阅读说明：本技术 一种烟草施药控制方法、系统、存储介质、无人机 (Tobacco pesticide application control method and system, storage medium and unmanned aerial vehicle ) 是由 孙鹏 王杰 程森 冯永新 蔡宪杰 谭宏祥 高远 关辉 卢晓华 靳彦峰 于 2020-05-22 设计创作，主要内容包括：本发明属于人工智能技术领域,公开了一种烟草施药控制方法、系统、存储介质、无人机,根据烟草生产的实际情况,采用油式多旋翼喷雾无人机；结合烟草不同时期的发育长势、流行病虫害和用药重点实际情况,按照不同生产季节采用移栽期执飞参数、团棵期执飞参数、现蕾期执飞参数和平顶期执飞参数进行施药。本发明在应对植烟区域复杂地形影响、防控烟草病虫害发生等方面都有着良好的效果,有效提高了烟草产区病虫害综合防治的机械化、信息化和智能化水平,是提高农药使用效率、降低农残污染、保护生态环境的重要手段,同时也为茶叶、果树等与烟草相似的农产品,在病虫害防治无人机飞防等方面提供了新的方法和参考。(The invention belongs to the technical field of artificial intelligence, and discloses a tobacco pesticide application control method, a system, a storage medium and an unmanned aerial vehicle, wherein an oil type multi-rotor spraying unmanned aerial vehicle is adopted according to the actual situation of tobacco production; and (3) applying the pesticide by adopting the flying-holding parameters in the transplanting period, the flying-holding parameters in the bulk period, the flying-holding parameters in the bud period and the flying-holding parameters in the flat top period according to different production seasons by combining the development growth, epidemic diseases and insect pests and the key practical situation of pesticide application in different periods of tobacco. The invention has good effects in the aspects of coping with the influence of complex terrain in tobacco planting areas, preventing and controlling the occurrence of tobacco diseases and insect pests and the like, effectively improves the mechanization, informatization and intelligentization levels of the comprehensive prevention and control of the diseases and insect pests in tobacco production areas, is an important means for improving the use efficiency of pesticides, reducing pesticide residue pollution and protecting ecological environment, and simultaneously provides a new method and reference for agricultural products similar to tobacco, such as tea leaves, fruit trees and the like, in the aspects of unmanned aerial vehicle flight prevention and control of diseases and insect pests and the like.)

1. A tobacco application control method is characterized by comprising the following steps:

firstly, adopting an oil type multi-rotor spraying unmanned aerial vehicle according to the actual situation of tobacco production;

and secondly, combining the development growth, epidemic diseases and insect pests and key practical situations of the medicine for the tobacco in different periods, and applying the medicine according to different production seasons by adopting the flying-holding parameters in the transplanting period, the flying-holding parameters in the bulk period, the flying-holding parameters in the bud period and the flying-holding parameters in the flat top period.

2. The tobacco pesticide application control method according to claim 1, wherein the net weight of the oil type multi-rotor spraying unmanned aerial vehicle is 15-20 Kg, the maximum takeoff weight is 30-50 Kg, the no-load continuous flight time is not less than 30min, and the full-load continuous flight time is not less than 10 min.

3. The tobacco pesticide application control method of claim 1, wherein the flying parameters in the transplanting period are that the flying height is 1.0-1.5 m between two ridges of a flying route, the distance between an induction probe and the bottom of a furrow is 30-35 cm, the flying speed is 4.0-5.0 m/s, and the spraying flow rate is 1.2-1.6L/min.

4. The tobacco application control method of claim 1, wherein the agglomeration period flight-executing parameter is a flight route between two ridges;

the first flight height is 1.0-1.5 m, the distance between the sensing probe and the bottom of the furrow is 25-30 cm, the flight speed is 3.0-4.0 m/s, and the spraying flow is 1.5-1.8L/min;

the second time of flying prevention and the first time of flying prevention are separated by 1-2 days, the flying height is 1.5-1.8 m, the distance between the sensing probe and the bottom of the furrow is 40-45 cm, the flying speed is 4.0-6.0 m/s, and the spraying flow is 2.0-2.4L/min.

