Unmanned aerial vehicle

Abstract

The present invention relates to an unmanned aerial vehicle for applying an active ingredient to agricultural crops. The unmanned aerial vehicle (UAV) includes a liquid containing an active ingredient (310) held in a liquid reservoir contained within or attached to the body of the UAV. A liquid application unit is attached to the body of the UAV, the liquid application unit being in liquid communication with the liquid reservoir. The liquid application unit receives at least one input from a processing unit (320). The at least one input can be used to operate the liquid application unit. The UAV lands in an environment to apply the liquid to at least one plant (330). The liquid application unit is operated at a location determined by the processing unit based on image analysis of at least one image of the environment acquired by a camera (340).

Description

[Technical field]

[0001] FIELD OF THEINVENTION The present invention relates to an unmanned aerial vehicle for the application of active ingredients to agricultural crops, to a system for the application of active ingredients to agricultural crops, and to a method for the application of active ingredients to agricultural crops by means of an unmanned aerial vehicle. [Background technology]

[0002] 2. Background of the Invention The general background of the present invention is the foliar application of active ingredients in liquid form, applied by vehicle, for example with a boom sprayer. Active ingredients such as herbicides, insecticides, fungicides, pesticides, pesticides and nutritional supplements are required to be applied in agricultural environments. Weed, insect and disease control in crops is a key requirement to reduce losses in agriculture. This is commonly achieved by foliar spraying of crops by spray application from tractors, backpack sprayers and unmanned aerial vehicles (UAVs) such as drones and radio-controlled helicopters. A drawback of all these application techniques is that the entire field is typically sprayed. Furthermore, spray drift can occur, resulting in unnecessary off-target losses outside the intended target spray area. There is a need to facilitate application with new methods and reduce the cost of such applications. Also, the general public increasingly desires to reduce the environmental impact associated with such applications. Summary of the Invention

[0003] Summary of the Invention It would be beneficial to have improved means of applying active ingredients in agricultural environments. [Problem to be solved by the invention]

[0004] The object of the present invention is solved by the subject matter of the independent claims, further embodiments are incorporated in the dependent claims. It is noted that the below described aspects and examples of the present invention also apply to the unmanned aerial vehicle for applying active ingredients to agricultural crops, to the system for applying active ingredients to agricultural crops, and to the method for applying active ingredients to agricultural crops by an unmanned aerial vehicle. [Means for solving the problem]

[0005] According to a first aspect, there is provided an unmanned aerial vehicle for applying an active ingredient to an agricultural crop, comprising: a liquid reservoir, the reservoir configured to hold a liquid comprising an active ingredient; and At least one liquid application unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0006] The at least one liquid application unit is in fluid communication with the liquid reservoir. The at least one liquid application unit is configured to receive at least one input from the processing unit. The at least one input is usable to operate the at least one liquid application unit. The unmanned aerial vehicle is configured to land within the environment to apply liquid to the at least one plant. The at least one liquid application unit is configured to be operated at a location determined by the processing unit based on image analysis of at least one image of the environment acquired by the camera.

[0007] In other words, an unmanned aerial vehicle (UAV), such as a drone, can land and apply the active ingredients contained in the liquid to the plants. In this way, the UAV can stop or feather the rotation of the rotor blades used for lift, which mitigates the leaf movement caused by the downdraft from the rotor blades. Such leaf movement makes it difficult to apply the active ingredients accurately and efficiently, thereby allowing the UAV, upon landing to apply the active liquid, to apply the active ingredients accurately and efficiently to the plants. The UAV can have multiple liquid reservoirs holding liquids with different active ingredients, which can be applied via different liquid application units.

[0008] Furthermore, by applying the liquid containing the active ingredient to the plants by landing, the effect of the downdraft of the rotor blades which leads to the drift of the liquid applied in spray form can be reduced.

[0009] Additionally, by landing the UAV, the UAV is stationary when the liquid is sprayed, which allows for more precise application to the plants as a result of application from a stationary platform.

[0010] Thus, the image of the environment can be acquired by a drone, or indeed by a different platform that may have previously acquired the image. The image is transmitted to a processing unit, which may again be in the drone or may be external to the drone. The processing unit analyzes the image to determine a position for the operation of the liquid application unit carried by the drone. In this way, for example, offline processing in a computer, such as in a farmer's office, of the image acquired in the field can actually be used to determine a map of the positions where a particular active ingredient in the liquid should be applied by a UAV (e.g., a drone) in that field.

[0011] Thus, in one example, a drone can have a processing unit and can be provided with images acquired by different platforms. The drone then analyzes the images to determine a location to activate its liquid application unit. This can be done before or after landing. Thus, the drone can be in flight, determine a location to activate its liquid application unit, fly to a suitable location, land there, and then apply liquid to the location. Alternatively, the drone can land at a site, analyze images related to an area near the site, and determine a location to apply liquid.

[0012] Thus, in one example, a drone can have a camera and can capture images that are relayed to a processing unit external to the drone, for example, a processing unit in a farmer's laptop next to a field. The processing unit uses image processing to analyze the images and determine a location for activating the liquid application unit. This can be done before or after landing. Thus, the drone is in flight and can capture images while in flight that are relayed to a processing unit that determines a location for activation of the liquid application unit that is relayed back to the drone. The drone then flies to a suitable location, lands there, and then applies liquid to the location. Alternatively, the drone can land at a site and capture images of the vicinity. The images are relayed back or forwarded to an external processing unit that analyzes images related to the area near the site and determines a location for applying liquid. The drone then applies liquid to the location.

[0013] Thus, in one example, a drone may have a camera and capture images, and may have a processing unit that uses image processing to analyze the images and determine a location for activating the liquid application unit. This may be done before or after landing. Thus, the drone is in flight and may capture images during flight that are analyzed by the processing unit to determine a location for activating the liquid application unit. The drone then flies to a suitable location, lands there, and then applies liquid to the location. Alternatively, the drone may land at a site and capture images of the vicinity. The images are analyzed by the processing unit to determine a location for applying liquid. The drone then applies liquid to the location.

[0014] This method requires less active ingredient as it treats targeted weeds, insects and diseases directly instead of the entire crop, and it allows the liquid to be applied to the plants more efficiently, so less is needed, allowing the drone to treat larger areas with less liquid.

[0015] In other words, the liquid delivered by the unmanned aerial vehicle can be applied more efficiently on the environment, for example for weed and / or pest control, rather than being applied indiscriminately, and the liquid can be applied efficiently and effectively only where it is needed, based on the analysis of the acquired image. In this way, the unmanned aerial vehicle, the liquid can be formulated for application in small amounts, and larger environments can be treated, since only the areas of the environment that need to be treated are treated. In this way, costs are saved, since less liquid and active ingredient are used, and time is saved, since fewer areas of the environment are treated, and these areas are treated more efficiently and effectively, with associated environmental benefits.

[0016] In one example, the unmanned aerial vehicle includes a camera, the camera configured to capture at least one image.

[0017] In one example, the unmanned aerial vehicle includes a processing unit configured to perform an analysis of the at least one image to determine a position for actuation of the at least one liquid application unit.

[0018] In one example, the analysis of the at least one image to determine the at least one location for operation of the at least one liquid application unit includes determining at least one type of weed. In one example, the analysis of the at least one image to determine the at least one location for operation of the at least one liquid application unit includes determining at least one type of disease and / or determining at least one type of pest. In one example, the analysis of the at least one image to determine the at least one location for operation of the at least one liquid application unit includes determining at least one type of insect. In one example, the analysis of the at least one image to determine the at least one location for operation of the at least one liquid application unit includes determining at least one type of nutrient deficiency.

[0019] In other words, the liquid application unit may be operated, and liquid applied, in a manner that takes into account the presence of a weed to be controlled at a location and can take into account the type of weed to be controlled, and / or the presence of a disease to be controlled at a location and can take into account the type of disease to be controlled, and / or the presence of a pest to be controlled at a location and can take into account the type of pest to be controlled, and / or the presence of an insect to be controlled at a location and can take into account the type of insect to be controlled, and / or the presence of a nutritional deficiency to be alleviated at a location and can take into account the type of nutritional deficiency to be alleviated.

[0020] Thus, an unmanned aerial vehicle such as a drone can fly around an environment such as a field and, based on image processing of captured images of the field and a determination that weeds are present, what type of weed they are, and where they are located, can apply a liquid to the location of the weeds containing the active ingredient required to control the weed and / or type of weed. The drone can have a number of different reservoirs containing different liquids with different active ingredients, and based on the identified weed, the appropriate liquid can be applied onto the weed. Also, there can be a number of different drones flying around the field, each drone having a liquid with a different active ingredient in its liquid reservoir, and the different drones can apply the liquid they carry when needed.

[0021] In one example, the analysis of the at least one image to determine at least one location for operation of the at least one liquid application unit includes determining a location for the unmanned aerial vehicle to land.

[0022] Thus, the unmanned aerial vehicle is in flight and can be provided with a location to land or can determine a location to land. The location to land can be determined after a location for applying the liquid has already been created. Thus, for example, weeds in the field can be identified and their location determined. A suitable location for the landing of the drone is then determined, which can be, for example, on or adjacent to the weed. The drone then applies the liquid as required. Alternatively, the location can be determined before the location for applying the liquid is determined. Thus, the drone can be provided with one or more landing locations in the field or the drone can determine the landing location itself. It lands on these locations and acquires images itself at the locations that are processed to determine locations in the vicinity for the application of the liquid or applies the liquid to the vicinity based on images acquired by a different platform.

[0023] In one example, the unmanned aerial vehicle is configured to land on at least one extendable leg attached to a body of the unmanned aerial vehicle.

