Unmanned aerial vehicle with drop application nozzles and method of applying pesticides using unmanned aerial vehicles

Abstract

An unmanned aerial vehicle having drop application nozzles and a method of applying a pesticide to crop plants in a paddy field by an unmanned aerial vehicle, the method comprising: providing an unmanned aerial vehicle, the unmanned aerial vehicle being provided with at least one nozzle (4); maneuvering or setting the unmanned aerial vehicle to fly over the paddy field along a predetermined route; applying the pesticide via the at least one nozzle (4) during the flying over the paddy field; wherein the applying the pesticide via the at least one nozzle (4) comprises spraying the pesticide via the at least one nozzle (4) in the form of a liquid column towards at least one spray direction.

Description

[0001] This application claims priority to Chinese Patent Application No. 202010528611.9, filed on June 11, 2020, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0002] This disclosure relates to an unmanned aerial vehicle (UAV) with a drip nozzle, and also to a method for applying pesticides using such an UAV. Background Technology

[0003] Precision agriculture places higher demands on the spraying accuracy of pesticides, especially in agricultural and forestry operations. In recent years, unmanned aerial vehicles (UAVs) used for agricultural and forestry plant protection operations (also known as "plant protection UAVs") have been widely used due to their advantages such as high efficiency, labor saving, and excellent operational results.

[0004] Agricultural drones fly along prescribed paths and spray through nozzles, which can achieve precise and quantitative spraying. However, in actual operation, factors such as nozzle type, droplet size, geographical location, geographical environment, wind speed, and temperature can cause the sprayed material (pesticide) to drift or be unevenly distributed, which can negatively impact the spraying operation, leading to problems such as overspraying and missed spraying. In some cases, the sprayed material may even drift to unwanted areas, causing environmental pollution risks or adversely affecting crop growth. Summary of the Invention

[0005] In response to the problems and needs mentioned above, this invention proposes an unmanned aerial vehicle (UAV) with a drip spray nozzle and a method for applying pesticides using such an UAV. The invention solves the aforementioned problems and brings other technical benefits by adopting the following technical features.

[0006] At least one embodiment of the present invention provides a method for applying pesticides to crops in a paddy field using an unmanned aerial vehicle (UAV), the method comprising: providing an UAV equipped with at least one nozzle; maneuvering or setting the UAV to fly over the paddy field along a predetermined route; and applying pesticides via the at least one nozzle during the flight over the paddy field; wherein applying pesticides via the at least one nozzle comprises spraying pesticides in the form of a liquid jet in at least one spray direction via the at least one nozzle.

[0007] In some examples, the application of pesticides via at least one nozzle also includes atomizing the liquid column into droplets.

[0008] In some examples, the atomization of the liquid column into droplets includes using the downforce wind generated by the rotor of the drone to atomize the liquid column into droplets.

[0009] In some examples, the droplets have a diameter greater than 100 micrometers, preferably greater than 200 micrometers, preferably greater than 400 micrometers, preferably greater than 600 micrometers, preferably greater than 800 micrometers, and preferably greater than 1000 micrometers.

[0010] In some examples, the droplet size satisfies the following conditions: both DV10 and DV50 are greater than 100 micrometers, preferably greater than 200 micrometers, preferably greater than 400 micrometers, preferably greater than 600 micrometers, preferably greater than 800 micrometers, and preferably greater than 1000 micrometers at a working pressure of 3 bar.

[0011] In some examples, the method further includes calibrating the nozzle, which includes calibrating at least one of the nozzle orientation, the nozzle operating flow rate, or the nozzle discharge orifice size.

[0012] In some examples, the parameters of the predetermined route are obtained through user input or experimental methods.

[0013] In some examples, the pesticide is a pesticide suitable for application in water layers.

[0014] In some examples, the pesticide includes any one or a combination of the following groups: fluoxetine, penoxetine, mesotrione, pyrimisulfuron, bicyclosulfuron, chlorpyrifos, pretilachlor, butachlor, bensulfuron-methyl, pyrimisulfuron-methyl, oxadiazon, propyzoxystrobin, ethoxyflufenoxam, cypermethrin, promethazine, bispyribac-sodium, or oxadiazon.

[0015] At least one embodiment of the present invention provides an unmanned aerial vehicle (UAV) for applying pesticides to crops in a paddy field. The UAV includes: a body; a housing fixedly disposed on the body for containing pesticides; at least one nozzle disposed on the body for spraying pesticides; a delivery component for delivering pesticides from the housing toward the at least one nozzle; and a control unit configured to manipulate or set the UAV to fly over the paddy field along a predetermined route, and, while the UAV flies over the paddy field, control the delivery component to apply pesticides to the paddy field via the at least one nozzle; wherein the control unit is configured to spray pesticides in the form of a liquid jet toward at least one spray direction via the at least one nozzle.

[0016] In some examples, the unmanned aerial vehicle (UAV) includes a lift unit that generates a downdraft that drives the UAV, atomizing the liquid column into droplets.

