Plant pesticide application device and pesticide application method

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a plant pesticide applying device and method.The plant pesticide applying device comprises an aircraft, nozzles, a protection assembly and a driving assembly, the aircraft comprises a body, rotors and a pesticide box, the rotors and the pesticide box are arranged on the body, the pesticide box is suitable for containing pesticide, the multiple nozzles are arranged on the body and communicate with the pesticide box, and the protection assembly is arranged on the body; the protection assembly is movably installed on the nozzle, the driving assembly is installed on the body, the driving assembly is connected with the protection assembly, and the driving assembly is suitable for adjusting the height and / or orientation of the protection assembly. The situation that the pesticide sprayed out of the nozzle drifts away and deviates from a target area due to the influence of sea wind is avoided, it is ensured that the sprayed pesticide completely acts on spartina alterniflora plants, and therefore precise control over the control range of a spartina alterniflora recurrence or secondary invasion area can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a plant pesticide application device and a pesticide application method. Background Art

[0002] Spartina alterniflora is a perennial herbaceous plant in the genus Spartina in the Poaceae family. Due to its wide adaptability to climates and strong resistance to stress, it can rapidly proliferate and expand in coastal areas, seriously threatening the biodiversity and ecosystem functions of coastal wetlands.

[0003] Traditional methods for controlling Spartina alterniflora include physical methods such as manual removal, mowing and flooding, and mowing and plowing, as well as chemical methods using pesticides. While effective initially, recurrence or secondary invasion is highly likely the following year. If left unchecked, recurring or secondary invasions of Spartina alterniflora will continue to proliferate and threaten coastal wetland ecosystems.

[0004] In the existing technology, drones are usually used to carry pesticides to apply pesticides to Spartina alterniflora in coastal areas. However, during the application process, the pesticide solution is easily affected by the sea breeze and deviates from the predetermined target area. Summary of the Invention

[0005] In view of this, the present invention provides a plant pesticide application device and a pesticide application method to solve the problem in the prior art that when using drones to apply pesticides to Spartina alterniflora, the pesticide solution is easily affected by the sea breeze and deviates from the predetermined target application area.

[0006] In the first aspect, the present invention provides a plant pesticide application device, comprising an aircraft, a nozzle, a protective assembly and a drive assembly, the aircraft comprising a body, a rotor and a medicine box, the rotor and the medicine box being arranged on the body, the medicine box being suitable for holding medicine, a plurality of nozzles being arranged on the body, the nozzles being connected to the medicine box, the protective assembly being movably mounted on the nozzle, the drive assembly being mounted on the body, the drive assembly being connected to the protective assembly, and the drive assembly being suitable for adjusting the height and / or direction of the protective assembly.

[0007] Beneficial effect: The present invention provides a protective component on the nozzle. During the application of Spartina alterniflora, the protective component can shield the nozzle, preventing the sea breeze from affecting the dispersion of the sprayed agent from the nozzle and deviating from the target area, ensuring that all the sprayed agent acts on the Spartina alterniflora plants, thereby achieving precise control of the scope of control of the recurrence or secondary invasion area of ​​Spartina alterniflora, and at the same time avoiding the waste of agents and saving the cost of application.

[0008] In an optional embodiment, the protective assembly includes an interface and a protective cover, the interface is detachably connected to the nozzle, the protective cover is connected to the interface, and the protective cover is connected to the driving assembly.

[0009] Beneficial effects: The present invention connects the protective cover to the nozzle through an interface, and the length of the protective part can be adjusted according to the height of the Spartina alterniflora plant through the driving component, ensuring that all the sprayed agents act on the Spartina alterniflora plant, thereby achieving precise control of the scope of control of the recurrence or secondary invasion area of ​​Spartina alterniflora.

[0010] In an optional embodiment, the protective cover is conical, and is provided with a plurality of folding portions, which are adjacent to each other in sequence.

[0011] Beneficial effects: The protective cover of the present invention is provided with a plurality of folding parts connected in sequence, and the folding parts can be folded or stretched by a driving component, thereby realizing adjustment of the length of the protective cover.