[0024] In this way, the unmanned aerial vehicle can land in an area that is not necessarily devoid of vegetation in order to apply a liquid containing an active ingredient to one or more plants. A UAV such as a drone can extend its legs onto land, which can be above the plant to which the liquid is to be applied, or adjacent or in the vicinity of such a plant, and can do so in a safe and stable manner because the drone body and rotor blades rise above normal landing heights. The fact that the legs are extendable also means that they can be retracted, allowing the legs to be retracted in normal flight, improving fuel or battery power economy and flight stability.

[0025] In one example, an end of the at least one extendable leg distal to an end of the at least one extendable leg attached to the body of the unmanned aerial vehicle includes at least one stabilizing structure.

[0026] In this way, UAVs such as drones can land safely on a variety of surfaces, including dry, hard ground, or soft ground, wetland ground, and even rice paddies.

[0027] In one example, the at least one liquid application unit is moveable relative to the body of the unmanned aerial vehicle. A processor of the unmanned aerial vehicle is configured to move at least the liquid application unit.

[0028] In this way, the UAV can apply liquid to individual plants in a very targeted manner as needed. This means that the UAV does not need to land in a precise location relative to the plant, as is required for a fixed liquid application unit, but can land in a suitable location and then move the liquid application unit as needed. This also means that in addition to applying the liquid in a targeted manner, the UAV can land more easily, since a suitable landing site can be located some distance away from the plant to which the liquid is to be applied. Also, the UAV can land on the site as needed, before the location where the liquid is to be applied is determined. The surrounding area can then be imaged, and by image analysis the location of application of the liquid is determined, which can be based on previously acquired images, and the liquid application unit is then moved to the required location.

[0029] In one example, the at least one liquid application unit is attached to the at least one extendable arm.

[0030] In one example, when the unmanned aerial vehicle lands within the environment, the processor is configured to move the at least one liquid application unit to an operating position of the at least one liquid application unit based on image analysis of at least one image of the environment.

[0031] In this way, image processing is used not only to determine where in the environment to apply the liquid, but also to enable the UAV to land to apply the liquid, thus providing a fully automated system that requires no human input or control.

[0032] In one example, if the unmanned aerial vehicle includes a camera, the camera can be configured to move relative to the body of the unmanned aerial vehicle and a processor of the unmanned aerial vehicle is configured to move the camera.

[0033] In this way, as the UAV flies around the environment, the camera can be moved to image different parts of the environment without changing the orientation of the UAV, as would be required if the camera was in a fixed position, and the UAV can land in a suitable location and then image the vegetation at that location to determine a location for application of the liquid.

[0034] In one example, the unmanned aerial vehicle is configured to determine a position for actuating the at least one liquid application unit after the unmanned aerial vehicle lands within an environment.

[0035] In one example, the unmanned aerial vehicle is equipped with a position determining means.

[0036] According to a second aspect, there is provided a system for applying an active ingredient to agricultural crops, comprising: at least one unmanned aerial vehicle as described in the first aspect and any related examples; At least one camera; and At least one processing unit.

[0037] For at least one unmanned aerial vehicle: The processing unit of the at least one processing unit is configured to transmit data usable to operate the at least one liquid dispensing unit of the unmanned aerial vehicle; The camera of the at least one camera is configured to capture at least one image of the environment.

[0038] The camera is configured to transmit the at least one image to a processing unit, which is also configured to analyze the at least one image to determine at least one position for actuating at least one liquid dispensing unit of the unmanned aerial vehicle in fluid communication with a liquid reservoir of the unmanned aerial vehicle.

[0039] According to a third aspect, there is provided a method for applying an active ingredient to agricultural crops by means of an unmanned aerial vehicle, comprising: a) holding a liquid including an active ingredient in a liquid reservoir contained within or attached to the body of the unmanned aerial vehicle, wherein a liquid application unit is attached to the body of the unmanned aerial vehicle and wherein the liquid application unit is in fluid communication with the liquid reservoir; b) receiving by the liquid application unit at least one input from the treatment unit, where the at least one input is usable to operate the liquid application unit; c) landing the unmanned aerial vehicle within the environment to apply the liquid to at least one plant; and d) activating the liquid application unit at a location determined by the processing unit based on image analysis of at least one image of the environment acquired by the camera.

[0040] Advantageously, advantages provided by any of the above aspects apply equally to all of the other aspects, and vice versa.

[0041] The above aspects and examples will become apparent from and be elucidated with reference to the embodiments described hereinafter. [Brief description of the drawings]

[0042] BRIEF DESCRIPTION OF THE DRAWINGS Exemplary embodiments will now be described with reference to the accompanying drawings, in which: [Figure 1] FIG. 1 shows a schematic configuration of an example of an unmanned aerial vehicle for applying active ingredients to agricultural crops; [Diagram 2] FIG. 2 shows a schematic diagram of an example of a system for applying active ingredients to agricultural crops; [Diagram 3] Figure 3 shows the method of application of active ingredients to crops by unmanned aerial vehicles; [Figure 4] 4a and 4b show a detailed example of the unmanned aerial vehicle of FIG. 1; [Diagram 5]FIG. 5 shows spray deposits on rice, soybean, and corn leaves; and [Figure 6] FIG. 6 shows the spray coverage and spray deposit size on rice leaves at various spray rates.

[0043] Detailed Description of the Preferred Embodiments FIG. 1 shows an example of an unmanned aerial vehicle 10 for applying an active ingredient to an agricultural crop. The unmanned aerial vehicle (UAV) 10 comprises a liquid reservoir 20. The liquid reservoir 20 is configured to hold a liquid including an active ingredient. The UAV 10 also comprises at least one liquid application unit 30. The at least one liquid application unit 30 is in fluid communication with the liquid reservoir 20. The at least one liquid application unit 30 is configured to receive at least one input from a processing unit. The at least one input is usable to operate the at least one liquid application unit 30. The unmanned aerial vehicle 10 is configured to land in an environment to apply liquid to at least one plant. The at least one liquid application unit 30 is configured to be operated at a location determined by the processing unit based on image analysis of at least one image of the environment acquired by a camera.

[0044] In one example, the liquid application unit comprises a spray gun or spray nozzle configured to spray the liquid, which can include atomization of the liquid as part of the spraying process.

[0045] In one example, the liquid application unit comprises an application device configured to contact the vegetation during application of the liquid. An example of such an application device is a brush-type device that distributes the liquid to a brush of bristles that are applied to the foliage in a brush-like manner.

[0046] In one example, the unmanned aerial vehicle includes a movable vegetation retaining means, and when the unmanned aerial vehicle lands within the environment, the processor is configured to move the vegetation retaining means to retain at least one plant based on image analysis of at least one image of the environment. Thus, a plant to which liquid is being applied can be stably held during application. In one example, the movable plant retaining means includes a movable arm. In one example, the movable arm is extendable.

[0047] In one example, unmanned aerial vehicles are used to control weeds along and around railroad tracks.

[0048] According to one example, the unmanned aerial vehicle includes a camera 40. The camera 40 is configured to capture at least one image.

[0049] According to one example, the unmanned aerial vehicle comprises a processing unit 50. The processing unit 50 is configured to perform an analysis of the at least one image to determine an operating position of the at least one liquid application unit.

[0050] In one example, the analysis of the at least one image to determine at least one location for activating the liquid application unit includes determining at least one weed, and / or determining at least one disease, and / or determining at least one pest, and / or determining at least one insect, and / or determining at least one nutrient deficiency.

[0051] According to one example, the analysis of the at least one image to determine at least one position for activating the at least one liquid application unit comprises determining at least one type of weed, and / or determining at least one type of disease, and / or determining at least one type of pest, and / or determining at least one type of insect, and / or determining at least one type of nutritional deficiency.

[0052] For example, in certain instances where a UAV such as a drone has a camera, if the drone images a weed that requires application with the liquid it carries, the liquid can be immediately applied to the weed. However, if it is determined that the weed should be controlled with a different liquid, this information, the location of the weed, and the type of liquid to be applied at the location can be communicated to a different drone, and the information can be communicated from the first drone, or via a processing unit external to the first drone, to a second drone that carries the correct liquid. This second drone can then fly to the weed and apply the correct liquid on the weed. Unmanned aerial vehicles or vehicles operate similarly with respect to controlling disease, pests, insects, and mitigating nutrient deficiencies.

[0053] In this way, the correct chemical is used at each location, increasing the effectiveness of the application and with associated environmental benefits as the most aggressive chemicals are used only when necessary.

[0054] In one example, the analysis of the at least one image includes utilizing a machine learning algorithm.

[0055] In one example, the machine learning algorithm includes a decision tree algorithm.

[0056] In one example, the machine learning algorithm includes an artificial neural network.

[0057] In one example, the machine learning algorithm is trained based on a plurality of images. In one example, the machine learning algorithm is trained based on a plurality of images including images of at least one type of weed, and / or at least one type of plant suffering from one or more diseases, and / or at least one type of plant suffering from insect infestation from one or more types of insects, and / or at least one type of insect (if the images have sufficient resolution), and / or at least one type of plant suffering from one or more pest infestations, and / or at least one type of plant suffering from one or more nutritional deficiencies. In one example, the machine learning algorithm is trained based on a plurality of images including such images.