[0017] In some examples, the droplets have a diameter greater than 100 micrometers, preferably greater than 200 micrometers, preferably greater than 400 micrometers, preferably greater than 600 micrometers, preferably greater than 800 micrometers, and preferably greater than 1000 micrometers.

[0018] In some examples, the droplet size satisfies the following conditions: both DV10 and DV50 are greater than 100 micrometers, preferably greater than 200 micrometers, preferably greater than 400 micrometers, preferably greater than 600 micrometers, preferably greater than 800 micrometers, and preferably greater than 1000 micrometers at a working pressure of 3 bar.

[0019] In some examples, the nozzle is a drip nozzle.

[0020] In some examples, the drone is a multi-rotor agricultural drone.

[0021] In some examples, the pesticide is a pesticide suitable for application in water layers.

[0022] In some examples, the pesticide includes any one or a combination of the following groups: fluoxetine, penoxetine, mesotrione, pyrimisulfuron, bicyclosulfuron, chlorpyrifos, pretilachlor, butachlor, bensulfuron-methyl, pyrimisulfuron-methyl, oxadiazon, propyzoxystrobin, ethoxyflufenoxam, cypermethrin, promethazine, bispyribac-sodium, or oxadiazon. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this disclosure and are not intended to limit this disclosure.

[0024] Figure 1 A flowchart is shown of a method for applying pesticides to crop plants in paddy fields using an unmanned aerial vehicle according to an embodiment of the present disclosure;

[0025] Figure 2A A schematic diagram of a nozzle spraying a liquid column in place according to an embodiment of the present disclosure is shown;

[0026] Figure 2B A schematic diagram of a nozzle according to an embodiment of the present disclosure spraying a liquid column during the flight of an unmanned aerial vehicle is shown;

[0027] Figure 3 The drift distances of different droplet sizes are shown in the comparison.

[0028] Figure 4 The diagram shows a comparison of droplet sizes based on different nozzle models;

[0029] Figure 5 A perspective view of an unmanned aerial vehicle according to an embodiment of the present disclosure is shown;

[0030] Figure 6 A schematic diagram of the operation of an unmanned aerial vehicle according to an embodiment of the present disclosure is shown;

[0031] Figure 7A nozzle according to an embodiment of the present disclosure is shown;

[0032] Figure 8 It shows Figure 7 A schematic diagram of the spray pattern from the nozzle shown;

[0033] Figure 9 This is a diagram showing the results of a pesticide application control experiment conducted on rice paddies where soybeans were planted in the surrounding area.

[0034] Figure 10 This is a diagram showing the results of a pesticide application control experiment conducted on rice paddies where sesame was planted in the surrounding area.

[0035] Figure 11 The results of another field control experiment according to an embodiment of this disclosure are shown in the figure;

[0036] Figure 12 A schematic diagram of the wind tunnel system used in Laboratory Experiment 2 is shown. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. The same reference numerals in the drawings represent the same components. It should be noted that the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0038] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, “an” or “a” and similar terms do not necessarily indicate a quantity limitation. Terms such as “comprising” or “including” mean that the element or object preceding the word encompasses the element or object listed following the word and its equivalents, without excluding other elements or objects. Terms such as “connected” or “linked” are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as “upper,” “lower,” “left,” and “right” are used only to indicate relative positional relationships, which may change accordingly when the absolute position of the described object changes.

[0039] The unmanned aerial vehicles proposed in this disclosure are preferably used for the protection of agricultural and forestry crops, more specifically for the protection of paddy field crops, but are not limited to other uses.

[0040] The term "unmanned aerial vehicle" (UAV) should be understood as an unmanned aircraft operated by radio remote control equipment and its own program control device. Unmanned aircraft can also be called unmanned aircraft, unmanned aerial vehicles, autonomous aircraft, etc.

[0041] Preferably, the unmanned aerial vehicle (UAV) described in this disclosure is a multi-rotor UAV, but the present invention is not limited to this. Various other types of UAVs or remote-controlled kites can be used, as long as the device can fly along a predetermined route to perform the method proposed in this invention.

[0042] The term "paddy field" should be understood as a field capable of proper irrigation and water storage for the cultivation of aquatic crops (such as rice). Paddy fields can be evenly distributed across the land or unevenly distributed. A single variety of crop can grow in a paddy field; however, it is also conceivable that a paddy field can comprise multiple distinct areas, each cultivating different varieties of crops or various variants of a single crop.

[0043] The term "crop plant" should be understood to mean a plant that has been grown in a targeted manner as a crop or ornamental plant due to human intervention.

[0044] The term "pesticide" is understood as a product intended to protect plants or plant products from or prevent the effects of harmful organisms, damage unwanted plants or plant parts, inhibit or prevent unwanted plant growth, and / or affect plant life processes in ways other than nutrients (e.g., growth regulators).