[0012] In an optional embodiment, the driving assembly includes a driver and a pull rod, the driver is mounted on the body, one end of the pull rod is connected to the driving end of the driver, and the other end is connected to the protective cover.

[0013] In an optional embodiment, the plant pesticide application device further includes a detection device, which is disposed on the main body and is suitable for detecting parameters of the area where the plants are located.

[0014] In an optional embodiment, the detection device includes a camera, a detector and a processor, the camera is set on the body, the detector is set on the body, the processor is set on the body, the camera and the detector are connected to the processor signal, and the processor is connected to the drive component signal.

[0015] In an alternative embodiment, the agent comprises imazapyr or haloxyfop-P-ethyl.

[0016] In a second aspect, the present invention further provides a method for applying pesticides to plants, using the above-mentioned plant pesticide application device, the method comprising:

[0017] Start the aircraft and fly to the area where the plants are located;

[0018] Obtain parameter information of the area where the plants are located and determine the dosage of the pesticide;

[0019] The aircraft returns and refills the aircraft's medicine box with medicine;

[0020] Set the aircraft spraying path;

[0021] Start the aircraft again and fly to the area where the plants are located. Adjust the aircraft's spraying height according to the height of the plants and spray the pesticide.

[0022] Get the wind speed in the area where the plant is located;

[0023] Adjust the angle of the protective component.

[0024] In an optional embodiment, the step of obtaining parameter information of the area where the plant is located includes:

[0025] Obtain the coordinates of each operating object in the area where the plant is located, including the coordinates of the edge points and the coordinates of the center point of the area where the plant is located;

[0026] The preset path planning algorithm is used to connect the center points of each work object to generate a flight route, and the edge points of the area where the plants are located are enclosed to obtain the range of the work object to be sprayed.

[0027] In an optional embodiment, the step of obtaining the coordinates of each operating object in the area where the plant is located includes: obtaining an image of the entire operating area;

[0028] Determine the edge point coordinates and center point coordinates of each work object in the image;

[0029] The edge point coordinates and center point coordinates of each operation object in reality are determined according to the edge point coordinates and center point coordinates of each operation object in the image. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 This is a schematic structural diagram of a plant pesticide application device according to an embodiment of the present invention;

[0032] Figure 2 The figure is a schematic structural diagram of a protective component in a plant pesticide application device according to an embodiment of the present invention.

[0033] Description of reference numerals:

[0034] 1. Aircraft; 101. Main body; 102. Rotor; 103. Medicine box;

[0035] 2. Nozzle;

[0036] 3. Protective components; 301. Interface; 302. Protective cover;

[0037] 4. Drive assembly; 401. Driver; 402. Pull rod. DETAILED DESCRIPTION

[0038] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0039] Although Spartina alterniflora can, to a certain extent, dissipate waves, protect banks, and promote siltation and land reclamation, its threats to biodiversity and habitats are more significant, mainly manifested in the following aspects.

[0040] First, Spartina alterniflora poses a serious threat to native plants through interspecific competition. Because it shares similar ecological niches with some salt marsh and mangrove species, and in some cases even outperforms them, Spartina alterniflora is a more competitive species. This invasion squeezes out native plants like mangroves, Scirpus maritima, and Suaeda salsa, compromising ecosystem stability.

[0041] Secondly, the high density and extensive root system of Spartina alterniflora have created a "green desert" within its distribution area, posing a significant threat to intertidal biodiversity. This severely compresses the habitat of large benthic organisms, altering the intertidal food web. Furthermore, the reduction or loss of bird food sources and habitats has further exacerbated the decline in intertidal biodiversity.

[0042] Finally, the "biological dams" formed by Spartina alterniflora on low and mid-tidal flats also negatively impact their hydrological connectivity. These tall, dense plants not only affect seawater exchange but also block tidal channels, altering the hydrological connectivity of the tidal flats. This change could further impact the habitats of native species, severely affecting their populations and distribution.