[0058] Thus, the UAV 10 may have one camera 40 and a processing unit 50 that uses the images acquired by the camera to operate the liquid application unit 30. The camera 40 acquires images of the field environment. The images do not have to be acquired by the drone 10, but may be acquired by a different drone and then passed to the drone 10 for processing. The images acquired by the camera 40 may be of a resolution that allows vegetation to be identified as vegetation, and indeed a resolution that allows one type of weed to be distinguished from another type of weed. The images may be of a resolution that allows the determination of pests or insect-infested crops, either from an image of the crop itself, or for example from the acquisition of the insects themselves. The drone 10 may have a global positioning system (GPS) 102, which allows the position of the acquired images to be determined. For example, the orientation of the camera 40 and the position of the drone 10 when the images were acquired may be used to determine the geographic footprint of the images on the ground. The drone 10 may also have an inertial navigation system 104, for example based on a laser gyroscope. In addition to being used to determine the orientation of the drone 10 and therefore the camera 40, to facilitate determining where on the ground an image was acquired, the inertial navigation system 104 can function alone, without the GPS 102, to determine the location of the drone by determining movement away from a known location or several known locations, such as a filling / charging station. The camera 40 passes the acquired images to the processing unit 50. Image analysis software runs on the processing unit 50. The image analysis software can use feature extraction, such as edge detection and object detection analysis, that can identify structures in and around the field, such as buildings, roads, fences, hedges, etc. Thus, based on the known locations of such objects, the processing unit can patch the acquired images to create a composite representation of the environment that can be virtually overlaid on a geographical map of the environment. Thus, the geographical location of each image can be determined, without the need to associate any GPS and / or inertial navigation based information related to the acquired images. In other words, the image-based location system 106 may be used to determine the location of the drone 10. However, if there is GPS and / or inertial navigation information available, such image analysis is not necessary as a particular image may be placed at a particular geographic location solely based on the image. However, if GPS and / or inertial navigation based information is available, such image analysis may be used to augment the geographic location associated with the image.

[0059] The processing unit 50 runs further image processing software which analyses the image to determine areas within the image where vegetation is found, and also analyses the image to determine where no vegetation is found (e.g. paths across the field, around field boundaries, and even tractor wheel tracks across the field). This latter information can be used to determine where liquid does not need to be applied.

[0060] Vegetation can be detected based on the shape of features in the acquired image, where, for example, edge detection software is used to delineate the perimeter of the object and the perimeter of the feature within the perimeter of the object itself; if the unmanned aerial vehicle is used for weed control along a railroad track environment, organic matter between the ballast can be detected in a similar manner. A database of vegetation images can be used to help determine whether a feature in the image is associated with vegetation, for example, using trained machine learning algorithms such as artificial neural networks or decision tree analysis. The camera can acquire multispectral images, along with images with information about the colors in the image, which can be used alone or in combination with feature detection to determine where vegetation is found in the image. As mentioned above, the geographic location of the image can be determined from knowledge of the size of the image on the ground, so that the location or locations of vegetation and / or other areas where liquid is applied can be found in the image and then mapped to the exact location of that vegetation (area) on the ground.

[0061] The processing unit 50 then executes further image processing software, which may be part of the image processing to determine the vegetation location based on feature extraction if feature extraction is used. This software includes a machine learning analyzer. An image of a particular weed is acquired, and information about the size of the weed is also used. The image may be tagged with information about the geographic location in the world where the weed is found, and information about the time of year when the weed is found (including when in flower). The name of the weed may also be tagged with the image of the weed. The machine learning analyzer may be based on an artificial neural network or decision tree analyzer, which is then trained on this ground truth acquired image. In this way, when a new image of vegetation is presented to the analyzer, which may have an associated timestamp such as the time of year and a geographic location such as Germany or South Africa tagged to it, the analyzer can determine the size of the weed and the particular type of weed that is in the image, taking into account also where and when the weed grows, by comparing the image of the weed found in the new image with the images of different weeds on which it was trained. Thus, the particular location of that weed type above ground in the environment, and its size, may be determined.

[0062] The processing unit 50 has access to a database containing different weed types and the optimal liquids to be applied to them. This database is compiled from empirically determined data. The image processing software, using machine learning algorithms, is also taught to recognize insects, insect-infested plants, plants suffering from pests, and plants suffering from nutrient deficiencies. This is done in the same way as described above, through training based on previously acquired images. The database also contains what liquids should be applied in what circumstances.

[0063] According to one example, the analysis of the at least one image to determine at least one location for operation of the at least one liquid application unit includes determining a location for the unmanned aerial vehicle to land.

[0064] According to one example, the unmanned aerial vehicle is configured to land on at least one extendable leg 60 attached to the body of the unmanned aerial vehicle.

[0065] In one example, the at least one extendable leg includes at least three legs.

[0066] In one example, the unmanned aerial vehicle is configured to land on the at least one retractable leg when the at least one retractable leg is in a retracted configuration.

[0067] According to one example, an end of the at least one extendable leg distal to an end of the at least one extendable leg attached to the body of the unmanned aerial vehicle is provided with at least one stabilizing structure 70 .

[0068] In one example, the at least one stability structure includes one or more of a spike, a disk, a ball, a cone, a mesh.

[0069] In one example, at least one extendable leg can be retracted to variable lengths to enable the unmanned aerial vehicle to land on uneven or sloped surfaces without tipping over.

[0070] According to one example, the at least one liquid application unit is movable relative to the body of the unmanned aerial vehicle. A processor of the unmanned aerial vehicle is configured to move at least the liquid application unit. If the UAV 10 has a processor 50 and the image analysis is not performed external to the UAV, the processor can be a processor 50 that analyzes the images.

[0071] According to one example, at least one liquid application unit is attached to at least one extendable arm 80 .

[0072] According to one example, when the unmanned aerial vehicle lands within the environment, the processor is configured to move the at least one liquid application unit to a position for operation of the at least one liquid application unit based on image analysis of at least one image of the environment.

[0073] In one example, a processor of an unmanned aerial vehicle configured to move the liquid application unit is a processing unit configured to analyze images of the environment.

[0074] According to one example, if the unmanned aerial vehicle includes a camera, the camera can be configured to move relative to the body of the unmanned aerial vehicle. A processor of the unmanned aerial vehicle is configured to move the camera. If the UAV 10 has a processor 50 and image analysis is not performed external to the UAV, the processor can be the processor 50 that analyzes the images.

[0075] In one example, the camera is mounted on an extendable arm 90 .

[0076] In one example, the extendable arm to which the camera is attached is the same extendable arm to which the liquid dispensing unit is attached.

[0077] In one example, determining the operating position of the liquid application unit includes moving a camera.

[0078] In one example, a processor of the unmanned aerial vehicle configured to move the camera is a processing unit configured to analyze images of the environment.

[0079] According to one example, the unmanned aerial vehicle is configured to determine a position for actuating the at least one liquid application unit after the unmanned aerial vehicle lands within an environment.

[0080] According to one example, the unmanned aerial vehicle is equipped with a position determining means 100 .

[0081] In one example, the position determining means is configured to provide the processing unit with at least one position relative to the camera when the at least one image is captured.

[0082] The location can be a geographic location, with respect to a precise location on the ground, or a location on the ground relative to one or more other locations on the ground, such as the boundaries of a field or the location of an unmanned docking station or charging station. In other words, an absolute geographic location can be utilized, or a location on the ground can be used that references a known location, but does not need to be known in absolute terms. Thus, by correlating the image with the location at which the image was acquired, the liquid application unit can be precisely actuated at that location. Thus, for example, even if a drone runs out of liquid and flies back to a larger reservoir to be filled with liquid, images that are used to actuate a liquid application unit at a particular location can continue to be acquired, even if the location is not immediately addressed and the liquid is applied later when the drone is recharged. Also, if a drone determines that a location should be applied to a location that it is not carrying, that information can be recorded and used by the drone when later delivering the required liquid, or transmitted to another drone that delivers the liquid, and the other drone can fly to the location and apply the liquid at the location.

[0083] In one example, the location is an absolute geographic location.

[0084] In one example, the location is a location that is determined with reference to one or more known locations. In other words, an image can be determined to be associated with a particular location on the ground by knowing where the image was acquired relative to known locations on the ground, without knowing its exact geographic location, but the liquid application unit can then be operated at the location by moving the liquid application unit to the location or by allowing another unmanned aerial vehicle to move to a location that will operate the liquid application unit at the location.

[0085] In one example, the GPS unit 102 is used to and / or is used in determining a location, such as the location of a camera when a particular image was captured.

[0086] In one example, the inertial navigation unit 104 is used alone or in combination with a GPS unit to determine a position, such as the position of a camera when a particular image was acquired. Thus, for example, an inertial navigation unit with one or more laser gyroscopes can be calibrated or zeroed at a known location (such as a drone docking or charging station) and as it moves with the at least one camera, it can determine movement away from that known location in x, y, and z coordinates, from which the position of the at least one camera when the image was acquired can be determined.

[0087] In one example, image processing of the captured images 106 is used alone or in combination with a GPS unit, or in combination with a GPS unit and an inertial navigation unit, to determine a location, such as the position of a camera when a particular image was captured. In other words, as the vehicle moves, images can be captured that are used to render a synthetic representation of the environment, and a location within that synthetic environment can be determined from the images captured by the vehicle from particular markers, such as the location of trees, field boundaries, roads, etc.

[0088] FIG. 2 shows an example of a system 200 for applying active ingredients to agricultural crops. The system 200 comprises at least one unmanned aerial vehicle 10 as described with respect to FIG. 1 and any of the related examples. The system 200 also comprises at least one camera 40 and at least one processing unit 50. For the unmanned aerial vehicle 12 of the at least one unmanned aerial vehicle 10, the following applies: the processing unit 52 of the at least one processing unit 50 is configured to transmit data usable for activating at least one liquid application unit of the unmanned aerial vehicle; the camera 42 of the at least one camera 40 is configured to acquire at least one image of the environment. The camera 42 is configured to transmit the at least one image to the processing unit 52. The processing unit 52 is configured to analyze the at least one image to determine at least one position for activating at least one liquid application unit 32 of the unmanned aerial vehicle 12, which is in fluid communication with the liquid reservoir 22 of the unmanned aerial vehicle 12.

[0089] In one example, each unmanned aerial vehicle is equipped with a camera.

[0090] In one example, each unmanned aerial vehicle includes a processing unit.