[0045] Examples of pesticides are herbicides, fungicides, insecticides, and / or growth regulators. Pesticides typically contain one or more active substances. An "active substance" is a substance that has a specific effect on an organism and elicits a specific response. Typically, pesticides contain a carrier, such as water, for diluting one or more active substances. Additionally, additives such as preservatives, buffers, and colorants are conceivable. Pesticides can be in solid, liquid, or gaseous form. In the following description of this disclosure, pesticides are considered to be used in liquid form.

[0046] The term "weeds" is understood to refer to plants that spontaneously occur as companion vegetation in sections of cropland, meadows, or gardens, which are not intentionally grown in these settings and develop, for example, by possible soil seeds or air dispersal. The term is not limited to herbaceous plants in the strict sense, but also includes grasses, ferns, mosses, or woody plants.

[0047] The weeds used for the purposes of this disclosure are plants that grow alongside desired crop plants. Since they compete with crop plants for resources, their growth is undesirable and should be suppressed. For example, it is conceivable that weeds in a paddy field must be removed before crop seeds are sown. It is also conceivable that after sowing, weeds have already developed in the paddy field and must be removed.

[0048] The term "drift" should be understood as the horizontal displacement that occurs when a solid or liquid is dispersed in the air. Many factors determine the magnitude of the drift, including but not limited to: particle size, initial horizontal velocity, ambient wind speed, and dispersal height.

[0049] Currently, most herbicides for paddy field crops are contact herbicides, requiring the pesticide to come into contact with the weed leaves. However, drones have a small carrying capacity, so more small droplets are needed to achieve better pesticide coverage in low water volumes. But the smaller the liquid droplets, the greater the risk of drift, making it easy to accidentally spray into unwanted areas, such as sensitive crop areas around weeds, causing herbicide damage to these crops, affecting their normal growth, or even causing them to die.

[0050] Unlike contact pesticide application, water-layer application evenly applies pesticides to the surface of the paddy field water, rather than onto weed leaves. Specifically, it can be divided into manual application and soil application.

[0051] Spraying method: After preparing the pesticide solution into a stock solution, dilute the stock solution with 2-7 liters of water and then spray it evenly onto the surface of the water layer in the paddy field.

[0052] Soil-medicated method: First, mix the mother liquor with a small amount of sand, then mix it with 3-7 kg of sand and spread it evenly on the surface of the water layer in the paddy field.

[0053] However, both of these methods require manual operation, which not only results in high labor costs and slow work efficiency, but also sometimes leads to insufficient efficacy or the risk of pesticide damage due to uneven manual application.

[0054] Most drones currently used for agricultural and forestry crop protection operations use hydraulic fan nozzles or centrifugal nozzles. The droplets sprayed by these nozzles are very small, so they are prone to drift.

[0055] In addition, drones typically operate at altitudes 1.5 to 2.5 meters above crops, making them far more susceptible to drift due to wind speed than ground-based spraying machinery or manual spraying.

[0056] In summary, there is a need for a method that uses unmanned aerial vehicles to apply pesticides to crops in paddy fields, achieving both uniform application and prevention of drift.

[0057] The preferred embodiments of the unmanned aerial vehicle (UAV) for applying pesticides to crops in paddy fields according to the present disclosure are described in detail below with reference to the accompanying drawings.

[0058] Compared to the embodiments shown in the accompanying drawings, feasible embodiments within the scope of this disclosure may have fewer components, other components not shown in the drawings, different components, components arranged differently, or components with different connections, etc. Furthermore, without departing from the spirit of this disclosure, two or more components in the drawings may be implemented in a single component, or a single component shown in the drawings may be implemented as multiple separate components.

[0059] Figure 1 A flowchart is shown of a method for applying pesticides to crop plants in paddy fields using an unmanned aerial vehicle according to an embodiment of the present disclosure.

[0060] A method for applying pesticides to crops in paddy fields using an unmanned aerial vehicle according to an embodiment of this disclosure includes the following steps:

[0061] S101. Provide an unmanned aerial vehicle (UAV) equipped with at least one nozzle.

[0062] S102. Operate or set an unmanned aircraft to fly over paddy fields along a predetermined route;

[0063] S103. Apply pesticides via at least one nozzle while flying over the paddy field;

[0064] Applying pesticides via at least one nozzle includes spraying pesticides in the form of a liquid jet in at least one spray direction via at least one nozzle. Preferably, applying pesticides via at least one nozzle further includes atomizing the liquid jet into droplets. Preferably, the liquid jet can be atomized into large droplets by utilizing the downforce wind generated by the rotor of an unmanned aerial vehicle (UAV), wherein the large droplets have a particle size greater than 100 micrometers, preferably greater than 200 micrometers, preferably greater than 400 micrometers, preferably greater than 600 micrometers, preferably greater than 800 micrometers, and preferably greater than 1000 micrometers. However, the present invention is not limited to this; when using other types of UAVs, devices for generating downforce wind can be installed on the UAV to achieve the effect of atomizing the liquid jet into large droplets.

