CN110989738A - Biological control sowing unmanned aerial vehicle, control system and control method - Google Patents
Biological control sowing unmanned aerial vehicle, control system and control method Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0003—Atomisers or mist blowers
- A01M7/0014—Field atomisers, e.g. orchard atomisers, self-propelled, drawn or tractor-mounted
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0089—Regulating or controlling systems
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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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Abstract
The invention belongs to the technical field of biological control, and discloses a biological control sowing unmanned aerial vehicle, a control system and a control method, wherein the position of a damaged crop is determined through a ground end, the area of the crop is planned and designed, and the mu sowing amount is set; calculating the spreading amount of the biological control agent through a calculation module, and automatically generating the flight track of the unmanned aerial vehicle; the biological control agent is sowed to the pest and disease damage part by a sowing device by utilizing the centrifugal force of centrifugal equipment; the sowing width is adjusted by adjusting the centrifugal force of centrifugal equipment, and the flying speed is fed back at the same time; and the control module sends the calculated data to the control module to control the spreader to spread. According to the invention, the biological control preparation is sown by using the aircraft, so that the labor productivity can be improved, and the production efficiency is improved to be 300 times of the manual efficiency; the using amount of chemical pesticide is reduced by 100 percent, and the water saving amount is 90 percent; the prevention and treatment time is improved by 30 percent.
Description
Technical Field
The invention belongs to the technical field of biological control, and particularly relates to a biological control sowing unmanned aerial vehicle, a control system and a control method.
Background
Currently, the closest prior art:
the current chemical prevention and control type has traditional artifical plant protection, agricultural ground machine plant protection, unmanned aerial vehicle plant protection, utilizes unmanned aerial vehicle load sprinkler system, carries out agricultural plant protection, and the main problem that exists of current chemical prevention and control still relies on chemical pesticide to carry out the pest control, still exists to environmental pollution influence, and pest and weed resistance and variability increase gradually, and medicament drift harm etc..
The biological control sowing unmanned aerial vehicle developed by the invention is used for treating from the production source and controlling diseases and insect pests by utilizing the restraint among species, thereby fundamentally providing a most effective and direct disease and insect pest control device and technology and solving the problems of the agricultural machinery and equipment.
In summary, the problems of the prior art are as follows:
the chemical pesticide is used for preventing and controlling the diseases and pests, the influence on the environmental pollution still exists, the resistance and variability of the diseases, the pests and the weeds are gradually increased, and the chemical pesticide also has the harm of pesticide drift.
In the prior art, the production efficiency is low in biological control, the using amount of chemical pesticides is high, and the control time is short.
The prior art has low safety factor in the plant protection and prevention process, can cause poisoning, can not adapt to plots of various sizes, can operate on terrains, and has high cost in the plant protection and prevention process; has poor control effect on farmland diseases and pests.
The difficulty of solving the technical problems is as follows:
the problems mainly lie in that the traditional agriculture always uses chemical pesticides for prevention and treatment, the history of one hundred years is deep foundation, the chemical prevention and treatment cannot realize precise pesticide application and only wide prevention and treatment, the biological prevention and treatment can realize precise special prevention and treatment to a disease occurrence part and 0 pollution prevention and treatment, but the chemical pesticide is always polluted when used.
The disadvantages of the inorganic chemical control: it sprays to spray chemical pesticide unmanned aerial vehicle mainly relies on be that high concentration chemical pesticide liquid sprays, must guarantee that unmanned aerial vehicle's operation height just can spray the pesticide on the crop surface, this just needs unmanned aerial vehicle and crop to have certain distance to fly at the height about 3 meters, and the degree of atomization that unmanned aerial vehicle chemistry sprayed is very high, and the pesticide liquid drop is very light, and windy will drift, causes the phytotoxicity to other non-same kind cotyledon crops.