[0043] The following combination Figures 1 to 2 , describing embodiments of the present invention.

[0044] According to an embodiment of the present invention, on the one hand, Figure 1 and Figure 2 As shown, a plant pesticide application device is provided, including an aircraft 1, a nozzle 2, a protective component 3 and a drive component 4. The aircraft 1 includes a body 101, a rotor 102 and a medicine box 103. The rotor 102 and the medicine box 103 are arranged on the body 101. The medicine box 103 is suitable for holding medicine. A plurality of nozzles 2 are arranged on the body 101. The nozzles 2 are connected to the medicine box 103. The protective component 3 is movably installed on the nozzle 2. The drive component 4 is installed on the body 101. The drive component 4 is connected to the protective component 3. The drive component 4 is suitable for adjusting the height and / or direction of the protective component 3.

[0045] Specifically, if Figure 1 As shown, the aircraft 1 is not specifically limited in this embodiment. For example, the aircraft 1 in this embodiment is a drone, and the aircraft 1 includes a body 101, a rotor 102 and a medicine box 103. The body 101 is a frame structure, and multiple rotors 102 are installed on the top of the body 101. The medicine box 103 is installed at the bottom of the body 101. Multiple nozzles 2 are installed at the bottom of the body 101 at the periphery of the medicine box 103. The nozzle 2 is connected to the medicine box 103 through a conduit. A pump body is provided in the medicine box 103, and the pump body is connected to the guide rail for delivering the medicine to the nozzle 2.

[0046] In this embodiment, a protective component 3 is installed on each nozzle 2, the water outlet of the nozzle 2 is located inside the protective component 3, and the water outlet is facing the ground. The driving component 4 is installed on the main body 101 and is connected to each protective component 3 for adjusting the height and direction of the protective component 3.

[0047] The plant in this embodiment is not specifically limited. For example, the plant in this embodiment is Spartina alterniflora.

[0048] The present invention provides a protective component 3 on the nozzle 2. During the application of pesticides to Spartina alterniflora, the protective component 3 can shield the nozzle 2, preventing the sea breeze from influencing the sprayed agent from drifting away from the target area, and ensuring that all the sprayed agent acts on the Spartina alterniflora plants, thereby achieving precise control of the scope of control of the recurrence or secondary invasion area of ​​Spartina alterniflora.

[0049] In one embodiment, Figure 2 As shown, the protection assembly 3 includes an interface 301 and a protection cover 302 . The interface 301 is detachably connected to the nozzle 2 . The protection cover 302 is connected to the interface 301 . The protection cover 302 is connected to the driving assembly 4 .

[0050] Specifically, in this embodiment, the interface 301 can be integrally formed at one end of the protective cover 302. The interface 301 is provided with an internal thread that is threadedly connected to the external thread on the nozzle 2. The drive assembly 4 is connected to the protective cover 302 and is used to drive and adjust the height and direction of the protective cover 302.

[0051] The present invention connects the protective cover 302 to the nozzle 2 through the interface 301. The length of the protective part can be adjusted according to the height of the Spartina alterniflora plant through the driving component 4, ensuring that the sprayed agent completely acts on the Spartina alterniflora plant, thereby achieving precise control of the scope of control of the recurrence or secondary invasion area of ​​Spartina alterniflora, while also avoiding waste of agent and saving the cost of application.

[0052] In one embodiment, Figure 2 As shown, the protective cover 302 is conical, and a plurality of folding portions are provided on the protective cover 302 , and the folding portions are adjacent to each other in sequence.

[0053] Specifically, in this embodiment, there is no specific limitation on the shape of the protective cover 302. For example, in this embodiment, the protective cover 302 is conical, the interface 301 is located at the small-diameter end of the protective cover 302, and the protective cover 302 includes a plurality of folding parts adjacent to each other in sequence. The drive component 4 is connected to the end folding part on the side away from the interface 301. The drive component 4 can drive the folding part to fold and store toward the interface 301, or drive the folding part to unfold in the direction away from the interface 301.