[0065] Preferably, the unmanned aerial vehicle (UAV) is a multi-rotor UAV used for plant protection operations, also known as a multi-rotor plant protection UAV, and the nozzle is a drip spray nozzle used for liquid fertilizer. The following description will take the DJI MG-1P series plant protection UAV as an example, but this disclosure is not limited to this, and other UAVs equipped with hydraulic spray nozzles can also be used, such as the Anyang Quanfeng electric multi-rotor plant protection UAV, etc.

[0066] Unlike traditional plant protection drone nozzles, the nozzles used in this embodiment can spray pesticides in the form of liquid columns rather than small-diameter droplets. Preferably, the liquid column is broken into large-diameter droplets during the descent by the downdraft of the drone. These liquid columns or large-diameter droplets can effectively avoid drift problems and achieve the effect of targeted pesticide application.

[0067] Figure 2A A schematic diagram of a nozzle spraying a liquid column in place according to an embodiment of the present disclosure is shown; Figure 2B A schematic diagram of a nozzle according to an embodiment of the present disclosure spraying a liquid column during the flight of an unmanned aerial vehicle is shown.

[0068] like Figure 2A and 2B As shown, when spraying in place, at least one nozzle sprays pesticide in the form of a liquid column toward at least one spraying direction. When the drone is flying, the rotor of the drone rotates to form a downward wind field, which breaks the liquid column ejected from the nozzle into large droplets.

[0069] Figure 3 The drift distances of different droplet sizes are shown in the comparison. Figure 4 The diagram shows a comparison of droplet sizes based on different nozzle models.

[0070] from Figure 3 It can be seen that under ambient wind speed of 1.4 m / s, flight altitude of 30 cm, and room temperature conditions, the drift distance of fog droplets is inversely correlated with their size; that is, the smaller the droplet size, the farther the drift distance. Specifically, when the droplet size is 20 micrometers, the drift distance can reach up to 330 meters; when the droplet size is 50 micrometers, the drift distance is up to 50 meters; when the droplet size is 100 micrometers, the drift distance is up to 15 meters; and when the droplet size is 150 micrometers, the drift distance is up to 7 meters. However, when the droplet size is 400 micrometers, the drift distance is only 2.5 meters. Therefore, when the droplet size is less than 100 micrometers, there is a high risk of drift. Thus, this embodiment selects a droplet size of at least 100 micrometers. Preferably, the droplet size can be greater than 200 micrometers, greater than 400 micrometers, greater than 600 micrometers, greater than 800 micrometers, or greater than 1000 micrometers. Optionally, the droplet size needs to meet the following conditions: both DV10 and DV50 are greater than 100 micrometers, preferably greater than 200 micrometers, preferably greater than 400 micrometers, preferably greater than 600 micrometers, preferably greater than 800 micrometers, and preferably greater than 1000 micrometers at a working pressure of 3 bar.

[0071] nozzle selection

[0072] Therefore, it is necessary to select a suitable nozzle to achieve the required droplet size. Figure 4The comparison chart shows the droplet size of different nozzle models at 3 bar pressure. It should be noted that DV10 and DV50 are both ways of expressing particle size standards. In a single spray, the volumes of all droplets are added up in ascending order. When the accumulated value equals 50% of the total droplet volume, the corresponding droplet diameter is the median diameter, or simply DV50. Similarly, in a single spray, the volumes of all droplets are added up in ascending order. When the accumulated value equals 10% of the total droplet volume, the corresponding droplet diameter is DV10.

[0073] It can be seen that the standard nozzle on the UAV has a DV10 of less than 100 micrometers under experimental conditions, meaning that the droplets emitted by this nozzle contain a certain proportion of small droplets, which could cause a significant drift risk. Other commercially available nozzles, such as models TT11001, AIXR110015, and TTI110015, also cannot simultaneously exceed 400 micrometers in both DV10 and DV50. Therefore, these nozzles may also have a certain drift risk.

[0074] Preferably, the present invention uses the Tejet SJ7-015-VP nozzle, which has a DV50 greater than 1500 micrometers under experimental conditions, and can significantly avoid droplet drift. This disclosure is not limited to this, and other nozzles from the Tejet SJ7 series and SJ3 series can also be used. For example, nozzles that meet the selection requirements of the present invention include nozzles with an operating pressure in the range of 1.5 bar to 4 bar and a single nozzle flow rate of 0.39 to 7 liters / minute or 0.44 to 9.31 liters / minute.

[0075] For example, the Tejet SJ7-015-VP nozzle features the following characteristics: it generates seven jets of liquid with the same flow rate and velocity; it has excellent spray distribution quality; it is made entirely of acetal, providing excellent chemical resistance; it operates at pressures from 1.5 bar to 4 bar; and at the commonly used spray pressure for unmanned aerial vehicles (2-3 bar), the flow rate of a single nozzle is 0.46-0.57 liters per minute.

[0076] Optionally, the nozzle that meets the selection requirements of the present invention has a jet column diameter greater than 1000 micrometers at a working pressure in the range of 1.5 bar to 4 bar, for example, 1000 to 1500 micrometers, 1500 to 2500 micrometers, 2500 to 4000 micrometers or 4000 to 8000 micrometers.