Traditional plant protection: every kind of chemical pesticide all can harm to the human body in the chemical prevention and cure in-process, and traditional manual work sprays, and ground machinery sprays, perhaps unmanned aerial vehicle sprays chemical pesticide, all need have closely contacting with the pesticide can all harm the human body, and serious even poisoning, especially the manual work sprays the pesticide in the high-stem crop, and the probability of poisoning is up to 80%.
The significance of solving the technical problems is as follows:
the biological control method has the characteristics of high efficiency, economy, relative safety and environmental protection, and is combined with chemical and physical control and the like to form a comprehensive control system, so that the benefit is better.
The natural enemies are inexhaustible natural resources, and are not high in cost, and are used for remote transfer or artificial mass prevention and control, release and production.
The natural enemy can control pests, such as the ladybug, to prevent and control the icerya guangdongensis. The introduced hybrid of the natural enemy insects and the local species has higher insect control efficiency, such as the control of the cotton aphid of the Qingdao apple by the heliothis. Natural enemies can spread widely, search concealed and scattered hosts automatically or cause pest disease epidemics.
The natural enemies are safe to crops, beneficial insects, people and livestock, the environment is not polluted, the efficiency can be improved to 300 times of the artificial efficiency by using the unmanned aerial vehicle to spread biological agents, and the efficiency is 50-70 times of that of common agricultural machinery, and the accurate striking is carried out
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a biological control sowing unmanned aerial vehicle, a control system and a control method. The invention is green and environment-friendly: the dosage of the chemical pesticide is reduced, and the dosage of the pesticide is 0. The invention improves the production efficiency: the production efficiency is improved by 300 times compared with manual control, 50-70 times compared with common agricultural machinery and 1 time longer than chemical control of unmanned aerial vehicles.
The invention is thus realized, a control system for a biological control broadcast drone, comprising: the ground end is used for determining the position of a damaged crop, planning and designing the area of the crop and setting the mu sowing amount;
the calculation module is connected with the control module, comprises a link system and is used for calculating the spreading amount of the biological control agent and automatically generating the flight track of the unmanned aerial vehicle; the method is also used for calculating the seeding quantity per mu, and the seeding quantity is different because the dosage per mu of each control preparation is different, and when the seeding quantity is enlarged, the flying speed needs to be increased.
The sowing module is connected with the control module and is used for sowing the biological control agent to the pest and disease damage part by using the centrifugal force of centrifugal equipment through the sowing device; the sowing width is adjusted by adjusting the centrifugal force of the centrifugal equipment, and the flying speed is fed back at the same time.
And the control module is connected with the control module and used for sending the calculated data to the control module to control the spreader to spread the data by setting the spreading amount calculating module. The flight attitude, the translation, the roll and the pitching flight actions of the control equipment are also included.
And the sky end is connected with the control module, and is positioned in the unmanned aerial vehicle equipment and used for being connected with the ground end through a link transmission system.
And the positioning system is connected with the control module and mainly used for determining the flight position of the unmanned aerial vehicle in the operation process.
Further, the control system of the biological control sowing unmanned aerial vehicle further comprises an accurate biological control sowing mode of a navigation line or an AB point.
The accurate biological control sowing mode of the AB point is as follows: the head of the field is provided with a point A, the tail of the field is provided with a point B, and the equipment carries out reciprocating operation between the two points.
Another object of the present invention is to provide a method for controlling a biological control sowing drone, comprising the steps of:
step one, determining the position of a damaged crop through a ground end, planning and designing the area of the crop, and setting the mu sowing amount.
Calculating the spreading amount of the biological control agent through a calculation module, wherein the spreading amount per mu is 0.2Kg-2 Kg; the spreading amount is determined by changing the rotating speed of a spreading opening of the spreader and the size of a material opening, and the calculation formula is as follows: m is Fr/2Vr S/V, time unit is second, and mass unit is gram; and automatically generate the flight track of the unmanned aerial vehicle.
Thirdly, the biological control agent is sown to the pest and disease damage part by a sowing device by utilizing the centrifugal force of centrifugal equipment; the sowing width is adjusted by adjusting the centrifugal force of the centrifugal equipment, and the flying speed is fed back at the same time.