[0091] 3 shows, in its basic steps, a method 300 for application of an active ingredient to a crop by an unmanned aerial vehicle, said method 300 including: In a holding step 310, also referred to as step a), a liquid including an active ingredient is held in a liquid reservoir contained within or attached to the body of the unmanned aerial vehicle, where a liquid application unit is attached to the body of the unmanned aerial vehicle, the liquid application unit being in fluid communication with the liquid reservoir; In a receiving step 320, also referred to as step b), at least one input is received by the liquid application unit from the processing unit, where the at least one input is usable to operate the liquid application unit; In a landing step 330, also referred to as step c), landing the unmanned aerial vehicle in the environment to apply the liquid to at least one plant; and In an activation step 340, also referred to as step d), the liquid application unit is activated at a position determined by the processing unit based on an image analysis of at least one image of the environment acquired by the camera.

[0092] In one example, the unmanned aerial vehicle includes a camera mounted on a body of the unmanned aerial vehicle. The method can then include capturing at least one image with the camera of the unmanned aerial vehicle.

[0093] In one example, the unmanned aerial vehicle includes a processing unit housed within or attached to a body of the unmanned aerial vehicle. The method can then include analyzing the at least one image to determine a location for actuation of the liquid dispensing unit by the processing unit of the unmanned aerial vehicle.

[0094] In one example, in step d), analyzing the at least one image to determine at least one position for activating the at least one liquid application unit comprises determining at least one type of weed, and / or determining at least one type of disease, and / or determining at least one type of pest, and / or determining at least one type of insect, and / or determining at least one type of nutritional deficiency.

[0095] In one example, in step d), analyzing the at least one image to determine at least one position for operation of the at least one liquid application unit includes determining a location for the unmanned aerial vehicle to land.

[0096] In one example, step c) includes landing on at least one extendable leg attached to the body of the unmanned aerial vehicle.

[0097] In one example, an end of the at least one extendable leg distal to an end of the at least one extendable leg attached to the body of the unmanned aerial vehicle includes at least one stabilizing structure.

[0098] In one example, the liquid application unit is moveable relative to the body of the unmanned aerial vehicle, where step d) includes moving the liquid application unit under control of the processing unit.

[0099] In one example, the liquid dispensing unit is mounted on an extendable arm.

[0100] In one example, step d) includes moving the liquid application unit to a position for actuation of the liquid application unit based on image analysis of at least one image of the environment.

[0101] In one example, if the camera is mounted to the body of the unmanned aerial vehicle, the method includes moving the camera relative to the body of the unmanned aerial vehicle, where a processor of the unmanned aerial vehicle is configured to move the camera.

[0102] In one example, the method includes determining a location for actuating a liquid application unit after the unmanned aerial vehicle lands within an environment.

[0103] In one example, the method includes determining a position of the unmanned aerial vehicle using a position determining means of the UAV.

[0104] The unmanned aerial vehicle for applying an active ingredient to agricultural crops, the system for applying an active ingredient to agricultural crops, and the method for applying an active ingredient to agricultural crops by an unmanned aerial vehicle will now be described with reference to a highly detailed embodiment as shown in FIG. 4.

[0105] In Figures 4a and 4b, a drone with three telescopic legs is shown, one leg hidden. The drone can have three or more legs. The drone has a movable camera, allowing image analysis identification in the crop of weeds, insects and diseases (hereinafter "targets") (autonomously or remotely by an operator if necessary). The drone also has a telescopic arm that can apply a formulation of active ingredient directly to the target via a liquid application unit. The drone can have two or more telescopic arms. The liquid application unit does not have to be attached to a telescopic arm, but can be attached, for example, under the drone body pointing directly downwards.

[0106] The drone of Fig. 4a-b flies through the crop to identify the target or an area containing the target, and then applies a formulation of active ingredient (hereafter "formulation") directly to the weeds, insects and diseases. Typically, this can be problematic while the drone is flying, as the downdraft from the rotor causes both widespread and rapid movement of the crop leaves, which prevents precise application. Also, the movement of the drone in flight, which typically deals with the impact of, for example, cross winds on the drone, means that the swath cannot be considered a straight line (see tractor-mounted boom sprayer). However, the drone of Fig. 4a-b uses three telescoping legs to land briefly, stop the rotation of the rotor, or feather, identify the application target, and apply the formulation via the telescoping arms. Once the target is treated, the drone flies to the next plant and repeats the process until the required crop area is treated. Thus, the drone can treat all the plants in the crop, but can also determine which plants need to be treated while in flight, or on the ground.

[0107] In this way, significantly less active ingredient is required, as the targeted weeds, insects, and diseases are treated directly rather than the entire crop. Furthermore, the product can be applied directly and does not need to be first diluted in large amounts of water for spray application. This has the added benefit of substantially reducing the weight of the product for drone-carried application, extending the operating time between battery recharges or replacements and allowing for the use of much smaller, cheaper, and more efficient drones. Similarly, this method of application allows formulators to leverage the benefits of more concentrated active ingredients and surfactants in a smaller deposit.

[0108] Thus, purposefully designed formulations are available that have the appropriate physical stability to provide adequate wetting of the crop, adequate biodelivery of the active ingredient, and adequate resistance to wash-off by rain.

[0109] Off-target losses due to drift can be greatly reduced or even effectively eliminated, enabling application in populated and environmentally sensitive areas. Additionally, the drone can continue to operate in conditions that are too windy for application methods that produce low levels of spray drift.

[0110] Drones can operate autonomously, reducing the labor required to control targets in crops.

[0111] As shown in Figures 4a-b, the drone has four sets of rotors, but may have fewer or more rotors, or may have only one set of rotors. The rotors may be protected from contact with crop foliage by a protective ring surrounding the rotors and protective mesh above and below the rotors. The telescoping legs have disks and spikes at the end to allow for stable landing. However, the ends of the telescoping legs may include spikes, disks, balls, cones, or mesh shaped ends to aid in stable placement on the ground (such as in rice fields and other areas). The area occupied by the telescoping legs on the ground is such that the center of gravity of the drone assembly, including the telescoping arms, is always within the footprint area of ​​the telescoping legs. The moveable camera may be monoscopic or stereoscopic, and may view images in both the visible and / or infrared and / or near UV spectrum to aid in target identification. UV, visible and / or IR wavelength light may also be included to enhance target imaging. The camera may be mounted directly to the drone on a moveable mount, or may be mounted at the end of multiple telescoping arms. If desired, the camera can be mounted in a non-movable manner on the drone body.

[0112] Images from the camera can be analyzed by appropriate image analysis software to identify targets, which can be performed autonomously on-board the drone with a dedicated processing unit, or remotely by a separate processing unit with or without input from an operator.

[0113] The extendable arm can extend over a range of distances. At the end of the arm is a liquid application unit that can jet, spray or paint the formulated active ingredient onto the target. The extendable arm can also carry a camera. Additional extendable arms can also be included to temporarily hold the target stable during application, to precisely position the target for application, or to temporarily hold aside leaves covering the target.

[0114] The formulation is preferably liquid, including gel, and may be water-based or oil-based, examples include SC, SE, OD, CS, EC, EW, ME and SL types. The formulation is preferably applied directly without dilution, but it is also possible to dilute the formulation first in water or other suitable liquid before application. The formulation can be contained in a purposefully designed bottle (liquid reservoir) that can be directly attached to the extendable arm (d), thus providing a closed system with minimal contact of the formulation with the operator. Furthermore, the purposefully designed bottle can also include a liquid application unit. Furthermore, the drone can hold in the purposefully designed bottle a series of formulations containing different active ingredients for controlling various weeds, insects, and diseases, which can be selected as needed by the extendable arm(s).

[0115] The following relates to specific detailed examples of pesticide compositions used in sprayable liquids.

[0116] a) at least one pesticidal active compound which is solid at room temperature; b) at least one compound selected from the group consisting of mono- and diesters of sulfosuccinic acid metal salts with branched or linear alcohols containing 1 to 10 carbon atoms, in particular the alkali metal salts, more particularly the sodium salts, and most particularly sodium dioctyl sulfosuccinate; c) at least one polyalkylene oxide-modified heptamethyltrisiloxane; d) at least one emulsion polymer or polymer dispersion having a Tg in the range of -100°C to 30°C; e) one or more additives selected from the group consisting of nonionic or anionic surfactants or dispersing agents; f) at least one rheology modifier; g) at least one antifoaming agent; h) optional other ingredients, and i) at least one compatibilizer An aqueous dispersion of.

[0117] In a preferred embodiment, compounds a) to i) are present in the following amounts: a) 10 to 600 g / l, preferably 50 to 400 g / l, more preferably 100 to 400 g / l, and most preferably 200 to 360 g / l b) 1 to 80 g / l, preferably 4 to 60 g / l, more preferably 4 to 50 g / l, and most preferably 10 to 30 g / l c) 1 to 70 g / l, preferably 2.5 to 50 g / l, more preferably 5 to 45 g / l, and most preferably 10 to 40 g / l d) 1 to 80 g / l, preferably 2.5 to 60 g / l, more preferably 5 to 55 g / l, and most preferably 10 to 50 g / l e) 1 to 100 g / l, preferably 2.5 to 80 g / l, more preferably 5 to 60 g / l, and most preferably 20 to 45 g / l f) 0.5 to 60 g / l, preferably 1 to 40 g / l, more preferably 1 to 20 g / l, most preferably 1 to 15 g / l g) 1 to 25 g / l, preferably 1 to 20 g / l, more preferably 1 to 15 g / l, most preferably 1 to 10 g / l h) 0 to 150 g / l, preferably 1 to 100 g / l, more preferably 5 to 60 g / l, and most preferably 20 to 45 g / l i) 1 to 70 g / l, preferably 2.5 to 50 g / l, more preferably 5 to 45 g / l, and most preferably 10 to 40 g / l Now add water to volume (1 liter).

