawings 4-6, accompanying drawings 4-6 have shown the sketch map of existing small-scale agricultural unmanned aerial vehicle. They are all suitable for the pesticide spraying method of the present invention. The small agricultural drones shown here are single-rotor aircraft, or helicopters. However, the small-scale agricultural unmanned aerial vehicle applicable to the pesticide spraying method of the present invention also includes agricultural remote control or automatic navigation (that is, unmanned) autogyro, multirotor and fixed-wing aircraft. In other words, the pesticide spraying method of the present invention is applicable to most existing rotary-wing UAVs, fixed-wing UAVs and the like. The current common models of rotor UAVs are Z-5 and Z-3 of the 60th Institute of the PLA General Staff; Servoheli-120 of Shenyang Automation Institute; V-750 of Weifang Tianxiang; CD-10 of Wuxi Hanhe; AR-100/AF811; RH-2, EH-3 of Northern Tiantu; BH330-200 of Bohang United; YR-H-15 of Zhuhai Yuren, etc. The commonly used models of fixed-wing UAVs are: smart bird KC2800 oil-powered fixed-wing UAV; Beijing Tianyu Chuangtong Technology Co., Ltd. T15 UAV; Zhejiang Xianheng International General Equipment Co., Ltd. Xiangyun-1, etc.

As also shown in Figure 4-6, these agricultural drones mainly include: body 1, control and monitoring system 2, power system 3, etc. The lower part of the body 1 includes a spraying mechanism 11, which mainly includes: a medicine box 111, an actuator 112, a medicine rod 113, a spray nozzle 114, a base 115, a support frame 116 and other important parts. Institutions are responsible for the implementation of pesticide spraying tasks.

As shown in Figure 3 again, the control and monitoring system 2 of this small-scale agricultural unmanned aerial vehicle, that is, the airborne control and monitoring system, it includes: airborne sensor 21, wireless data receiving module 22, spraying operation judging module 23 etc. . In addition, the agricultural UAV also includes a ground control and monitoring system4. The ground control and monitoring system further includes: a wireless data transmission module 41 and several ground environment monitoring stations 42, 43, 44, 45, etc., to cooperate with the operation of the drone. Since the structure of the agricultural drone is already known in the art, it will not be described in detail here.

FIG. 2 shows a schematic diagram of a small agricultural drone 10 performing spraying operations over rice 5 . More specifically, as shown in FIG. 1 , the figure shows a schematic flow chart of an embodiment of the pesticide spraying method according to the present invention. Before using a small agricultural drone for pesticide spraying operations, the powdered solid pesticide is loaded in the medicine box of the small agricultural drone. Pesticides used for rice are, for example, copper preparations such as copper lanthanum, copper succinate, and copper rosinate, tin preparations such as triphenyltin acetate, azole fungicides such as hexaconazole and triaconazole, but are not limited to These. These pesticides are commonly used and are available in the market.

It should be noted that the powdery solid pesticide can be obtained by known techniques. For example, it can be obtained by lowering the initial temperature of the powdered pesticide to change its physical state, or it can be obtained by adding a small amount of non-toxic and harmless moisture adsorbent to the powdered pesticide. are well known in the art and thus will not be described in detail. And because it is a particle of a certain volume, but in powder form, it is called powdery solid pesticide.

Then, use the existing environmental monitoring equipment to monitor the atmospheric environmental conditions around the field crops, such as rice, rapeseed, wheat, corn, etc., such as humidity, temperature and wind speed, to judge whether the atmospheric environmental conditions, especially the humidity, are suitable. Pesticide spraying operations. The preferred atmospheric environment conditions suitable for pesticide spraying operations are: the humidity is greater than 95%, the temperature range is 20°C-30°C, and the wind speed is less than 1m/s. Generally, in order to meet the requirements of humidity, it is preferable to select weather conditions after rain. When it is determined that the atmospheric environment conditions are suitable for operation, the operator uses the ground control system of the small agricultural drone on the ground, such as a remote control and a GPS positioning system, to control the agricultural drone carrying powdered pesticides, so that the The unmanned aerial vehicle reaches a suitable height over the rice to be sprayed, for example, within the range of 1-15 meters, preferably less than 5 meters. At this time, the environmental monitoring system on the small agricultural UAV cooperates with the ground environmental monitoring system to monitor environmental conditions such as humidity, temperature and wind speed again, obtain real-time data, and determine whether it is suitable for operation. When it is determined that it is not suitable for operation, the ground operator controls the UAV to return. In the case of judging that the operation is suitable, the operator on the ground controls the agricultural drone carrying the powdered solid pesticide along the predetermined route through the control system, at a certain height, such as preferably within 1-5 meters from the top of the rice plant, And fly at a certain speed, such as usually 3m/s-6m/s, and actuate the spraying mechanism to spray the rice evenly with a certain amount of spraying, such as preferably 1000ml/min. The powdered solid pesticide in the medicine box of the spraying mechanism meets the water molecules in the air after leaving the medicine box, and is dissolved and diluted by them to form a liquid medicine, which then lands on the rice or in the paddy field, thereby Complete the pesticide spraying on rice. After the agricultural UAV completes its operation, the ground operator controls the UAV to return to the ground through the control system. Or when the environmental monitoring equipment detects that the surrounding atmospheric environment, such as humidity, temperature and wind speed, is no longer suitable for pesticide spraying operations, it will send instructions to the agricultural drone, and the spraying mechanism on the drone will stop working. The man-machine returns to the ground. It should be noted that the environmental monitoring equipment has been working throughout the operation to obtain real-time information on atmospheric environmental conditions.