And step four, the control module sends the calculated data to the control module to control the spreader to spread the data.
Further, before the first step is performed, the following steps are required:
the sky end begins to receive the connection of ground end as signal receiver after the start power is switched on circular telegram, and the ground end just can carry out data transmission with the sky end after successfully connecting, is the signal reception system of unmanned aerial vehicle inside in the operation process, supports 2.4/5.8GHz dual-frenquency transmission signal reception.
After the equipment is started and the power supply is started, the GPS equipment of the positioning system starts to work after being electrified, and positioning is realized by receiving satellite signals.
Furthermore, in the step one, the ground end has a measuring function, so that dotting can be performed at each inflection point of the field in the field winding process, a graph is formed at a plurality of points, the area of the graph is determined, after the area is determined, the biological agent is set according to the mu dosage by using an instruction book, and the weight needing to be sown per mu.
Furthermore, in the second step, the calculation module is built in the ground end equipment, the scattering amount can be obtained through an algorithm, the distance from the nearest point to the farthest point of the flight route can be measured due to the fact that the ground end has a measurement function, and the flight route track is generated through the back-and-forth operation.
Further, in step three, the total amount of scattering has been confirmed for the mu, and equipment of scattering belongs to centrifugal separation equipment, can belong to the ware inner assembly of scattering with centrifugal equipment, adjusts centrifugal force and controls through the rotational speed of adjusting centrifugal equipment, and the fast power that the rotational speed is big more, and the distance of scattering is more far away, and the discharge gate is opened greatly, and the broadcast width is big more, and unloading speed is big, needs to adjust the flying speed of aircraft and matches.
Another object of the present invention is to provide an information data processing terminal for implementing the control method of the biological control sowing unmanned aerial vehicle.
Another object of the present invention is to provide a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to execute the method of controlling a biocontrol sowing drone.
Another object of the present invention is to provide a biocontrol sowing drone, said drone comprising: the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, a remote controller, a spreader and centrifugal equipment;
the spreader comprises a feed inlet, a bin, a centrifugal feeder and a material distributing plate;
the spreader material is a PP material.
Furthermore, biological control fungi or natural enemies aiming at the pests and diseases of the victim are arranged in the sowing device; the spreader spreads the biological agent or the natural enemy eggs to the pest and disease damage area of the disaster-stricken agriculture and forestry crops through centrifugation to prevent and control the pest and disease damage.
In summary, the advantages and positive effects of the invention are:
according to the biological control sowing unmanned aerial vehicle, the control system and the control method, the aircraft is used for sowing the biological control preparation, so that the labor productivity can be improved, and the production efficiency is improved by 300 times of the manual efficiency; the using amount of chemical pesticide is reduced by 100 percent, and the water saving amount is 90 percent; compared with the conventional chemical control persistence after implementation, the biological control persistence is generally between 25 and 30 days, and the control time is improved by 30 percent.
The safety coefficient of the invention is greatly improved in the process of plant protection and prevention, the poisoning condition can not occur, and the production risk of agricultural plant protection labor is 0; the device can adapt to various sizes of plots and operate on terrains, the equipment loss can be reduced, and the equipment loss rate is reduced from mu cost of 7 yuan to mu cost of 5 yuan; safe, efficient, green and environment-friendly implementation, and radically solves a great problem of preventing and controlling the diseases and pests of the farmland in the future.
Drawings
FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle control system for biological control and seeding provided by an embodiment of the invention;
in the figure: 1. a ground end; 2. a calculation module; 3. a sowing module; 4. a ground end control module; 5. a sky end; 6. a positioning system.
Fig. 2 is a flowchart of a method for controlling a biological control sowing drone according to an embodiment of the present invention.
Fig. 3 is a schematic structural view of the biological control sowing unmanned aerial vehicle sowing device provided by the embodiment of the invention.
FIG. 4 is a top view of a centrifugal downer provided in an embodiment of the present invention.
In the figure: 7. a feed inlet; 8. a storage bin; 9. centrifuging a blanking device; 10. a material distributing plate.