[0118] In an alternative embodiment, the formulation is used undiluted (e.g., direct application by UAV) and compounds a) to i) are present in the following amounts: a) 0.5 to 500 g / l, preferably 1 to 400 g / l, more preferably 5 to 200 g / l, and most preferably 10 to 100 g / l b) 0.2 to 60 g / l, preferably 0.4 to 40 g / l, more preferably 0.6 to 25 g / l, and most preferably 1 to 20 g / l c) 0.2 to 70 g / l, preferably 0.4 to 50 g / l, more preferably 0.6 to 35 g / l, and most preferably 1 to 20 g / l d) 0.2 to 60 g / l, preferably 0.4 to 50 g / l, more preferably 0.6 to 40 g / l, and most preferably 1 to 20 g / l e) 0.01 to 100 g / l, preferably 0.05 to 80 g / l, more preferably 0.1 to 60 g / l, and most preferably 1 to 45 g / l f) 0.1 to 60 g / l, preferably 0.5 to 30 g / l, more preferably 0.7 to 20 g / l, most preferably 1 to 15 g / l g) 0.001 to 25 g / l, preferably 0.01 to 20 g / l, more preferably 0.1 to 15 g / l, most preferably 0.2 to 10 g / l h) 0 to 180 g / l, preferably 1 to 150 g / l, more preferably 1 to 140 g / l, and most preferably 2 to 120 g / l i) 0.2 to 70 g / l, preferably 0.4 to 50 g / l, more preferably 0.6 to 35 g / l, and most preferably 1 to 20 g / l Now add water to volume (1 liter).

[0119] Further, alternative embodiments are directed to agrochemical compositions as described above, optionally comprising components b) and d): Therefore, the following ingredients: a) at least one pesticidal active compound which is solid at room temperature; b) mono- and diesters of metal sulfosuccinates with optionally branched or linear alcohols containing 1 to 10 carbon atoms, particularly the alkali metal salts, more particularly the sodium salts, and most particularly sodium dioctyl sulfosuccinate; c) at least one polyalkylene oxide-modified heptamethyltrisiloxane; d) an emulsion polymer or polymer dispersion having a Tg in the range of -100°C to 30°C; e) one or more additives selected from the group consisting of nonionic or anionic surfactants or dispersing agents; f) at least one rheology modifier g) at least one antifoaming agent; h) optional other ingredients; and i) at least one polyalkylene oxide block copolymer, preferably a polyalkylene oxide block copolymer (i), having a molecular weight (weight average molecular weight M w ) is 1,500 to 6,000 g / mol, the ethylene oxide content is 8 to 45%, preferably the molecular weight is 1,800 to 5,000 g / mol, the ethylene oxide content is 10 to 35%, more preferably the molecular weight is 2,000 to 4,000 g / mol, the ethylene oxide content is 15 to 30%, and particularly preferably the molecular weight is 2,200 to 3,000 g / mol, and the ethylene oxide content is 18 to 22%. There are also aqueous dispersions containing

[0120] Unless otherwise specified, % in this application means % by weight.

[0121] Furthermore, as mentioned above, it has been found that the problem of sprayable liquids for small volume applications is solved by a composition comprising an adjuvant combination comprising at least one of each of compounds b), c) and i).

[0122] Thus, another example is an adjuvant combination for a low spray volume pesticide composition.

[0123] In said adjuvant combination, preferably the compound is b) sodium dioctyl sulfosuccinate, c) polyalkylene oxide modified heptamethyltrisiloxane; i) Polyalkylene oxide block copolymer (i).

[0124] In a preferred embodiment, compounds b, c and i are present in a ratio of 1:1:1 to 1:4:3, preferably 1:1:1 to 1:3:3, most preferably 1:1.5:1.5 to 1:2.5:2.5.

[0125] In a preferred embodiment, compounds c and i are present in a ratio of 4:1 to 1:4, preferably 2:1 to 1:2, most preferably 4:3 to 3:5.

[0126] Furthermore, the amount of the surfactants b, c and i in the pesticide composition of this embodiment is 10 to 200 g / l, preferably 15 to 150 g / l, more preferably 20 to 120 g / l, and most preferably 40 to 100 g / l, where the above ratios are preferably applied.

[0127] Furthermore, as mentioned above, it has been found that the problem of sprayable liquids for small volume applications is solved by a composition comprising an alternative adjuvant combination comprising at least one of each of compounds b), c) and d).

[0128] Thus, another example is an alternative adjuvant combination for low spray volume pesticide compositions.

[0129] In said adjuvant combination, preferably the compound is b) sodium dioctyl sulfosuccinate, c) polyalkylene oxide modified heptamethyltrisiloxane; d) At least one emulsion polymer or polymer dispersion having a Tg in the range of -100°C to 30°C.

[0130] In a preferred embodiment, compounds b, c and d are present in a ratio of 1:1:1 to 1:6:3, preferably 1:1:1 to 1:5:3, most preferably 1:1.5:1.5 to 1:3:3.

[0131] In a preferred embodiment, compounds c and d are present in a ratio of 4:1 to 1:4, preferably 3:1 to 1:3, most preferably 2:1 to 1:2.

[0132] Furthermore, the amount of the surfactants b, c and d in the pesticide composition of this embodiment is 10 to 200 g / l, preferably 15 to 160 g / l, more preferably 20 to 140 g / l, and most preferably 40 to 130 g / l, where the above ratios are preferably applied.

[0133] Suitable compounds a) of the composition A are agriculturally active compounds which are solid at room temperature.

[0134] Solid, agrochemically active compounds a) are to be understood in the compositions according to the invention as meaning all substances customary for the treatment of plants having a melting point above 20° C. Preference is given to fungicides, bactericides, insecticides, acaricides, nematicides, molluscicides, herbicides, plant growth regulators, plant nutrients, biologically active substances and repellents.

[0135] The active compounds identified herein by their common names are known and can be found, for example, in the Pesticide Handbook ("The Pesticide Manual" 16th Edition, British Crop Protection Council 2012) or on the Internet (e.g., http: / / www.alanwood.net / pesticides). Classification is based on the IRAC Mode of Action Classification Scheme current at the time of filing this patent application.

[0136] By way of example, the insecticides may be one or more of: abamectin; acetamiprid; acrinathrin; acinonapyr; benzpyrimoxan; brofuranilide; clothianidin; chlorantraniliprole; cyclaniliprole; dichloromezothiaz; dodecadienol; flubendiamide; fluhexafon; imidacloprid; nitenpyram; chlorfenapyr, emamectin; ethiprole; fipronil; flonicamid; flupyradifurone; indoxacarb, metaflumizone, methoxyfenozide; milbemycin; oxazosulfil; pyridaben; pyridalyl; silafluofen; spinosad; spirodiclofen; spiromesifen; spirotetramat; sulfoxaflor; tetraniliprole; thiacloprid; thiamethoxam; triflumezopyrim; triflumuron; and other insecticides may be used.

[0137] By way of example, fungicides include: amisulbrom; bixafen; fenamidone; fenhexamid; fluopicolide; fluopyram; fluoxastrobin; iprovalicarb; isotianil; pencycuron; penflufen; propineb; prothioconazole; tebuconazole; trifloxystrobin; ametocladine; amisulbrom; azoxystrobin; benthiavalicarb-isopropyl; benzovindiflupyr; boscalid; carbendazim; chloramphenicol ... Lorotanoil;Cyazofamid;Cyflufenamid;Cymoxanil;Cyproconazole;Diclobenthiazox;Difenoconazole;Dipimethytrone;Ethaboxam;Epoxyconazole;Famoxadone;Fenpicoxamide;Florylpicoxamide;Fluazinam;Fluopimomide;Fludioxonil;Fluindapyr;Fluquinconazole;Flusilazole;Flutianil;Fluxapyroxad;Ipfentrifluconazole;Ipflufenoquin ;Isopyrazam;Creoxim-methyl;Riselfenvalpir;Mancozeb;Mandipropamid;Mefentrifluconazole;Oxathiapiproline;Pentiopyrad;Picarbutrazox;Picoxystrobin;Probenazole;Proquinazid;Pyridiflumetofen;Pyraclostrobin;Pyraziflumid;Pyridaclomethyl;Quinofumelin;Sedaxane;Tebufuloquine, Tetraconazole, Valifenalate;Zoxamide;N-Cyclopropyl-3- (difluoromethyl)-5-fluoro-N-(2-isopropylbenzyl)-1-methyl-1H-pyrazole-4-carboxamide; 2-{3-[2-(1-{[3,5-bis(difluoromethyl)-1H-pyrazol-1-yl]acetyl}-piperidin-4-yl)-1,3-thiazol-4-yl]-4,5-dihydro-1,2-oxazol-5-yl}-3-chlorophenyl methanesulfonate; and other fungicides may be used.

[0138] In one example, the herbicide includes all applicable forms such as acids, salts, esters, and has at least one applicable form: aclonifen; amidosulfuron; bensulfone-methyl; bromoxynil; bromoxynil potassium; chlorsulfuron; chlorodinafop; chlorodinafop-propargyl; clopyralid; cyclopyranyl; 2,4-D, 2,4-D-dimethylammonium, -diolamine, -isopropylammonium, -potassium, -triisopropanolammonium, and -Trolamine;2,4-DB, 2,4-DB dimethylammonium, -potassium, and -sodium;Desmedipham;Dicamba;Diflufenican;Diuron;Ethofumesate;Ethoxsulfuron;Fenoxaprop-P;Fenquinotrione;Flazasulfuron;Florasulam;Florpyrauxifen;Florpyrauxifen-benzyl;Flufenacet;Fluroxypyr;Flurtamone;Fomesafen;Fomesafen-sodium;Foramsulfuron;Glufosinate;Glufosinate -Ammonium;Glyphosate;Glyphosate-isopropylammonium, -potassium, and trimesium;Halauxifen;Halauxifen-methyl;Halosulfuron-methyl;Indaziflam;Iodosulfuron-methyl-sodium;Isoproturon;Isoxaflutole;Lenacil;MCPA;MCPA-isopropylammonium, -potassium, and sodium;MCPB;MCPB-sodium;Mesosulfuron-methyl;Mesotrione;Metosulam;Metribuzin;Metosu Furon-methyl; napropamide; napropamide-M; nicosulfuron; pendimethalin; penoxlam; phenmedipham; picolinafen; pinoxaden; propoxycarbazone-sodium; pyrasulfotole; pyroxasulfone; pyroxulam; rimsulfuron; saflufenacil; sulcotrione; tefuryltrione; tembotrione; thiencarbazone-methyl; tolpyralate; topramezone; tribenuron-methyl; trifludimoxadine; and other herbicides can be used.