[0077] Optionally, the droplets formed after the jet of the nozzle that meets the selection requirements of the present invention is dispersed by the downdraft field of the UAV at a working pressure in the range of 1.5 bar to 4 bar have a particle size greater than 1000 micrometers, for example, 1000 to 1500 micrometers, 1500 to 2500 micrometers, 2500 to 4000 micrometers or 4000 to 8000 micrometers.

[0078] Optionally, the droplets formed after the jet of the nozzle conforming to the selection requirements of the present invention is dispersed by the downdraft field of the UAV at a working pressure in the range of 1.5 bar to 4 bar, meet the following conditions: DV10 is greater than 1000 micrometers and DV50 is greater than 1000 micrometers, for example, DV10 is 1000 to 1500 micrometers, 1500 to 2500 micrometers, 2500 to 4000 micrometers or 4000 to 8000 micrometers, and DV50 is 1000 to 1500 micrometers, 1500 to 2500 micrometers, 2500 to 4000 micrometers or 4000 to 8000 micrometers.

[0079] Unmanned aircraft structure

[0080] Figure 5 A perspective view of an unmanned aerial vehicle according to an embodiment of the present disclosure is shown; Figure 6 A schematic diagram of the operation of an unmanned aerial vehicle according to an embodiment of the present disclosure is shown; Figure 7 A nozzle according to an embodiment of the present disclosure is shown. Figure 8 It shows Figure 7 The diagram shows the spray pattern of the nozzle.

[0081] like Figures 5 to 7 As shown, the unmanned aerial vehicle for applying pesticides to crops in paddy fields according to an embodiment of this disclosure includes: a main body 1, multiple thrust units 2, a housing 3, at least one nozzle 4, a delivery component, and a control unit (not shown).

[0082] Multiple thrust units 2 are mounted on the main body 1 and configured to form a downdraft field to generate lift thrust to drive the unmanned aircraft.

[0083] The container 3 is fixedly installed on the main body 1, and the container 3 is used to hold pesticides. For example, the container 3 can be located at the bottom center of the main body 1.

[0084] At least one nozzle 4 is disposed on the body for spraying pesticides. Optionally, at least one nozzle 4 is disposed at the bottom of at least one of the plurality of lifting units 2.

[0085] The conveying component is used to convey pesticides from the housing 3 toward at least one nozzle 4.

[0086] The control unit is configured to maneuver an unmanned aerial vehicle (UAV) along a predetermined route over the paddy field, and while the UAV is flying over the paddy field, control the delivery component to apply pesticides to the paddy field via at least one nozzle 4. The at least one nozzle 4 sprays pesticides in the form of a liquid column in at least one spray direction, and preferably, a downward-pressure airflow atomizes the liquid column into large droplets with a particle size greater than 100 micrometers, preferably greater than 200 micrometers, preferably greater than 400 micrometers, preferably greater than 600 micrometers, preferably greater than 800 micrometers, and preferably greater than 1000 micrometers.

[0087] like Figure 7 As shown, the nozzle 4 may include an inlet 41 and multiple outlet holes 42. The housing 3, the conveying component, and the nozzle 4 are in fluid communication. When pesticides need to be sprayed, the pesticides are conveyed from the housing 3 towards the inlet 41 of the nozzle 4 through the conveying component and sprayed out in the form of a liquid column from the multiple outlet holes 42 (e.g., 7 outlet holes). Figure 8 As shown. The conveying component can be a commonly used conveying component in the art, such as using a pump to convey fluid via the hollow wing arm of an unmanned aerial vehicle, but the present invention is not limited thereto.

[0088] In this embodiment, there are four nozzles 4, which are located at the bottom of the four thrust units 2 of the unmanned aerial vehicle. Figure 6 As shown, the discharge port 42 of the nozzle 4 is oriented approximately parallel to the flight direction. Those skilled in the art can also select more or fewer nozzles, other suitable nozzle positions, and nozzle orientations according to actual needs.

[0089] Optionally, each thrust unit 2 includes a rotor and a drive base, wherein the drive base is preferably provided with a drive motor that outputs power to the rotor.

[0090] The control unit maneuvers the drone to fly along a predetermined route. This route can be stored in the control unit's memory; however, it is also conceivable that the drone could be remotely controlled, i.e., connected to a fixed control unit that monitors the drone's position and instructs it on the direction it should move.

[0091] The control unit can also record the drone's position above the paddy field and, based on the drone's route, control the delivery component to deliver a corresponding amount of pesticide toward the nozzle as the drone flies over the paddy field. The pesticide leaves the drone via the nozzle and is applied to the paddy field.

[0092] Pesticide active substances

[0093] The pesticides disclosed in this embodiment are pesticides suitable for application in water layers. Examples of pesticides include herbicides, fungicides, insecticides, and / or plant growth regulators. Specifically, herbicides suitable for application in water layers of paddy fields can be used, and their active ingredients include flufenoxuron. In addition, the active ingredients of the herbicides suitable for application in paddy fields using the drone application method of this embodiment may also include penflusulfuron, mesotrione, pyrimisulfuron-methyl, dicyclosulfuron, chlorpyrifos, pretilachlor, butachlor, bensulfuron-methyl, pyrimisulfuron-methyl, oxadiazon, propyzoxystrobin, ethoxyflufenoxuron, cypermethrin, promethazine, bispyribac-sodium, and oxadiazon.