Fig. 5 is a graph of the effect of manual operation experiments in the prior art on corn control by 54000 acres, which is mainly used for controlling corn borers, on 24.6.2018 and Eltoke flag in Erdos.
Fig. 6 is a diagram illustrating an effect of the unmanned aerial vehicle sowing operation provided by the embodiment of the present invention.
FIG. 7 is a diagram of the effect of the corn aphid pest control technology before operation according to the embodiment of the present invention.
FIG. 8 is a diagram of the effect of the corn aphid pest control technology provided by the embodiment of the invention after operation.
FIG. 9 is a diagram showing the effect of controlling sunflower rust provided by the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems in the prior art, the present invention provides a biological control sowing unmanned aerial vehicle, a control system and a control method, and the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a biological control sowing unmanned aerial vehicle control system provided by an embodiment of the present invention includes: the device comprises a ground end 1, a calculation module 2, a sowing module 3 and a control module 4.
And the ground end 1 is used for determining the position of a damaged crop, planning and designing the area of the crop and setting the mu sowing amount.
And the calculation module 2 comprises a link system and is used for calculating the spreading amount of the biological control agent and automatically generating the flight track of the unmanned aerial vehicle.
The sowing module 3 is used for sowing the biological control agent to the pest and disease damage part by using the centrifugal force of centrifugal equipment through a sowing device; the sowing width is adjusted by adjusting the centrifugal force of the centrifugal equipment, and the flying speed is fed back at the same time.
And the control module 4 is used for controlling the spreader to spread by setting the spreading amount calculation module to send the calculation data to the control module. The flight attitude, the translation, the roll and the pitching flight actions of the control equipment are also included.
And the sky end 5 is connected with the control module, is positioned in the unmanned aerial vehicle equipment and is used for being connected with the ground end through a link transmission system.
And the positioning system 6 is connected with the control module and is mainly used for determining the flight position of the unmanned aerial vehicle in the operation process.
In the embodiment of the invention, biological control fungi or natural enemies aiming at the pests and diseases of the victim are arranged in the spreader, biological preparations or natural enemy eggs are spread to the pest and disease area of the disaster-stricken agriculture and forestry crops through centrifugation to control the pests and diseases, and the unmanned aerial vehicle main body further comprises a control module (sky end and positioning system) and a precise biological control spreading mode of a flight path or AB point.
In the embodiment of the invention, the unmanned aerial vehicle body is provided with the loading and sowing system, the loading capacity is 10KG, the biological control preparation is parasitic natural enemy eggs, predatory natural enemy eggs and biological bacteria particles, and the sowing amount per mu is adjustable and controllable within the range of 0.2Kg-2 Kg.
In the embodiment of the invention, the spreading amount can be determined by changing the rotating speed of the spreading opening of the spreader and the size of the material opening, and the calculation formula is as follows: m Fr/2Vr S/V, time in seconds and mass in grams.
As shown in fig. 2, a method for controlling a biological control sowing unmanned aerial vehicle according to an embodiment of the present invention includes the following steps:
s101: the position of the damaged crop is determined through the ground end, the crop area is planned and designed, and the mu sowing amount is set.
S102: the spreading amount of the biological control agent is calculated through a calculation module, and the flight track of the unmanned aerial vehicle is automatically generated.
S103: the biological control agent is sowed to the pest and disease damage part by a sowing device by utilizing the centrifugal force of centrifugal equipment; the sowing width is adjusted by adjusting the centrifugal force of the centrifugal equipment, and the flying speed is fed back at the same time.
S104: and the control module sends the calculated data to the control module to control the spreader to spread.
Before step S101 is performed, the following steps are performed:
the sky end begins to receive the connection of ground end as signal receiver after the start power is switched on circular telegram, and the ground end just can carry out data transmission with the sky end after successfully connecting, is the signal reception system of unmanned aerial vehicle inside in the operation process, supports 2.4/5.8GHz dual-frenquency transmission signal reception.