[0139] Preferred safeners a) or h) are: mefenpyr-diethyl, cyprosulfamide, isoxadifen-ethyl, (RS)-1-methylhexyl (5-chloroquinolin-8-yloxy) acetate (cloquintocet-mexyl, CAS-No. 99607-70-2), metcamifen.

[0140] Suitable active ingredients may optionally additionally include soluble active ingredients, for example dissolved in the aqueous carrier phase, and / or liquid active ingredients, for example dispersed as an emulsion in the aqueous carrier phase.

[0141] All the above named active ingredients can be present in the form of free compounds and / or in the form of their agriculturally acceptable salts, if their functional groups allow this. Furthermore, mesomeric forms as well as stereoisomers or enantiomers, if applicable, are intended to be included, as well as polymorphic modifications, since these modifications are well known to those skilled in the art.

[0142] B Suitable B alkyl sulfosuccinates b) are mono- and diesters of sulfosuccinic acid metal salts with branched or linear alcohols containing 1 to 10 carbon atoms, in particular the alkali metal salts, more particularly the sodium salts, and most particularly sodium dioctyl sulfosuccinate; C Suitable organosilicon ethoxylates c) are organomodified polysiloxane / trisiloxane alkoxylates having the following CAS-Nos. 27306-78-1, 67674-67-3, 134180-76-0, e.g. Silwet® L77, Silwet® 408, Silwet® 806, BreakThru® S240, BreakThru® S278; D Suitable acrylic and styrenic emulsion polymers or polymer dispersions d) are aqueous polymer dispersions having a Tg in the range of -100°C to 30°C, preferably -60°C to 20°C, more preferably -50°C to 10°C, most preferably -45°C to 5°C, such as Acronal V215, Acronal 3612, Licomer ADH 205 and Atplus FA. Particularly preferred are Licomer ADH205 and Atplus FA.

[0143] Preferably, the polymer is selected from the group consisting of acrylic polymers, styrene polymers, vinyl polymers and their derivatives, polyolefins, polyurethanes, and natural polymers and their derivatives.

[0144] In a preferred embodiment, the polymer has a molecular weight of 40,000 or less, preferably 10,000 or less.

[0145] In a preferred embodiment, polymer D is an emulsion polymer as described in WO2017 / 202684.

[0146] Glass transition temperatures (Tg) are known for many polymers and, if not otherwise defined, are determined according to ASTM E1356-08(2014) "Standard Test Method for Assignment of Glass Transition Temperatures by Differential Scanning Calorimetry", where samples are dried at 110°C for 1 hour prior to DSC to eliminate water and / or solvent effects, and run from -100°C to 100°C at 20°C / min under N2 with a DSC sample size of 10-15 mg, and Tg is defined as the midpoint of the transition region.

[0147] E Suitable nonionic surfactants or dispersing aids e) are all substances of this type which can be conventionally used in agrochemicals. Preference is given to polyethylene oxide-polypropylene oxide block copolymers, polyethylene glycol ethers of branched or linear alcohols, reaction products of fatty acids or fatty acid alcohols with ethylene oxide and / or propylene oxide, as well as polyvinyl alcohols, polyoxyalkyleneamine derivatives, polyvinylpyrrolidone, copolymers of polyvinyl alcohol and polyvinylpyrrolidone, and copolymers of (meth)acrylic acid and (meth)acrylic acid esters, as well as branched or linear alkyl ethoxylates and alkylaryl ethoxylates, where polyethylene oxide-sorbitan fatty acid esters can be mentioned as examples. From among the above examples, selected classes may be phosphated, sulfonated or sulfated and neutralized with bases.

[0148] Possible anionic surfactants e) are all substances of this type that can be conventionally used in agrochemicals.Preference is given to the alkali metal, alkaline earth metal and ammonium salts of alkylsulfonic acid or alkylphosphoric acid and alkylarylsulfonic acid or alkylarylphosphoric acid.A further preferred group of anionic surfactants or dispersing auxiliaries is the alkali metal, alkaline earth metal and ammonium salts of polystyrenesulfonic acid, the salts of polyvinylsulfonic acid, the salts of alkylnaphthalenesulfonic acid, the salts of naphthalenesulfonic acid-formaldehyde condensation products, the salts of naphthalenesulfonic acid, phenolsulfonic acid and formaldehyde condensation products, and the salts of lignosulfonic acid.

[0149] F Rheology modifiers are additives that produce a significant increase in viscosity at low shear rates when added to a formulation at a concentration that reduces gravitational separation of dispersed active ingredients during storage. Low shear rates are 0.1 s -1 A significant increase is defined as greater than x2 and a large increase is defined as greater than x2. Viscosity can be measured by rotational shear rheometer.

[0150] Suitable rheology modifiers f) are, by way of example, Polysaccharides, including xanthan gum, guar gum and hydroxyethylcellulose, such as Kelzan®, Rhodopol® G and 23, Satiaxane® CX911 and Natrosol® 250.

[0151] Clays including montmorillonite, bentonite, sepeolite, attapulgite, laponite, hectorite, such as Veegum® R, Van Gel® B, Bentone® CT, HC, EW, Pangel® M100, M200, M300, S, M, W, Attagel® 50, Laponite® RD, Fumed and precipitated silicas, for example Aerosil® 200, Siponat® 22.

[0152] Xanthan gum, montmorillonite clay, bentonite clay and fumed silica are preferred.

[0153] G Suitable antifoaming substances g) are all substances that can be conventionally used in agrochemicals for this purpose. Silicone oils, silicone oil preparations are preferred. For example, Silcolapse® 426 and 432 from Bluestar Silicones, Silfoam® SRE and SC132 from Wacker, SAF-184® from Silchem, Foam-Clear ArraPro-S® from Basildon Chemical Company Ltd, SAG 1572 and SAG 30 [dimethylsiloxane and silicone, CAS-No. 63148-62-9] from Momentive. SAG 1572 is preferred.

[0154] H Suitable other ingredients h) are selected from biocides, antifreeze agents, colorants, pH adjusters, buffers, stabilizers, antioxidants, inert filler materials, humectants, crystal growth inhibitors, micronutrients, by way of example only: Possible preservatives are all substances that can be conventionally used in pesticides for this purpose.Suitable examples of preservatives are preparations that contain 5-chloro-2-methyl-4-isothiazolin-3-one [CAS-No. 26172-55-4], 2-methyl-4-isothiazolin-3-one [CAS-No. 2682-20-4] or 1,2-benzisothiazol-3(2H)-one [CAS-No. 2634-33-5].For example, Preventol® D7 (Lanxess), Kathon® CG / ICP (Dow), Acticide® SPX (Thor GmbH), Proxel® GXL (Arch Chemicals), etc.

[0155] Suitable antifreeze substances are all substances which can be customarily used for this purpose in agrochemicals. Suitable examples are propylene glycol, ethylene glycol, urea and glycerin.

[0156] Possible colorants are all substances which can be conventionally used in pesticides for this purpose. Examples include titanium dioxide, carbon black, zinc oxide, blue pigments, brilliant blue FCF, red pigments and permanent red FGR.

[0157] Possible pH regulators and buffers are all substances which can be conventionally used in pesticides for this purpose. For example, citric acid, sulfuric acid, hydrochloric acid, sodium hydroxide, sodium hydrogen phosphate (Na 2 HPO 4 ), sodium dihydrogen phosphate (NaH 2 PO 4 ), potassium dihydrogen phosphate (KH 2 PO 4 ), potassium hydrogen phosphate (K 2 HPO 4 ) are mentioned.

[0158] Suitable stabilizers and antioxidants are all substances which can be customarily used in pesticides for this purpose. Butylhydroxytoluene [3,5-di-tert-butyl-4-hydroxytoluene, CAS No. 128-37-0] is preferred.

[0159] I. A compatibilizer selected from the group consisting of: i Polyalkylene oxide block copolymer (i), preferably having a molecular weight (weight average molecular weight M w a polyalkylene oxide block copolymer having a molecular weight of 1,500 to 6,000 g / mol and an ethylene oxide content of 8 to 45%, more preferably a molecular weight of 1,800 to 5,000 g / mol and an ethylene oxide content of 10 to 35%, still more preferably a molecular weight of 2,000 to 4,000 g / mol and an ethylene oxide content of 15 to 30%, and particularly preferably a molecular weight of 2,200 to 3,000 g / mol and an ethylene oxide content of 18 to 22%; ii. Block copolymers of polyethylene oxide and polypropylene oxide other than those mentioned above; iii Ethoxylated branched alcohols having 2 to 20 EO units (e.g., Genapol® X-type); iv. Methyl end-capped ethoxylated branched alcohols containing 2-20 EO units (e.g., Genapol® XM-type); v Ethoxylated coconut alcohol containing 2-20 EO units (e.g., Genapol® C-type); vi Ethoxylated C12 / 15 alcohols containing 2 to 20 EO units (e.g., Synperonic® A-type); vii Propoxy-ethoxylated alcohols (branched or linear), such as Antarox® B / 848, Atlas® G5000, Lucramul® HOT 5902; viii. Ethoxylated diacetylenic diols (e.g., Surfynol® 4xx-range); ix Propoxy-ethoxylated fatty acids, Me end capped, e.g. Leofat® OC0503M; x Alkyl ether citrate surfactants (e.g. Adsee CE range, Akzo Nobel); xi Alkyl polysaccharides (e.g., Agnique® PG8107, PG8105, Atplus® 438, AL-2559, AL-2575); xii Ethoxylated mono- or diesters of glycerin containing fatty acids having 8 to 18 carbon atoms and an average of 10 to 40 EO units (e.g., the Crovol® range); xiii Castor oil ethoxylates containing an average of 5-40 EO units (e.g. Berol® range, Emulsogen® EL range).