For the existing small-scale agricultural drones, compared with the traditional spraying method of carrying liquid pesticides, the method of the present invention only requires the agricultural drones to carry the effective part of the pesticides, and does not carry heavy water, thereby improving The pesticide carrying capacity of agricultural drones improves the spraying efficiency of agricultural drones after one take-off.

Next, briefly introduce the environmental monitoring equipment. In the process of pesticide spraying by small agricultural drones, environmental monitoring equipment is an indispensable supporting device. Generally, the environmental monitoring equipment used by small agricultural drones is divided into two parts: the ground environmental monitoring system and the aerial monitoring system on the drone. Figure 3 shows a schematic diagram of the ground monitoring system. Among them, the ground monitoring system usually adopts the way of multi-point distributed modules, that is, stations. The modules include sensors for monitoring environmental conditions such as temperature, humidity, and wind speed, and each module can be distributed in the field according to the scheme of pesticide spraying operations, for example, can be distributed in the canopy of crops such as rice, or Can be distributed in the roots of crops such as rice. The information collected by the sensors in these modules can be sent to the aerial monitoring system of the small agricultural UAV through the wireless data transmitting module 41 shown in FIG. 3 , as shown by reference numeral 2 in FIG. 3 . On the other hand, the aerial monitoring system of the small-scale agricultural UAV itself also includes sensors for detecting temperature, humidity, wind speed, etc., as shown by the mark 21 in Figure 3, to monitor the aerial work environment in real time , to obtain specific parameter information. Moreover, the data detected by the aerial monitoring system of the small agricultural UAV will be combined with the data detected by the ground monitoring system received, and the two parts of data will be fused through a known fusion algorithm to make a judgment to determine whether it is suitable for Pesticide spraying operations. Environmental monitoring systems related to agricultural drones are actually well known in the art, so no further detailed introduction will be made here.

According to the method of using a small-scale agricultural unmanned aerial vehicle for pesticide spraying operations according to the present invention, since the powdery solid pesticide is diluted by moisture in the air to form a liquid medicine during the process of landing after leaving the medicine box, it finally lands on rice or On the paddy field, the final pesticide dilution and spraying are realized, so the operation procedure is simplified and the operation requirements are met. What's more, since the UAV carries powdered solid pesticides, compared with the existing technology, it has realized the beneficial technical effect of increasing the load capacity of pesticides, so that after one take-off, the continuous spraying operation area is increased.

Although the present invention has been described with reference to exemplary embodiments, it should be understood that the present invention is not limited to the specific embodiments described and shown in detail herein, and that it is possible for those skilled in the art to do so without departing from the scope defined by the claims. Personnel may make various changes to the exemplary embodiments described.

Claims (6)

1. A method utilizing an agricultural unmanned aerial vehicle to carry out pesticide spraying, comprising the steps of: a). Loading powdery solid pesticides in the medicine box of the agricultural drone; b). Monitor atmospheric environmental conditions to determine whether it is suitable to use agricultural drones for pesticide spraying operations; c). When it is determined that the atmospheric environmental conditions are permitted, the agricultural drone is manipulated to take off to reach the altitude above the field crops; d). Monitor the atmospheric environmental conditions again to determine whether the agricultural drone is suitable for pesticide spraying operations; e). When it is judged that the atmospheric environmental conditions are permitted, the agricultural drone is manipulated to fly along a predetermined route and spray pesticides; and f). Manipulating the agricultural drone to return to the ground, wherein, The atmospheric environmental conditions include: humidity, temperature and wind speed, and the humidity is not lower than 95%; the step f) includes: manipulating the agricultural drone to return to the ground after the operation is completed, or when the atmospheric air is monitored When the environmental conditions are no longer suitable for operation, the agricultural unmanned aerial vehicle is manipulated to return to the ground; the monitoring of the atmospheric environmental conditions in the step b) is performed by the ground monitoring system, and the atmospheric environmental conditions in the step d) The monitoring is performed jointly by the ground monitoring system and the airborne environmental monitoring system on the agricultural drone; the height above the field crops is selected to be less than or equal to 5 meters. 2. the method for pesticide spraying as claimed in claim 1, is characterized in that, the area selection of described field crop is less than 1000 mus. 3. The method for spraying pesticides according to claim 1, characterized in that the range of the temperature is selected as 20°C-30°C. 4. The method for pesticide spraying as claimed in claim 1, characterized in that the wind speed is selected to be less than 1m/sec. 5. The method for spraying pesticides according to claim 1, wherein the field crop is at least one of rice, wheat, rape, and corn. 6. The method for spraying pesticides according to claim 1, wherein the ground monitoring system includes more than one environmental monitoring station arranged on the field crops.