After the equipment is started and the power supply is started, the GPS equipment of the positioning system starts to work after being electrified, and positioning is realized by receiving satellite signals.
As shown in fig. 3 to 4, a biological control sowing unmanned aerial vehicle provided by an embodiment of the present invention includes: unmanned aerial vehicle main part, remote controller, scatter the ware, scatter ware, centrifugal equipment.
The spreader comprises a feed inlet 7, a bin 8, a centrifugal feeder 9 and a material distributing plate 10; the spreader material is a PP material.
The present invention will be further described with reference to the following examples.
Example 1: pest control for corn mythimna
The operation object is: corn.
The use equipment comprises the following steps: biological control unmanned aerial vehicle.
Using a biological formulation: the parasitic formulation granule of corn borer trichogramma.
Time: year 2019, month 6.
A place: e Torke flag of E erdos.
Flight parameters:
speed: 4.5 m/s, mu usage: 0.2 kg/mu, operation interval: 4 m, height: 3 meters.
The working area is as follows: 205 mu. Operation farmers: zhao love army.
And (3) operation process description:
the biological control natural enemy granules are prepared into new worm egg granules by culturing worm eggs and breeding pupas, and the prepared parasitic natural enemy trichogramma dosage form granules are added into a feed bin of a sowing system through a feed inlet. Opening a remote controller to plan the plots needing to be operated around the field, calling information of the plots after the planning is finished, checking whether each aircraft component is in a normal state, and setting the flight parameter flight speed: 4 m/s, mu usage: 0.2 kg/mu, operation interval: 4 m, flying height: 3 m, electrifying the aircraft, starting the aircraft, beating a rod of the aircraft to take off, starting the sowing system, starting the autonomous operation of the aircraft, needing 40kg of biological agent in the operation process, uniformly sowing biological control agent type particles in the corn field by the aircraft, enabling parasitic natural enemies to grow shells after 3-5 days, observing the control effect after 5 days, and implementing the control in 1 week before the emergence of the first generation of corn armyworms, wherein the control effect is very ideal, and the plot is basically not influenced by insect pests.
The blank control is about 20 percent of the pest influence of other farmers on chemical spray control, the lasting period is 7-15 days most, and the pest influence without control is more than 35 percent, and the pesticide is used for biological control, the lasting period is 30 days long, the green and pollution-free effects are realized, the pesticide does not respond to the requirement of zero increase or negative increase of the pesticide required by agricultural production, the protection effect on the soil of the soil is realized, and the pesticide is uniformly approved by the farmers.
Example 2: pest control against corn borer
The operation object is as follows: corn.
Time: year 2019, month 6.
A place: hangjin flag of Erdos city.
The use equipment comprises the following steps: biological control unmanned aerial vehicle.
Flight parameters:
speed: 4.5 m/s, mu usage: 0.2 kg/mu, operation interval: 4 m, height: 3 meters.
Using a biological formulation: the parasitic formulation granule of corn borer trichogramma.
The working area is as follows: 158 mu.
And (3) operation process description:
the biological control natural enemy granules are prepared into new worm egg granules by culturing worm eggs and breeding pupas, and the prepared parasitic natural enemy trichogramma dosage form granules are added into a feed bin of a sowing system through a feed inlet. Opening a remote controller to plan the plots needing to be operated around the field, calling information of the plots after the planning is finished, checking whether each aircraft component is in a normal state, and setting the flight parameter flight speed: 4 m/s, mu usage: 0.2 kg/mu, operation interval: 4 m, flying height: 3 m, electrifying the aircraft, starting the aircraft, beating a rod of the aircraft to take off, starting the sowing system, starting the autonomous operation of the aircraft, needing 40kg of biological agent in the operation process, uniformly sowing biological control agent type particles in the corn field by the aircraft, enabling parasitic natural enemies to grow shells after 3-5 days, observing the control effect after 5 days, and implementing the control in 1 week before the emergence of the first generation of corn armyworms, wherein the control effect is very ideal, and the plot is basically not influenced by insect pests.