[0160] In the most preferred embodiment, the compatibilizer is a polyalkylene oxide block copolymer i), more preferably having a molecular weight of 2,400 to 2,500 g / mol and an ethylene oxide content of 20%.

[0161] Unless otherwise specified in this application, the molecular weight is the weight average molecular weight M measured by GPC in methylene chloride at 25° C. based on polystyrene. w Refers to...

[0162] The formulations were prepared according to the following method.

[0163] Method 1: Methods for preparing suspension concentrate formulations are known in the art and can be produced by known methods well known to those skilled in the art. A 2% gel in water of xanthan (f) and biocide (h) was prepared with low shear mixing. The active ingredient (a), nonionic and anionic dispersants (e), a portion of the antifoam agent (g), and other ingredients (h) were mixed to form a slurry and mixed first with a high shear rotor-stator mixer (Ultra-Turrax®) to reduce the particle size D (v, 0.9) to about 50 microns, and then passed through one or more bead mills (Eiger® 250 Mini Motormill) to achieve a particle size D (v, 0.9) of typically 1 to 15 microns required for the biological performance of the active ingredient. Those skilled in the art will understand that this may vary for different active ingredients. The remaining ingredients: mono- and diesters of sulfosuccinate metal salts (b), polyalkylene oxide modified heptamethyltrisiloxane (c), emulsion polymer or polymer dispersion (d), a portion of the antifoam agent (g), and the xanthan gel prepared above were added and mixed with low shear stirring until homogenous. Finally, the pH was adjusted to 7.0 (+ / - 0.2) with acid or base (h).

[0164] material: List of materials, CAS numbers, etc. Table I: Exemplary trade names and CAS numbers of preferred compounds b) [Table 1]

[0165] Table II: Exemplary trade names and CAS numbers of preferred compounds c) [Table 2]

[0166] Table III: Exemplary Trade Names and CAS Numbers of Preferred Compounds d) [Table 3]

[0167] Table IV: Exemplary Trade Names and CAS Numbers of Preferred Compounds e) [Table 4]

[0168] Table V: Exemplary Trade Names and CAS Numbers of Preferred Compounds f) [Table 5] TIFF0007649255000006.tif127168

[0169] Table VI: Exemplary Trade Names and CAS Numbers of Preferred Compounds g) [Table 6]

[0170] Table VII: Exemplary Trade Names and CAS Numbers of Preferred Compounds h) [Table 7]

[0171] TIFF0007649255000009.tif44169

[0172] Table VIII: Exemplary Trade Names and CAS Numbers of Preferred Compounds i) [Table 8]

[0173] TIFF0007649255000011.tif50165 EXAMPLES

[0174] Example 1: The formulations were prepared using the following recipe: Table IX Compositions of Formulations 1, 2 and 3. [Table 9] The preparation method used was according to Method 1.

[0175] Example 2: In another example, 1 liter of each of formulations 2 and 3 was diluted in 7 liters of water and sprayed at a rate of 8 l / ha onto leaf sections taken from rice, soybean and maize plants by a Maruyama MMC940AC drone equipped with two Yamaha flat fan nozzles flying at a height of 2 m. A fluorescent marker (Tinopal OB®) was added and spray coverage was determined from analysis of images obtained under UV illumination. The drone was flown at a height of 2 m and at a speed of 15-20 km / h.

[0176] Table X Leaf coverage after spray application by drone at 8 l / ha. [Table 10]

[0177] The results shown in Table X demonstrate that Formulation 2 (for a sprayable liquid described for low volume spray application) showed greatly improved wetting and coverage of each of the leaf surfaces.

[0178] Example 3: In another example, formulations 2 and 3 were diluted at 1 liter SC in 7 liter water and sprayed at 8 liter / ha application rate on rice plants (cv. Koshihikari) in pots at full tiller growth stage with the same application conditions as above by Maruyama MMC940AC drone equipped with two Yamaha flat fan nozzles flying at a height of 2 m. The rice plants were inoculated with Rhizoctonia solani 17 days after application and subsequently incubated for 7 days under dark conditions at 25°C and 100% relative humidity. The rice plants were then grown in a greenhouse for 18 days and evaluated for disease control.

[0179] Table XI shows disease control after drone spray application at 8 l / ha. [Table 11]

[0180] The results in Table XI demonstrate that Formulation 2 (for a sprayable liquid described for low volume spray application) provided enhanced control of the disease.

[0181] In another example, formulations 2 and 3 were diluted at a rate of 1 liter SC with a small amount of fluorescent label in water volumes ranging from 1200 l / ha to 4 l / ha and sprayed at the mature growth stage by backpack sprayer on outdoor rice plants (Japonica) fitted with (Teejet) Conejet® TXVS nozzles (1200-600 l / ha TXVS-8, 300-4 l / ha TXVS-2). Spray deposits on isolated rice leaves were photographed under UV illumination and spray coverage and average spray deposit area were measured using ImageJ image analysis software (Fiji package, www.fiji.com).

[0182] Table XII Leaf coverage and spray deposition area at different spray rates. [Table 12]

[0183] The results in Table XII demonstrate that formulation 2 (for the described sprayable liquid for low volume spray application) gave significantly improved coverage at 50-4 l / ha compared to reference formulation 3. At 100 l / ha, coverage was significantly lower for formulation 2, demonstrating the importance of low spray volumes below 50 l / ha to achieve significantly higher leaf coverage of the spray mixture. At 200-1200 l / ha, higher coverage was observed from larger spray volumes. Importantly, formulation 2 sprayed at 4-50 l / ha achieved comparable coverage to reference formulation 3 at 600 l / ha, demonstrating that the described sprayable liquid for low volume spray application can achieve comparable coverage to the reference formulation sprayed at much higher conventional spray volumes. However, reference formulation 3 did not achieve comparable coverage at low spray volumes below 100 l / ha, and coverage decreased as spray volume decreased.

[0184] The same improvement in coverage was seen for the average spray deposit area, formulation 2 (for the described sprayable liquid for low volume spray application), which produced significantly higher spread spray deposits between 50 and 4 l / ha. The higher spray rates of 100 and 200 l / ha produced deposits with much lower areas, as did the reference formulations from 4 to 300 l / ha. The results from Table XII are plotted in Figure 6.

[0185] Both of these results demonstrate the advantages of the described sprayable liquid at low volume spray applications between 4 and 50 liters per hectare for application by unmanned aerial vehicles as described herein.

[0186] Example 4: Low spray volume The formulations were prepared using the following recipe: Table XII [Table 13]

[0187] The preparation method used was in accordance with Method 1.

[0188] In one example, formulation example 4 for the described sprayable liquid for low volume spray application and the commercial product Nativo® 300 SC (Bayer AG, registration number L8942 South Africa, code 102000008381) containing 100 g / l trifloxystrobin and 200 g / l tebuconazole were spray applied to paddy rice using a low spray volume of 60 l / ha and evaluated for control of neck blast disease after two applications. The treated crop was then harvested and yield was measured.

[0189] Table XIV. Biological results for Formulation 4 and Nativo® SC. [Table 14]

[0190] The results show that the described sprayable solution for low spray volume or low volume spray application of Formulation 4 at 60 l / ha provided both significantly greater disease control and increased yield compared to the commercial reference Nativo® SC.

[0191] Example 5: Insecticides Table XV: Formulations were prepared using the following recipes: [Table 15]

[0192] The preparation method used was in accordance with Method 1.

[0193] Formulations 5, 6 and 7 along with a small amount of fluorescent label were sprayed onto rice leaves at a spray volume of 10 l / ha and formulation rate of 1.0 l / ha, and the coverage of the spray was determined from fluorescence under UV illumination using ImageJ image analysis software (Fiji package, www.fiji.com).

[0194] Table XVI Leaf Coverage Results [Table 16]

[0195] The results show that formulation 5 for the described sprayable liquid for low volume spray application showed significantly higher coverage than reference formulations 10 and 11.

[0196] Example 6: Herbicides Table XVII: Formulations were prepared according to the following formula: [Table 17]

[0197] The preparation method used was in accordance with Method 1.

[0198] Formulations 8 and 9 along with a small amount of fluorescent label were sprayed onto rice leaves at a spray volume of 10 l / ha and formulation rate of 0.5 l / ha, and the coverage of the spray was determined from fluorescence under UV illumination using ImageJ image analysis software (Fiji package, www.fiji.com).

[0199] Table XVIII: Leaf Coverage Results [Table 18]

[0200] The results show that formulation 8 for the described sprayable liquid for low volume spray application showed significantly higher coverage than the reference formulation 13.

[0201] Figure 5 shows images of spray deposits on rice, soybean, and corn leaves. The top image shows the results for the reference formulation (Formulation 3) and the bottom image shows the results for the sprayable liquid for low volume application as described herein (Formulation 2) after spray application by drone at a spray volume of 8 l / ha.

[0202] Technical Support Note: The kinetic energy (KE) of a spray droplet depends on both the droplet size (mass m) and the droplet velocity (v), so KE = 1 / 2mv 2 ,Spray application by UAV results in a significant increase in the kinetic energy of the spray droplets from the high downdraft from the rotor, and high kinetic energy results in higher rebound of the spray from the leaf surface. With the increased kinetic energy of the droplets, it is necessary to reduce the dynamic surface tension to prevent increased spray rebound. However, this is addressed by the described sprayable liquids for low volume application.