[0054] The protective cover 302 of the present invention is provided with a plurality of folding parts connected in sequence. The folding parts can be folded or extended by the driving component 4, thereby adjusting the length of the protective cover 302.

[0055] In one embodiment, Figure 1 As shown, the driving assembly 4 includes a driver 401 and a pull rod 402 . The driver 401 is mounted on the body 101 . One end of the pull rod 402 is connected to the driving end of the driver 401 , and the other end is connected to the protective cover 302 .

[0056] Specifically, the driver 401 is not specifically limited in this embodiment. For example, in this embodiment, the driver 401 is an electric push rod, one end of which is fixed to the body 101 and the other end is connected to the protective cover 302 through the pull rod 402.

[0057] In this embodiment, each protective assembly 3 is connected to two drive assemblies 4, wherein two drivers 401 are located on either side of the protective cover 302. Two pull rods 402 are located on either side of the protective cover 302. One end of the pull rod 402 is connected to the end of the protective cover 302 away from the interface 301, and the other end is adjacent to the driver 401. The two drivers 401 work together to achieve both the extension and retraction of the protective cover 302 and the orientation of the protective cover 302.

[0058] In one embodiment, the plant pesticide application device further includes a detection device, which is disposed on the body 101 and is suitable for detecting parameters of the area where the plants are located.

[0059] Specifically, in this embodiment, the detection device is signal-connected to the nozzle 2 and the driver 401 .

[0060] In one embodiment, the detection device includes a camera, a detector and a processor. The camera is set on the body 101, the detector is set on the body 101, and the processor is set on the body 101. The camera and the detector are connected to the processor signal, and the processor is connected to the drive component 4 signal.

[0061] Specifically, in this embodiment, a camera is mounted at the bottom of the body 101 and is used to capture image information of the area where the plants are located. A detector is mounted on the body 101 and is a gas phase detector for detecting gas phase information in the area where the plants are located. A processor is mounted on the body 101 and is signal-connected to the camera, detector, rotor 102, driver 401, and pump. The processor is used to process the images and gas phase information captured by the camera and detector and calculate the required dosage of the pesticide for the current plant area and the flight path of the aircraft 1.

[0062] In one embodiment, the agent comprises imazapyr or haloxyfop-P-ethyl.

[0063] Specifically, this embodiment includes 25% imazapyr aqueous solution or 10.8% high-efficiency haloxyfop-butyl emulsifiable concentrate.

[0064] According to an embodiment of the present invention, on the other hand, a method for applying pesticides to plants is provided, using the above-mentioned plant pesticide application device, the method comprising:

[0065] Start the aircraft 1 and fly it to the area where the plants are located;

[0066] Obtain parameter information of the area where the plants are located and determine the dosage of the pesticide;

[0067] The aircraft 1 returns and refills the medicine box 103 of the aircraft 1 with medicine;

[0068] Set the spraying path of aircraft 1;

[0069] Start the aircraft 1 again and fly it to the area where the plants are located. Adjust the spraying height of the aircraft 1 according to the height of the plants and spray the pesticide.

[0070] Get the wind speed in the area where the plant is located;

[0071] Adjust the 3 angles of the protection component.

[0072] Specifically, the method of applying pesticide to Spartina alterniflora in coastal areas in this embodiment includes:

[0073] S1: Start the aircraft 1 and fly the aircraft 1 to an area where Spartina alterniflora has recurred or invaded for the second time.

[0074] S2: The detection component provided on the aircraft 1 is used to obtain basic information such as the specific location, area, plant height and range of the recurrence or secondary invasion area of ​​Spartina alterniflora, as well as the weather and tide level of the tidal flat where the Spartina alterniflora is located, and the dosage of the pesticide is determined after processing the above information.

[0075] S3: The aircraft 1 returns and the medicine box 103 is filled with the above-determined amount of medicine. In this embodiment, the medicine is 25% imazapyr aqueous solution or 10.8% high-efficiency haloxyfop-butyl emulsifiable concentrate.