[0094] The commonly used application method for flufenoxuron is the "water layer application method". The unmanned aerial vehicle (UAV) application method of this disclosure, which forms large droplets, effectively avoids drift. The autonomous flight of the UAV also ensures better spray uniformity than manual application, further reducing the risk of phytotoxicity and guaranteeing efficacy.

[0095] Pesticide application operations

[0096] The following describes the steps and procedures for pesticide application. This example uses the DJI MG-1P series agricultural drone as an example and is for illustrative purposes only and is not intended to limit the scope of this disclosure.

[0097] Provide drones, such as the DJI MG-1P series agricultural drones, with the nozzles mounted at the bottom of the thrust unit. The nozzle's discharge port is oriented roughly parallel to the flight direction, meaning the discharge port is oriented away from the drone body and / or the pesticide container.

[0098] The nozzle is calibrated by adjusting parameters such as nozzle orientation, operating flow rate, and discharge orifice size. Those skilled in the art can calibrate the nozzle using common methods, and this disclosure is not limited thereto.

[0099] The pesticide solution is prepared using a two-stage dilution method and added to the unmanned aerial vehicle (UAV) container. Before flight operations, the air in the delivery components and nozzles can be purged.

[0100] The drone is launched and autonomously flies according to predetermined parameters and routes controlled by the control unit. For example, the flight altitude is 2 meters, the row spacing is 3-4 meters, the flight speed is 3-5 meters per second, the water consumption per acre is 1-1.5 liters, a suitable higher flow rate is selected, and all nozzles are activated during flight. The row spacing refers to the distance between rows or columns along the predetermined flight path. The row spacing can be preset according to actual needs or obtained experimentally. Common experiments for row spacing include the coated paper method and the snow test method. The row spacing can also be adjusted according to the ambient wind speed; that is, the higher the wind speed, the smaller the row spacing.

[0101] field trials

[0102] Field trials were conducted to verify the feasibility, safety, and weed control effectiveness of the unmanned aerial vehicle pesticide application method disclosed herein (hereinafter referred to as "this method").

[0103] Field Experiment 1:

[0104] The experimental group used Bayer Kenshou (active ingredient flumetsulam), at a dose of 12 ml / mu, with a Tejet SJ7-015-VP nozzle. The control group used Bayer Kenshou (active ingredient flumetsulam), at a dose of 12 ml / mu, with a DJI XR11001 nozzle, and penoxsulam (a broad-spectrum herbicide), at a dose of 12 ml / mu, with a DJI XR11001 nozzle.

[0105] The pesticide application method of this disclosure embodiment is used to apply pesticides to rice fields where soybeans and sesame crops are planted in the surrounding area. Figure 9 This image shows the results of a pesticide application control experiment conducted on rice paddies where soybeans were grown in the surrounding area. Figure 10 This is a diagram showing the results of a pesticide application control experiment conducted on rice paddies where sesame was planted in the surrounding area.

[0106] from Figure 9 and Figure 10 It can be seen that flumetsulam 200SC can effectively remove weeds, and the nozzle and application method selected in this embodiment can effectively avoid the phytotoxicity of small-diameter droplets to sensitive crops around the paddy field.

[0107] Field Experiment 2:

[0108] Test conditions:

[0109] Treatments: 1. Blank control; 2. Flumetsulam 200SC, dosage 12 ml / mu - manual sand application (soil application method); 3. Flumetsulam 200SC, dosage 12 ml / mu - application method using the unmanned aerial vehicle (UAV) method disclosed herein.

[0110] Flight parameters: flight altitude 2 meters, flight speed 4.8 meters / second, spray width 3 meters, water consumption per mu 1 liter.

[0111] Unmanned aerial vehicle model: DJI MG-1P

[0112] Nozzle model: Tejet SJ7-015-VP.

[0113] The test results are as follows:

[0114] Table 1 Security

[0115]

[0116] Table 2 Weed Control Effect

[0117]

[0118] Figure 11 The photos show the results of the field trial 45 days after drug administration. Figure 11 It can be seen that, compared with manual application, the unmanned aerial vehicle application method of this disclosure can significantly improve the pesticide effect.

[0119] In summary, the unmanned aerial vehicle (UAV) with a drip nozzle and the method of applying pesticides using an UAV, as disclosed in this embodiment, can generate large-diameter droplets, effectively preventing droplet drift. Furthermore, compared to manual application, using an UAV for spraying ensures uniform spraying, guaranteeing pesticide efficacy while reducing the risk of phytotoxicity to surrounding sensitive crops.

