CN109511444B - Aerial spraying operation method of cotton defoliating agent under three-film twelve-row cultivation mode - Google Patents
Aerial spraying operation method of cotton defoliating agent under three-film twelve-row cultivation mode Download PDFInfo
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- 238000005507 spraying Methods 0.000 title claims abstract description 103
- 229920000742 Cotton Polymers 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 46
- 241000196324 Embryophyta Species 0.000 claims abstract description 83
- 241000219146 Gossypium Species 0.000 claims abstract description 75
- 240000002024 Gossypium herbaceum Species 0.000 claims abstract description 63
- 235000004341 Gossypium herbaceum Nutrition 0.000 claims abstract description 63
- 239000003795 chemical substances by application Substances 0.000 claims abstract description 34
- 239000007921 spray Substances 0.000 claims abstract description 12
- 239000007788 liquid Substances 0.000 claims abstract description 9
- 238000003900 soil pollution Methods 0.000 claims abstract description 6
- 238000013507 mapping Methods 0.000 claims description 18
- 239000003814 drug Substances 0.000 claims description 10
- 230000035613 defoliation Effects 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 6
- 239000004576 sand Substances 0.000 claims description 6
- 238000009331 sowing Methods 0.000 claims description 5
- 239000002699 waste material Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 6
- 230000004927 fusion Effects 0.000 abstract description 6
- 239000000575 pesticide Substances 0.000 abstract description 6
- 239000010808 liquid waste Substances 0.000 abstract description 3
- 241000607479 Yersinia pestis Species 0.000 abstract description 2
- 239000012528 membrane Substances 0.000 description 3
- UDPGUMQDCGORJQ-UHFFFAOYSA-N (2-chloroethyl)phosphonic acid Chemical compound OP(O)(=O)CCCl UDPGUMQDCGORJQ-UHFFFAOYSA-N 0.000 description 2
- 239000005976 Ethephon Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 229930192334 Auxin Natural products 0.000 description 1
- VGGSQFUCUMXWEO-UHFFFAOYSA-N Ethene Chemical compound C=C VGGSQFUCUMXWEO-UHFFFAOYSA-N 0.000 description 1
- 239000005977 Ethylene Substances 0.000 description 1
- 102000003992 Peroxidases Human genes 0.000 description 1
- 239000002363 auxin Substances 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000002837 defoliant Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 239000012535 impurity Substances 0.000 description 1
- SEOVTRFCIGRIMH-UHFFFAOYSA-N indole-3-acetic acid Chemical compound C1=CC=C2C(CC(=O)O)=CNC2=C1 SEOVTRFCIGRIMH-UHFFFAOYSA-N 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- NNNSKJSUQWKSAM-UHFFFAOYSA-L magnesium;dichlorate Chemical compound [Mg+2].[O-]Cl(=O)=O.[O-]Cl(=O)=O NNNSKJSUQWKSAM-UHFFFAOYSA-L 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000012466 permeate Substances 0.000 description 1
- 108040007629 peroxidase activity proteins Proteins 0.000 description 1
- 239000002985 plastic film Substances 0.000 description 1
- 229920006255 plastic film Polymers 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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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- 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
- A01G22/00—Cultivation of specific crops or plants not otherwise provided for
- A01G22/50—Cotton
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- Pest Control & Pesticides (AREA)
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention provides an aerial spraying operation method of a cotton defoliating agent in a three-film twelve-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 covers or slightly exceeds the average width of cotton plants formed by 12 lines of cotton plants in the width direction of three adjacent mulching films in the single-line operation flying process, meets the practical requirements that a grower does not want to excessively spray pesticide liquid in a wider cross-over line to cause pesticide liquid waste and soil pollution, corresponds to the 12 lines of cotton plants formed by the single-line operation of a large-scale seeder, realizes the agricultural and agricultural technology fusion in the pesticide spraying process of the plant protection unmanned aerial vehicle, and meets the overall national requirements on agricultural and agricultural technology fusion; (2) the invention also 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 method is an aerial spraying operation method of a cotton defoliating agent in a three-film twelve-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 (20 cm +40 cm) cultivation mode, a one-membrane six-row (66 cm +10 cm) high-density cultivation mode, a one-membrane three-row (76 cm) equal-row-spacing cultivation mode and other cultivation modes are formed in the Xinjiang area, a wide-narrow-row (100 cm +50 cm) cultivation mode is formed in the Shandong area, and the cross-over row-spacing is different from 40cm to 100 cm. Taking a three-film twelve-row (20 cm +40 cm) cultivation mode as an example, a grower usually wants that the effective spraying width of the plant protection unmanned aerial vehicle can just cover or slightly exceed the average width formed by 12 rows of cotton plants in the width direction of three adjacent mulching films in the single-route operation flying process, so that the situation that the pesticide liquid is excessively sprayed in a handover row to cause pesticide liquid waste and soil pollution is avoided, and the plant protection unmanned aerial vehicle corresponds to the 12 rows of cotton plants formed by the single-route operation of a large-scale seeder, and meets the requirements of precise, pesticide-saving and green operation on the basis of agricultural and agricultural technology fusion advocated by the state.