[0076] S4: According to the information obtained in S2, the spraying path of the aircraft 1 is set. In this embodiment, the spraying path of the flight is not specifically limited. For example, in this embodiment, the spraying path adopts a spiral route.

[0077] S5: Start the aircraft 1 again, fly the aircraft 1 to the area where Spartina alterniflora is located, adjust the spraying height of the aircraft 1 according to the plant height of Spartina alterniflora, fly to the area where Spartina alterniflora recurs or invades for the second time according to the spraying path set in S4 and spray the pesticide.

[0078] S6: Obtain the real-time wind speed in the area where Spartina alterniflora has recurred or invaded again through the detection component.

[0079] S7: According to the real-time wind speed in the area where Spartina alterniflora has recurred or invaded for the second time, the length and direction of the protective cover 302 are adjusted by the driving assembly 4 to ensure that the sprayed agent acts entirely on the Spartina alterniflora plants.

[0080] The present invention provides a protective component 3 on the nozzle 2. During the application of pesticides to Spartina alterniflora, the protective component 3 can shield the nozzle 2, preventing the sea breeze from influencing the sprayed agent from drifting away from the target area, and ensuring that all the sprayed agent acts on the Spartina alterniflora plants, thereby achieving precise control of the scope of control of the recurrence or secondary invasion area of ​​Spartina alterniflora.

[0081] In one embodiment, the step of obtaining parameter information of the area where the plant is located includes:

[0082] Obtain the coordinates of each operating object in the area where the plant is located, including the coordinates of the edge points and the coordinates of the center point of the area where the plant is located;

[0083] The preset path planning algorithm is used to connect the center points of each work object to generate a flight route, and the edge points of the area where the plants are located are enclosed to obtain the range of the work object to be sprayed.

[0084] In one embodiment, the step of obtaining the coordinates of each operating object in the area where the plant is located includes: obtaining an image of the entire operating area;

[0085] Determine the edge point coordinates and center point coordinates of each work object in the image;

[0086] The edge point coordinates and center point coordinates of each operation object in reality are determined according to the edge point coordinates and center point coordinates of each operation object in the image.

[0087] Specifically, in this embodiment, the aircraft 1 can take off from a point in the area where the Spartina alterniflora is located, and this point is recorded as the actual origin, and the coordinates of the take-off point are recorded as qg(xo,yo). The aircraft 1 is raised to a certain height and the camera carried by the aircraft 1 is used to take pictures of the working area. This height is recorded as the origin height and is recorded as H.

[0088] The aircraft 1 tries to select points that can cover the working area and complete the shooting in one go. However, if a single shot cannot fully cover the working area, that is, one picture cannot fully cover the working area, the working area can also be divided into several parts, and each part can be photographed separately. This process needs to ensure that there is a certain overlap area between adjacent images, that is, there is an overlap area between the several parts divided into the working area. The separately shot images are then stitched together using image stitching technology to obtain an image of the complete working area.

[0089] The image plane coordinate system is used as the image coordinate system. The pixel position of the take-off point of aircraft 1 (i.e., the actual origin) is marked in the image as qt(xt, yt), and this point is used as the image origin. The coordinates of the image origin qt(xt, yt) correspond to the coordinates of the actual origin qg(xo, yo).

[0090] Use image segmentation techniques to segment all Spartina alterniflora plants in the image. Record the coordinates of the boundary pixels of the Spartina alterniflora as qb1(x1, y1), qb1(x2, y2), ..., qb1(xn, yn). Based on the coordinates of each boundary pixel, calculate the centroid or other methods to determine the coordinates of the center pixel as qz1(x1, y1). In some cases, the coordinates of the center pixel can be directly identified by manual marking. If image segmentation is not sufficient to completely segment the Spartina alterniflora, manually check for omissions after image segmentation and complete the segmentation using manual segmentation.

[0091] The edge point coordinates and center point coordinates of each work object in reality are determined according to the edge point coordinates and center point coordinates of each work object in the image.