The blank control is about 20 percent of the pest influence of other farmers on chemical spray control, the lasting period is 7-15 days most, and the pest influence without control is more than 35 percent, and the pesticide is used for biological control, the lasting period is 30 days long, the green and pollution-free effects are realized, the pesticide does not respond to the requirement of zero increase or negative increase of the pesticide required by agricultural production, the protection effect on the soil of the soil is realized, and the pesticide is uniformly approved by the farmers.
Example 3: pest control for corn borer
The operation object is: corn.
The use equipment comprises the following steps: biological control unmanned aerial vehicle.
Using a biological formulation: beauveria bassiana spore powder.
Time: year 2019, month 4.
A place: e Torke flag of E erdos.
Flight parameters:
speed: 4 m/s, mu usage: 0.3 kg/mu, operation interval: 5 m, height: 2.5 m.
The working area is as follows: 80 mu.
And (3) operation process description:
firstly, uniformly mixing prepared beauveria bassiana spore powder with fine sand which passes through a 20-mesh screen and a 30-mesh screen according to a ratio of 1:10, and adding the mixed granular preparation into a bin of a sowing system through a feed inlet. Opening a remote controller to plan the plots needing to be operated around the field, calling information of the plots after the planning is finished, checking whether each aircraft component is in a normal state, and setting the flight parameter flight speed: 4 m/s, mu usage: 0.3 kg/mu, operation interval: 5 m, flying height: 2.5 m, electrifying the aircraft, starting the aircraft, taking off the rods of the aircraft, starting the sowing system, starting the autonomous operation of the aircraft, needing 24kg of biological agent in the operation process, and uniformly sowing the biological powder in the corn field by the aircraft. The method is characterized in that live spores of beauveria bassiana are released manually, the spores are spread to pest larva bodies through airflow in a crop field or a corn borer gathering place, hypha generated by the spores enters the larva bodies at a proper temperature and humidity, the larva bodies die after becoming white muscardine, the spores can continuously infect new larva bodies in the field, and the larvae are parasitic continuously in the whole growth period, so that the purpose of continuously controlling the pests is achieved. The prevention and control are carried out in the period of field overwintering and about to hatch, the prevention and control effect is very ideal through follow-up observation in the crop growth period, the blank contrast is carried out on other plots which are not prevented by using the beauveria bassiana spore powder, the density of insect mouths is far lower than that of other plots when insect pests occur, and no explosive insect pests are formed.
Compared with the pest control effect of chemical spray control of other farmers of about 20 percent, the lasting period is 7-15 days, the pest control effect without control is more than 35 percent, the biological control is used, the lasting period is long, the pesticide is green and pollution-free, the pesticide is not used, the requirement of zero increase or negative increase of the pesticide required by agricultural production is met, the soil of the soil is protected, and the pesticide is uniformly approved by the farmers.
Example 4 Ordos zone working cases
1) Corn armyworm pest control
Corn armyworm has occurred in many areas in recent years. Armyworm is also known as March's insect, shakeworm, and Woodforms, and belongs to Lepidoptera, and Spodoptera. Is an important migratory pest on crops such as corn and the like in China, and has the characteristics of heterophagia (euryphagous), mass-gathering property, predatism and migratory pest.
The environment of continuous high temperature and damp heat and low consciousness of farmers on pest control result in the outbreak of corn pest adhesion disasters caused by the Eltoke flag and the Hangzhou brocade flag. The tractor can not apply pesticide in the later growth period of the corn, the biological control plant protection unmanned aerial vehicle is efficient, time-saving and harmless to crops, pest control is carried out by using the biological control plant protection unmanned aerial vehicle, the pest is taken out of the crop, the spreading range of armyworms is restrained, the economic loss of growers is reduced to the minimum, and the prevention quantity of the armyworms in the corn in the middle 7-8 months in 2018 reaches 54000 mu.