[0120] The above description is merely a specific embodiment of this disclosure, but the protection scope of this disclosure is not limited thereto. Any changes, substitutions or combinations that can be easily conceived by those skilled in the art within the technical scope disclosed in this disclosure or under the ideas disclosed in this disclosure should be covered within the protection scope of this disclosure.

[0121] Laboratory tests

[0122] Laboratory tests have verified that the unmanned aerial vehicle (UAV) pesticide application methods of some embodiments of this disclosure can prevent or reduce pesticide droplet drift.

[0123] Laboratory Experiment 1:

[0124] The droplet size of different nozzles and pesticide systems was determined using a laser particle size analyzer (Bettersize2000S). In the experiment, the spray pressure was adjusted to 3 bar by modifying the inlet and outlet valves of the spray system, and different nozzles were used to spray the pesticide, resulting in the experimental results shown in Table 3.

[0125] Table 3

[0126]

[0127] Table 3 shows that the droplet size obtained by spraying the liquid using the Tejet XR 110015 nozzle meets the following requirements: DV50 is approximately 120 micrometers at a working pressure of 3 bar; the droplet size obtained by spraying the liquid using the Tejet SJ7-015-VP and Tejet SJ3-015-VP nozzles meets the following requirement: DV50 is greater than 500 micrometers at a working pressure of 3 bar. It should be noted that in the above experiments, the laser particle size analyzer had a range of 500 micrometers; therefore, the experimental result of DV50 being greater than 500 micrometers was obtained.

[0128] Laboratory Experiment 2:

[0129] Figure 12 A schematic diagram of wind tunnel system 5 used in laboratory experiment 2 is shown. Figure 12 As shown, the wind tunnel system 5 includes a fan 51, a first wind deflector 52, a grid component 53, a second wind deflector 54, a rectifier 55, a jet liquid container 57, a droplet collection device 58, and a droplet collection container 59.

[0130] In such Figure 12 The experiment was conducted in the wind tunnel system 5 shown. Nozzles 56 were positioned between the rectifier 55 and the droplet collection device 58, with the fan 51, first wind deflector 52, grid 53, second wind deflector 54, and rectifier 55 positioned upwind of the nozzles, and the droplet collection device 58 positioned downwind of the nozzles. In the experiment, simulated water was sprayed using different nozzles 56 to measure the total amount of liquid sprayed by different types of nozzles 56 and the amount of liquid collected by the droplet collection device 58. The drift rate of the droplets sprayed by the corresponding nozzle 56 was calculated as: (Collected liquid amount / Total sprayed liquid amount). The experiment was repeated 5 times with a distance of 1.4 m between the liquid collection device 58 and the nozzle 56, a spray pressure of 3 bar, a test time of 5 min, a water temperature of 20℃, and a wind speed of 1.5 m / s or 3 m / s. The average drift rate of the droplets sprayed by each type of nozzle 56 is shown in Table 4 below.

[0131] Table 4

[0132] Serial Number Wind speed (m / s) spray head Drift rate (%) 1 3 Tejet XR 110015 32.9 2 1.5 Tejet XR 110015 18.2 3 3 Tejete SJ3-015-VP 0 4 1.5 Tejete SJ3-015-VP 0 5 3 Tejet SJ7-015-VP 0 6 1.5 Tejet SJ7-015-VP 0

[0133] With a distance of 1.4 m between the liquid collection device 58 and the nozzle 56, a spray pressure of 1.5 bar, a test time of 5 min, a water temperature of 20 °C, and a wind speed of 1.5 m / s or 3 m / s, the experiment was repeated 5 times. The average drift rate of the droplets sprayed by each nozzle is shown in Table 5 below:

[0134] Table 5

[0135]

[0136]

[0137] As can be seen from Tables 4 and 5, compared with the Tejet XR 110015 nozzle, the Tejet SJ7-015-VP and Tejet SJ3-015-VP nozzles sprayed liquid droplets with very little drift.

[0138] As can be seen from Tables 3 and 4 above, when the droplet size meets the requirement that DV50 is greater than 500 micrometers at a working pressure of 3 bar, drift can be effectively prevented or reduced. Furthermore, it can be seen that the larger the droplet size, the smaller the droplet drift.

[0139] Based on the above-mentioned laboratory tests one and two, the unmanned aerial vehicle pesticide application method according to some embodiments of this disclosure can spray droplets with a larger particle size, thereby preventing or reducing droplet drift.

Claims

1. A method for applying pesticides to crops in paddy fields using an unmanned aerial vehicle, comprising: Provide an unmanned aerial vehicle (UAV) equipped with at least one nozzle; Maneuver or set the unmanned aircraft to fly over the paddy field along a predetermined route; The pesticide is applied via at least one nozzle while flying over the paddy field; in, The application of pesticides via at least one nozzle includes spraying pesticides in the form of a liquid jet in at least one spraying direction via the at least one nozzle; The application of pesticides via at least one nozzle also includes using the downforce wind field generated by the rotor of the unmanned aircraft to atomize the liquid column into droplets, wherein the droplets have a particle size greater than 400 micrometers. The pesticide in question is a herbicide.