[0203] Dynamic Wetting Agent is a small adjuvant / surfactant that diffuses rapidly into the air-water interface, reduces surface tension, and can increase leaf adhesion reducing droplet recoil, which is provided by the above sprayable liquids for small volume applications.

[0204] Dynamic wetting agents: A formulation without a dynamic wetting agent may have sufficient spray retention in a fine spray, but in a coarse, low drift spray, the spray droplets will have much higher kinetic energy, resulting in reduced spray retention.

[0205] Washing away by rain is a potential route to high losses of active ingredients from the crop and therefore, to mitigate this, rain-resistant additives can be incorporated into the formulation, as provided by the described sprayable liquids for low-volume application.

[0206] The choice of formulation is a complex combination of many factors. For particulate formulations, this is most easily achieved with a highly flowable formulation.

[0207] Bio Delivery is governed by the microstructure of the spray deposit, in particular the distribution of the active ingredients and adjuvants. In the case of particulate systems this can be very complex and involve the formation of "coffee ring structures", which are addressed by the described sprayable liquids for small volume applications.

[0208] · The deposit microstructure depends on both the formulation design and the spray volume, with higher biodelivery being achieved at low spray volumes, well below complete leaf coverage for poorly soluble active ingredients.

[0209] Foliar coverage can also be applied at low spray rates depending on the required biodelivery of each active ingredient. To increase penetration, low coverage can increase uptake and for adjuvanted flowables this can be from a compact "coffee ring" deposit.

[0210] Spray amount. For high coverage, the addition of a high diffusion adjuvant (e.g., a high diffusion adjuvant / surfactant (e.g., an organosilicone)) can deliver good coverage at low spray volumes, as provided by the described sprayable liquids for low volume applications. For relatively low volumes of "diffusion surfactant," enhanced diffusion can be observed from spray volumes of 60 l / ha or less. As the spray volume decreases, the concentration of the adjuvant / surfactant increases, and enhanced diffusion continues down to the low spray volumes used in aerial applications of 8 l / ha or less.

[0211] wet For this to occur, a contact angle θ<90° is essential since the leaf surface "microstructure" for θ<90° enhances wetting and the leaf surface "microstructure" for θ>90° enhances non-wetting, resulting in a movement of the sprayable liquid towards smaller contact angles for the described low volume applications.

[0212] The target spray volume should be 60 l / ha or less, adjusted as necessary, where the adjuvant concentration is sufficient to enhance spray retention and foliar wetting with vehicle mediated applications as described above, with the upper limit being one that strikes a good balance between the various competing requirements. This is achieved by the sprayable liquids described for low volume applications.

[0213] All of these effects, described under the supporting notes, relate to an incredibly complex juxtaposition of factors regarding how the liquid can be sprayed on the crop. It has been found that the described sprayable liquids for low volume spray applications provide surprising beneficial effects that are provided by an optimal combination of these factors that may compete with each other. In the described sprayable liquids, an optimal sprayable liquid having a combination of these factors is provided.

[0214] In another exemplary embodiment, a computer program or a computer program element is provided, characterized in that it is configured to perform, on a suitable system, the method steps of the method according to one of the previous embodiments.

[0215] The computer program element may thus be stored in a computing unit which may be part of the embodiments. This computing unit may be configured to execute or direct the execution of the steps of the method described above. Moreover, it may be configured to operate the components of the device and / or system described above. The computing unit may be configured to operate automatically and / or to execute the user's orders. The computer program may be loaded into the operating memory of a data processor. The data processor may thus be equipped to execute the method according to one of the aforementioned embodiments.

[0216] This exemplary embodiment of the invention encompasses both computer programs that use the invention from the outset, and computer programs that, by means of an update, transform an existing program into a program that uses the invention.

[0217] Moreover, the computer program element may provide all the steps required to fulfill the procedures of the exemplary embodiments of the methods described above.

[0218] According to a further exemplary embodiment of the present invention, a computer readable medium such as a CD-ROM, a USB stick or the like is presented, the computer readable medium having stored thereon a computer program element, which computer program element is described by the previous section.

[0219] The computer program may be stored and / or distributed on a suitable medium, such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunications systems.

[0220] However, the computer program may also be presented on a network such as the World Wide Web and may be downloaded from such a network into the working memory of a data processor. According to a further exemplary embodiment of the invention, a medium for making a computer program element available for downloading is provided, the computer program element being configured to perform a method according to one of the aforementioned embodiments of the invention.

[0221] It should be noted that the embodiments of the present invention are described with reference to different subject matters. In particular, some embodiments are described with reference to method type claims, and other embodiments are described with reference to device type claims. However, those skilled in the art will understand from the above and following description that, unless otherwise indicated, any combination of features belonging to one type of subject matter, as well as any combination between features relating to different subject matters, is considered to be disclosed in this application. However, all features can be combined to provide synergistic effects that are more than the simple sum of the features.

[0222] While the invention has been illustrated and described in detail in the drawings and the foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive. The invention is not limited to the disclosed embodiments. Other variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the dependent claims.

[0223] In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. A single processor or other unit may fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be interpreted as limiting the scope.

Claims

1. An unmanned aerial vehicle (10) for applying an active ingredient to agricultural crops, comprising: a liquid reservoir (20), wherein said liquid reservoir is configured to hold a liquid comprising an active ingredient; and at least one liquid application unit (30); wherein the at least one liquid application unit is in fluid communication with the liquid reservoir; the at least one liquid application unit is configured to receive at least one input from a processing unit, the at least one input usable to operate the at least one liquid application unit; the unmanned aerial vehicle is configured to land within an environment to apply the liquid to at least one plant; The at least one liquid application unit is configured to be activated at a location determined by the processing unit based on image analysis of at least one image of the environment acquired by a camera; and and analyzing the at least one image to determine at least one location for activating the at least one liquid application unit includes determining where the unmanned aerial vehicle will land. The unmanned aerial vehicle.

2. 2. The unmanned aerial vehicle of claim 1, wherein the unmanned aerial vehicle comprises a camera (40), the camera configured to capture the at least one image.

3. An unmanned aerial vehicle as described in any one of claims 1 to 2, wherein the unmanned aerial vehicle comprises a processing unit (50), the processing unit configured to perform an analysis of the at least one image to determine a position for activating the at least one liquid application unit.

4. An unmanned aerial vehicle as described in any one of claims 1 to 3, wherein the analysis of the at least one image to determine the at least one position for activating the at least one liquid application unit includes determining at least one type of weed, and / or determining at least one type of disease, and / or determining at least one type of pest, and / or determining at least one type of insect, and / or determining at least one type of nutritional deficiency.

5. 5. An unmanned aerial vehicle as described in any one of claims 1 to 4, wherein the unmanned aerial vehicle is configured to land on at least one extendable leg (60) attached to a body of the unmanned aerial vehicle.

6. 6. An unmanned aerial vehicle as described in claim 5, wherein an end of the at least one extendable leg distal to an end of the at least one extendable leg attached to the body of the unmanned aerial vehicle is provided with at least one stabilizing structure (70).

7. An unmanned aerial vehicle as described in any one of claims 1 to 6, wherein the at least one liquid application unit is movable relative to a body of the unmanned aerial vehicle, and a processor of the unmanned aerial vehicle is configured to move the at least one liquid application unit.

8. The unmanned aerial vehicle of claim 7, wherein the at least one liquid application unit is mounted on at least one extendable arm (80).

9. An unmanned aerial vehicle as described in any of claims 7 to 8, wherein when the unmanned aerial vehicle lands within the environment, the processor is configured to move the at least one liquid application unit to a position for operating the at least one liquid application unit based on the image analysis of the at least one image of the environment.

10. An unmanned aerial vehicle as described in any one of claims 1 to 9, wherein when the unmanned aerial vehicle is equipped with a camera, the camera is configured to move relative to a body of the unmanned aerial vehicle, and a processor of the unmanned aerial vehicle is configured to move the camera.

11. 11. An unmanned aerial vehicle as described in any one of claims 1 to 10, wherein the unmanned aerial vehicle is configured to determine a position for actuating the at least one liquid application unit after the unmanned aerial vehicle lands within the environment.

12. An unmanned aerial vehicle according to any one of the preceding claims, wherein the unmanned aerial vehicle comprises position determining means (100).

13. A system (200) for applying an active ingredient to an agricultural crop, comprising: at least one unmanned aerial vehicle (10) according to any one of claims 1 to 12; at least one camera (40); and at least one processing unit (50); Equipped with wherein for an unmanned aerial vehicle (12) of the at least one unmanned aerial vehicle: a processing unit (52) of the at least one processing unit configured to transmit data usable to operate the at least one liquid dispensing unit of the unmanned aerial vehicle; a camera (42) of the at least one camera configured to capture at least one image of the environment; wherein the camera is configured to transmit the at least one image to the processing unit; and The system, wherein the processing unit is configured to analyze the at least one image to determine at least one position for activating the at least one liquid application unit (32) of the unmanned aerial vehicle that is in fluid communication with the liquid reservoir (22) of the unmanned aerial vehicle.

14. A method (300) for applying an active ingredient to agricultural crops by unmanned aerial vehicle, comprising: a) holding (310) a liquid comprising an active ingredient in a liquid reservoir contained within or attached to the body of an unmanned aerial vehicle, wherein a liquid dispensing unit is attached to the body of the unmanned aerial vehicle, the liquid dispensing unit being in fluid communication with the liquid reservoir; b) receiving (320) at least one input by a liquid application unit from a processing unit, wherein said at least one input is usable to operate said liquid application unit; c) landing the unmanned aerial vehicle within an environment to apply the liquid to at least one plant (330); and d) actuating the liquid application unit at a location determined by the processing unit based on image analysis of at least one image of the environment acquired by a camera (340); The method, wherein analyzing the at least one image to determine at least one location for operating the liquid application unit includes determining where the unmanned aerial vehicle will land.

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