The operating information is shown in tables 1-2
TABLE 1
TABLE 2
| Name of medicament | Dosage forms | Effective components and content | Mu dosage |
| Trichogramma armeniaca (Fr.) kummer | Granules | 0.3kg |
In 24 th 6 th 2018, the prevention and treatment area of the Eltoker flag in Erdos city and corn is 54000 mu, and the effect of the manual operation experiment in the prior art is shown in figure 5.
The effect diagram of the unmanned aerial vehicle sowing operation is shown in figure 6. After the operation of the invention, the field return visit is carried out after the pesticide application in 7 months and 10 days, and the field feedback is good. Mythimna separata is 90% dead.
2) Corn aphid pest control:
the corn aphid insect pest is a pest which is extremely easy to occur in the corn ear emergence period, is the fastest to breed, belongs to the hemiptera, can breed 6 generations in a day with strong breeding capability of piercing and sucking insects, can breed both male and female bodies, often breeds and lives on the back of a corn leaf, the core of the leaf and under the corn ear, and depends on the juice of the corn plant for sucking, the corn aphid insect pest is large-area outbreak in areas such as the Ombas sappan area of Omeke flag, the Yankan Duer area, the West area, Saxiu and the three-north sheep farm, Hangjinyike wusu, the Shantuo flag on the sea temple, the Ongsu and the like, 20 biological control plant protection unmanned aerial vehicles start to emerge at the end of 7 months in 2018, the corn aphid comprehensive control work is developed for each area, the insect mouth fights for grain once, and the unmanned aerial vehicle near one month controls the area, and the comprehensive area reaches 45000 mu. The effects are shown in tables 3 to 5 below.
TABLE 3
| Work inTime of day | 7-8 months in 2018 | Work site | Eastoque flag, Hangzhou brocade flag |
| Working terrain | Flat ground | Environmental conditions | Wind power at 24 ℃ is less than 2 grade |
| Number of jobs | 45000 mu | Feedback effect | Good effect |
TABLE 4
| Name of medicament | Mu dosage |
| Predation ladybug | 1kg |
TABLE 5
| Working mode | Route planning | Flying speed | 4.5m/s |
| Flying height | 2.0m | Working interval | 5.0m |
| Mu application rate | 1kg | Sowing device | Spreading the seeds |
According to the invention, by adopting the corn aphid pest control technology, the effect picture before operation is shown in figure 7, and the effect picture after operation is shown in figure 8.
3) Controlling sunflower rust:
the sunflower rust is a common high-hazard disease of a sunflower crop in a large-area flowering phase, the disease is mainly a fungal transmission disease occurring in leaves, petioles and stems, the occurrence of the disease in the early days can cause large-area yield reduction of the sunflower, the rainfall is relatively large in 8-9 months in this year, the occurrence frequency of the disease is higher, the occurrence condition of the planting time in our area is found at the bottom of 8 months, 4 unmanned aerial vehicles are allocated to the disease in Hangqi and new summons, and the prevention and control area reaches 10000 mu. The effects are shown in tables 6 to 8.
TABLE 6
| Working |
9 and 8 months in 2018 | Work site | Hangzhou brocade flag |
| Working terrain | Flat ground | Environmental conditions | Wind power at 27 ℃ is less than 2 grade |
| Number of jobs | 10000 mu of | Feedback effect | Good effect |
TABLE 7
| Name of medicament | Dosage forms | Mu dosage |
| Sulfur powder | Powder preparation | 1kg |
TABLE 8
| Working mode | Route planning | Flying speed | 4.5m/s |
| Flying height | 2.2m | Working interval | 4.5m |
| Mu application rate | 1.0kg | Sowing device | Spreading the seeds |
The operational effect is shown in fig. 9.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A control system of a biological control unmanned aerial vehicle, the control system comprising: the ground end is connected with the control module and used for determining the position of a damaged crop, planning and designing the area of the crop and setting the mu sowing amount;
the calculation module is connected with the control module, comprises a link system and is used for calculating the spreading amount of the biological control agent and automatically generating the flight track of the unmanned aerial vehicle;
the sowing module is connected with the control module and is used for sowing the biological control agent to the pest and disease damage part by using the centrifugal force of centrifugal equipment through the sowing device; the sowing width is adjusted by adjusting the centrifugal force of centrifugal equipment, and the flying speed is fed back at the same time;
the control module sends the calculated data to the control module to control the spreader to spread through the arranged spreading amount calculating module; the device is also used for controlling the flight attitude, translation, roll and pitch of the device;
the sky end is connected with the control module, is positioned in the unmanned aerial vehicle equipment and is used for being connected with the ground end through a link transmission system;
and the positioning system is connected with the control module and used for determining the flight position of the unmanned aerial vehicle in the operation process.