[0092] After obtaining the coordinates of the edge points and the center point of the Spartina alterniflora region according to the above steps, the flight route can be planned and the scope to be sprayed can be obtained simultaneously. For example, the coordinates of the take-off point of the aircraft 1 can be used as a starting point, and the coordinates of the center point of the Spartina alterniflora region can be connected using the shortest path planning method to obtain the planned flight route. The closed curve formed by connecting the coordinates of the edge points of the Spartina alterniflora region in sequence is the edge shape of the region. The size included in the closed curve is the size of the region, and the application range is the range enclosed by the closed curve.

[0093] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A plant pesticide application device, characterized in that: include: An aircraft (1), the aircraft (1) comprising a body (101), a rotor (102) and a medicine box (103), the rotor (102) and the medicine box (103) being arranged on the body (101), and the medicine box (103) being suitable for containing medicine; Nozzles (2), a plurality of the nozzles (2) are arranged on the body (101), and the nozzles (2) are connected to the medicine box (103); A protective component (3), the protective component (3) being movably mounted on the nozzle (2); A drive assembly (4), the drive assembly (4) is mounted on the body (101), the drive assembly (4) is connected to the protection assembly (3), and the drive assembly (4) is suitable for adjusting the height and / or orientation of the protection assembly (3).

2. The plant pesticide application device according to claim 1, characterized in that The protection component (3) comprises: An interface (301), the interface (301) being detachably connected to the nozzle (2); A protective cover (302), the protective cover (302) is connected to the interface (301), and the protective cover (302) is connected to the drive assembly (4).

3. The plant pesticide application device according to claim 2, characterized in that The protective cover (302) is conical, and is provided with a plurality of folding portions, which are adjacent to each other in sequence.

4. The plant pesticide application device according to claim 2, characterized in that The driving assembly (4) comprises: A driver (401), the driver (401) being mounted on the body (101); A pull rod (402), one end of the pull rod (402) is connected to the driving end of the driver (401), and the other end is connected to the protective cover (302).

5. The plant pesticide application device according to claim 1, characterized in that Also includes: A detection device is provided on the main body (101), and is suitable for detecting parameters of the area where the plant is located.

6. The plant pesticide application device according to claim 5, characterized in that The detection device comprises: A camera, the camera being arranged on the body (101); a detector, the detector being arranged on the body (101); A processor is provided on the body (101), the camera and the detector are connected to the processor by signal, and the processor is connected to the drive component (4) by signal.

7. The plant pesticide application device according to claim 1, characterized in that The pharmaceutical agent includes imazapyr or haloxyfop-p-ethyl.

8. A method for applying pesticides to plants, using the plant pesticide application device according to any one of claims 1 to 5, characterized in that: The method comprises: Starting the aircraft (1) to fly to the area where the plants are located; Obtain parameter information of the area where the plants are located and determine the dosage of the pesticide; The aircraft (1) returns and refills the medicine box (103) of the aircraft (1); Setting the spraying path of the aircraft (1); The aircraft (1) is started again to fly to the area where the plants are located, the height of the aircraft (1) for spraying pesticides is adjusted according to the height of the plants, and the pesticide is sprayed; Get the wind speed in the area where the plant is located; Adjust the angle of the guard assembly (3).

9. The method for applying pesticides to plants according to claim 8, wherein: The step of obtaining parameter information of the area where the plant is located includes: Obtaining coordinates of each operating object in the area where the plant is located, wherein the coordinates include the coordinates of the edge points and the coordinates of the center point of the area where the plant is located; The preset path planning algorithm is used to connect the center points of each work object to generate a flight route, and the edge points of the area where the plants are located are enclosed to obtain the range of the work object to be sprayed.

10. The method for applying pesticides to plants according to claim 9, wherein: The step of obtaining the coordinates of each operating object in the area where the plant is located includes: obtaining an image of the complete operating area; Determine the edge point coordinates and center point coordinates of each work object in the image; The edge point coordinates and center point coordinates of each operation object in reality are determined according to the edge point coordinates and center point coordinates of each operation object in the image.

Images