Disclosure of Invention
The invention aims to provide an aerial spraying operation method of a cotton defoliating agent in a three-film twelve-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 be in cooperative correspondence with a 'three-film twelve-row' cotton cultivation mode adopted in China and other places traditionally, so that accurate, pesticide-saving and green operation based on agricultural and agricultural integration in the aerial spraying process of the cotton defoliating agent is realized.
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 three-film twelve-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 three adjacent mulching films in a three-film twelve-row 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 the three-film twelve-row cultivation mode of cotton on the operation land, the average width of cotton plants formed by 12 rows of cotton plants in the width direction of three adjacent mulching films is calculated by adopting a method of sampling measurement and calculating the average value.
The second step is that: according to the cotton cultivation information, the accurate spraying width requirement of the average width of the cotton plants in the width directions of three adjacent mulching films on the plant protection unmanned aerial vehicle is determined
(A) According to a three-film twelve-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 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 three-film twelve-row cultivation mode when the plant protection unmanned aerial vehicle carries out the spraying operation of the cotton defoliating agentSIn the formula WPThe average width W of cotton plants formed by 12 rows of cotton plants in the width direction of three adjacent mulching filmsAThe 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 three-film twelve-row cultivation mode in the second step when the plant protection unmanned aerial vehicle carries out the spraying operation of the cotton defoliating agentSAnd 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 three-film twelve-row cultivation mode is characterized in that 2 groups of 4 rows of cotton plants are sown on a mulching film with the width of 1.3m in a row mode of 20cm +40cm, each group of cotton plants is composed of 2 rows of cotton plants with the row spacing of 20cm, the width of the large row between every two groups of cotton plants is 40cm, and the sowing machine is used for sowing 12 rows of cotton plants at a time.
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 12 rows of cotton plants in the width direction of three adjacent mulching films.
The additional adjustment of the spray width WAThe numerical range of (A) is 0 to 0.2 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 aerial spraying operation method of the cotton defoliating agent in the three-film twelve-row cultivation mode provided by the invention technically ensures that the effective spraying amplitude of the plant protection unmanned aerial vehicle just covers or slightly exceeds the average width of cotton plants formed by 12 rows of cotton plants in the width direction of three adjacent mulching films in the single-route operation flying process, meets the practical requirements that a grower does not want to spray too much chemical liquid in a wider cross-over row to cause chemical liquid waste and soil pollution, and realizes accurate, chemical-saving and green operation; (2) the aerial spraying operation method of the cotton defoliating agent under the three-film twelve-row 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 'three-film twelve-row' 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 three-film twelve-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 three-film twelve-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 three-film twelve-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 three-film twelve-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 three adjacent mulching films in a three-film twelve-row cultivation mode
(A) The cotton variety planted in a certain operation land is Lu cotton 532, the land adopts a 'three-film twelve-row' cultivation mode, and the specific specification is as follows: 2 groups of cotton plants with 4 rows are sown on a mulching film with the width of 1.3m in a row mode of 20cm +40cm, wherein each group of cotton plants consists of 2 rows of cotton plants with the row spacing of 20cm, the width of the large row between every two groups of cotton plants is 40cm, the seeder is used for sowing 12 rows of cotton plants at one time, and the average height of the cotton plants on an operation land block is calculated to be 0.9m by adopting a sampling measurement and average value calculation method;
(B) according to the three-film twelve-row cultivation mode of cotton on the operation land, the average width of cotton plants formed by 12 rows of cotton plants in the width direction of three adjacent mulching films is calculated to be 4.4m by adopting a method of sampling measurement and calculating an average value.