2. The control system of the biological control broadcast drone of claim 1, further comprising an accurate biological control broadcast mode of the line or the AB point.
3. A method of controlling a biocontrol sowing drone as described in claim 1, wherein the method of controlling a biocontrol sowing drone comprises the steps of:
determining the position of a damaged crop through a ground end, planning and designing the area of the crop, and setting the mu sowing amount;
calculating the spreading amount of the biological control agent through a calculation module, and automatically generating the flight track of the unmanned aerial vehicle;
thirdly, the biological control agent is sown to the pest and disease damage part by a sowing device by utilizing the centrifugal force of centrifugal equipment; the sowing width is adjusted by adjusting the centrifugal force of centrifugal equipment, and the flying speed is fed back at the same time;
and step four, the control module sends the calculated data to the control module to control the spreader to spread the data.
4. The method of controlling a biocontrol sowing drone of claim 3,
before the first step is carried out, the following steps are required:
after the power supply is started and powered on, the sky end starts to serve as a signal receiver to start to receive connection of the ground end, after the connection is successful, the ground end can perform data transmission with the sky end, and a signal receiving system in the unmanned aerial vehicle supports 2.4/5.8GHz dual-frequency transmission signal receiving in the operation process;
after the equipment is started up and a power supply is started, GPS equipment of a positioning system starts to work after being electrified, and positioning is realized by receiving satellite signals;
in the first step, dotting is carried out on the ground end at each inflection point of the field in the field winding process, a graph is formed at a plurality of points, the area of the graph is determined, and after the area is determined, the weight of the biological agent to be sown per mu is set according to the mu dosage.
5. The method for controlling the biocontrol sowing unmanned aerial vehicle as defined in claim 3, wherein in step two, the calculation module is built in the ground-end device, the sowing amount is obtained by calculation, and the calculation formula is: m is Fr/2Vr S/V, time unit is second, and mass unit is gram; the sowing amount per mu is 0.2Kg-2 Kg.
6. The method for controlling a biocontrol sowing drone of claim 3, wherein step three specifically includes: the total amount of scattering is confirmed in mu, the centrifugal force is larger when the scattering equipment in the scattering device adjusts the rotating speed to control the rotating speed of the centrifugal force, the scattering distance is longer, the discharge port is larger, the scattering width is larger, the blanking speed is higher, and the flying speed of the aircraft is adjusted and matched with the total amount of scattering.
7. An information data processing terminal for implementing the method for controlling a biological control and distribution drone according to any one of claims 3 to 6.
8. A computer-readable storage medium comprising instructions that, when executed on a computer, cause the computer to perform the method of controlling a biocontrol sowing drone of any one of claims 3-6.
9. A biocontrol sowing unmanned aerial vehicle, characterized in that the unmanned aerial vehicle comprises: the unmanned aerial vehicle comprises an unmanned aerial vehicle main body, a remote controller, a spreader and centrifugal equipment;
the spreader comprises a feed inlet, a bin, a centrifugal feeder and a material distributing plate;
the spreader material is a PP material.
10. The biocontrol sowing drone of claim 9, wherein the sowing implement houses biocontrol fungi or natural enemies directed to pests and diseases of a victim; the spreader spreads the biological agent or the natural enemy eggs to the pest and disease damage area of the disaster-stricken agriculture and forestry crops through centrifugation to prevent and control the pest and disease damage.
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