2. The method according to claim 1, wherein, The droplets have a diameter greater than 500 micrometers.

3. The method according to claim 1, wherein, The droplets have a diameter greater than 600 micrometers.

4. The method according to claim 1, wherein, The droplets have a diameter greater than 800 micrometers.

5. The method according to claim 1, wherein, The droplets have a diameter greater than 1000 micrometers.

6. The method according to any one of claims 1 to 5, wherein, The droplet size meets the following condition: both DV10 and DV50 are greater than 500 micrometers at a working pressure of 3 bar.

7. The method according to any one of claims 1 to 5, wherein, The droplet size meets the following condition: both DV10 and DV50 are greater than 600 micrometers at a working pressure of 3 bar.

8. The method according to any one of claims 1 to 5, wherein, The droplet size meets the following condition: both DV10 and DV50 are greater than 800 micrometers at a working pressure of 3 bar.

9. The method according to any one of claims 1 to 5, wherein, The droplet size meets the following condition: both DV10 and DV50 are greater than 1000 micrometers at a working pressure of 3 bar.

10. The method according to any one of claims 1 to 5, further comprising: The nozzle is calibrated, which includes calibrating at least one of the nozzle orientation, the nozzle operating flow rate, or the nozzle discharge orifice size.

11. The method according to any one of claims 1 to 5, wherein, The parameters of the predetermined route are obtained through user input or experimental methods.

12. The method according to any one of claims 1 to 5, wherein, The pesticide in question is suitable for application in water.

13. The method according to claim 12, wherein, The pesticide includes any one or a combination of the following: flumetsulam, penflusulfuron, mesotrione, pyrimisulfuron, bicyclosulfuron, chlorpyrifos, pretilachlor, butachlor, bensulfuron-methyl, pyrimisulfuron-methyl, oxadiazon, propyzoxystrobin, ethoxyflufenoxam, cypermethrin, promethazine, cypermethrin, bispyribac-sodium, or oxadiazon.

14. An unmanned aerial vehicle for applying pesticides to crops in paddy fields, comprising: ontology; The container, fixedly mounted on the main body, is used to hold pesticides; At least one nozzle is provided on the body for spraying pesticides; A conveying component for conveying pesticide from the housing toward the at least one nozzle; as well as The control unit is configured to manipulate or set the unmanned aerial vehicle to fly over the paddy field along a predetermined route, and to control the delivery component to apply pesticides to the paddy field via the at least one nozzle while the unmanned aerial vehicle is flying over the paddy field. The control unit is configured to spray pesticides in the form of a liquid jet in at least one spraying direction via the at least one nozzle; The unmanned aerial vehicle includes a thrust unit that generates a downward pressure wind field to drive the unmanned aerial vehicle. The downward pressure wind field disperses and atomizes the liquid column into droplets, and the droplets have a particle size greater than 400 micrometers. The pesticide in question is a herbicide.

15. The unmanned aerial vehicle according to claim 14, wherein, The droplets have a diameter greater than 500 micrometers.

16. The unmanned aerial vehicle according to claim 14, wherein, The droplets have a diameter greater than 600 micrometers.

17. The unmanned aerial vehicle according to claim 14, wherein, The droplets have a diameter greater than 800 micrometers.

18. The unmanned aerial vehicle according to claim 14, wherein, The droplets have a diameter greater than 1000 micrometers.

19. The unmanned aerial vehicle according to any one of claims 14 to 18, wherein, The droplet size meets the following condition: both DV10 and DV50 are greater than 500 micrometers at a working pressure of 3 bar.

20. The unmanned aerial vehicle according to any one of claims 14 to 18, wherein, The droplet size meets the following condition: both DV10 and DV50 are greater than 600 micrometers at a working pressure of 3 bar.

21. The unmanned aerial vehicle according to any one of claims 14 to 18, wherein, The droplet size meets the following condition: both DV10 and DV50 are greater than 800 micrometers at a working pressure of 3 bar.

22. The unmanned aerial vehicle according to any one of claims 14 to 18, wherein, The droplet size meets the following condition: both DV10 and DV50 are greater than 1000 micrometers at a working pressure of 3 bar.

23. The unmanned aerial vehicle according to any one of claims 14 to 18, wherein, The nozzle is a drip nozzle.

24. The unmanned aerial vehicle according to any one of claims 14 to 18, wherein, The unmanned aircraft is a multi-rotor agricultural drone.

25. The unmanned aerial vehicle according to any one of claims 14 to 18, wherein, The pesticide in question is suitable for application in water.

26. The unmanned aerial vehicle according to claim 25, wherein, The pesticide includes any one or a combination of the following: flumetsulam, penflusulfuron, mesotrione, pyrimisulfuron, bicyclosulfuron, chlorpyrifos, pretilachlor, butachlor, bensulfuron-methyl, pyrimisulfuron-methyl, oxadiazon, propyzoxystrobin, ethoxyflufenoxam, cypermethrin, promethazine, cypermethrin, bispyribac-sodium, or oxadiazon.

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