The second step is that: according to the cotton cultivation information, the accurate spraying width requirement of the average width of the cotton plants in the width directions of three adjacent mulching films on the plant protection unmanned aerial vehicle is determined
(A) According to a three-film twelve-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-connection row to cause liquid medicine waste and soil pollution is considered, the coverage range of the effective spraying width of the plant protection unmanned aerial vehicle in the single-route operation flying process slightly exceeds the average width of cotton plants formed by 12 rows of cotton plants in the width direction of three adjacent mulching films by 0.1 m;
(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 three-film twelve-row cultivation mode when the plant protection unmanned aerial vehicle carries out the spraying operation of the cotton defoliating agentS4.5m, wherein the average width W of cotton plants formed by 12 rows of cotton plants in the width direction of three adjacent mulching filmsP4.4m, the spray width W is additionally adjustedAIs 0.1 m.
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 performing dotting surveying and mapping on recording points at the boundary of an operating cotton plot by using a surveying and mapping rod, wherein 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, 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 intersection points are taken as the recording points to perform 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 three-film twelve-row cultivation mode in the second step when the plant protection unmanned aerial vehicle carries out the spraying operation of the cotton defoliating agentSNamely 4.5m 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)SA theoretical flying height H to the ground surface corresponding to 4.5mRIs 3.5m and 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 4.4m, 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 4.4m as the actual working height to the ground, according to the flying speed of 4.0m/sAnd performing flying operation along the mulching film laying direction to finish aerial spraying of cotton defoliating agents on the operation land.
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. The aerial spraying operation method of the cotton defoliating agent under the three-film twelve-row cultivation mode is characterized by comprising the following steps of:
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 three adjacent mulching films in a three-film twelve-row 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 three-film twelve-row cultivation mode of cotton on an operation land, calculating the average width of cotton plants formed by 12 rows of cotton plants in the width directions of three adjacent mulching films by adopting a method of sampling measurement and calculating an average value;
the second step is that: according to the cotton cultivation information, the accurate spraying width requirement of the average width of the cotton plants in the width directions of three adjacent mulching films on the plant protection unmanned aerial vehicle is determined
(A) According to a three-film twelve-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 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+WACalculate threeAccurate spraying width W of plant protection unmanned aerial vehicle during cotton defoliation agent spraying operation under twelve-line film cultivation modeSIn the formula WPThe average width W of cotton plants formed by 12 rows of cotton plants in the width direction of three adjacent mulching filmsAAdjusting 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 three-film twelve-row cultivation mode in the second step when the plant protection unmanned aerial vehicle carries out the spraying operation of the cotton defoliating agentSSetting 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+HPCalculate the accurate spray width of selected plant protection unmanned aerial vehicle to cotton plant canopy heightLower precise flying height HSIn 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 agents under the three-film-twelve-row cultivation mode according to claim 1, characterized in that: the three-film twelve-row cultivation mode is characterized in that 2 groups of 4 rows of cotton plants are sown on a mulching film with the width of 1.3m in a row mode of 20cm +40cm, each group of cotton plants is composed of 2 rows of cotton plants with the row spacing of 20cm, the width of the large row between every two groups of cotton plants is 40cm, and the sowing machine is used for sowing 12 rows of cotton plants at a time.
3. The aerial spraying operation method of cotton defoliating agents under the three-film-twelve-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 12 rows of cotton plants in the width direction of three adjacent mulching films.
4. The aerial spraying operation method of cotton defoliating agents under the three-film-twelve-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 0.2 m.
5. The aerial spraying operation method of cotton defoliating agents under the three-film-twelve-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 agents under the three-film-twelve-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 agents under the three-film-twelve-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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| Application Number | Priority Date | Filing Date | Title |
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| CN201811356693.2A CN109511444B (en) | 2018-11-15 | 2018-11-15 | Aerial spraying operation method of cotton defoliating agent under three-film twelve-row cultivation mode |
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| WO2020199024A1 (en) * | 2019-03-29 | 2020-10-08 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, spray operation method, kit, and readable storage medium |
| WO2020199025A1 (en) * | 2019-03-29 | 2020-10-08 | 深圳市大疆创新科技有限公司 | Spray head assembly, spraying device and method using same, control device and unmanned aerial vehicle |
| CN110503259A (en) * | 2019-08-19 | 2019-11-26 | 农业农村部南京农业机械化研究所 | A kind of plant protection unmanned aerial vehicle job parameter setting decision-making technique |
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