5. The tobacco application control method of claim 1, wherein the bud-stage flying-execution parameter is between two ridges of a flight path;

the first flight height is 1.5-2.0 m, the distance between the sensing probe and the bottom of the furrow is 25-30 cm, the flight speed is 3.0-4.0 m/s, and the spraying flow is 1.5-1.8L/min;

the second time of flying prevention and the first time of flying prevention are separated by 1-2 days, the flying height is 2.0-2.5 m, the distance between the sensing probe and the bottom of the furrow is 50-60 cm, the flying speed is 4.0-5.0 m/s, and the spraying flow is 1.6-2.0L/min.

6. The tobacco application control method of claim 1, wherein the flat-top flight-execution parameter is between two ridges of a flight path;

the flying height of the two flyings is 2.5-3.0 m, the distance between the induction probe and the bottom of the furrow is 50-60 cm, the flying speed is 3.5-4.5 m/s, and the spraying flow is 2.0L/min.

7. A program storage medium for receiving user input, the stored computer program causing an electronic device to perform the steps comprising:

firstly, adopting an oil type multi-rotor spraying unmanned aerial vehicle according to the actual situation of tobacco production;

and secondly, combining the development growth, epidemic diseases and insect pests and key practical situations of the medicine for the tobacco in different periods, and applying the medicine according to different production seasons by adopting the flying-holding parameters in the transplanting period, the flying-holding parameters in the bulk period, the flying-holding parameters in the bud period and the flying-holding parameters in the flat top period.

8. A tobacco application control system for implementing the tobacco application control method according to any one of claims 1 to 6, wherein the tobacco application control system comprises:

the hardware execution module is used for realizing the spraying of the medicament;

and the parameter setting module is used for setting a transplanting period flight executing parameter, a bulk period flight executing parameter, a bud period flight executing parameter and a flat top period flight executing parameter.

9. A tobacco application control device equipped with the tobacco application control system according to claim 8, wherein the tobacco application control device is provided with:

an unmanned aerial vehicle;

the bottom of the unmanned aerial vehicle is provided with a guide rod and a medicine storage device, the lower end of the medicine storage device is connected with a first-stage guide rod and a spray head, a second-stage guide rod and a spray head, and a third-stage guide rod and a spray head;

the bottom of the medicine storage box is provided with a connecting groove, a sealing gasket and a waste liquid port;

the upper platform and the lower platform of the platform support are flat plates made of stainless steel materials, fan-shaped notches are reserved in the center and one side of the platform support, and the upper platform is provided with a level gauge; the platform support is a hollow pipe made of stainless steel and is provided with a screwing device and a fixed support leg;

the guide rod and the spray head are welded by stainless steel materials, and special anti-corrosion coatings are plated on the inner surface and the outer surface; each level of guide rod is connected by a liquid separator component; the first-stage guide rod and the spray head are used in a tobacco transplanting period and a tobacco agglomeration period, the first-stage guide rod and the spray head, the second-stage guide rod and the spray head are connected in series for a tobacco vigorous growing period, and the first-stage guide rod and the spray head, the second-stage guide rod and the spray head, and the third-stage guide rod and the spray head are connected in series for a tobacco flat top period; the spray heads are connected by a liquid separator, and a connector is reserved at the lower end of the liquid separator and used for installing a guide rod or a probe.

10. An unmanned aerial vehicle carrying a tobacco application control device according to claim 9.

Technical Field

The invention belongs to the technical field of artificial intelligence, and particularly relates to a tobacco pesticide application control method, a tobacco pesticide application control system, a storage medium and an unmanned aerial vehicle.

Background

At present, the development of unmanned aerial vehicle plant protection pesticide application machinery gradually becomes a great important development direction of modern plant protection machinery pesticide application. The unmanned aerial vehicle variable pesticide application technology covers the variable pesticide application technology and the atomization characteristic control technology of the traditional plant protection machine, and further comprises a speed acquisition technology, so that data input is provided for variable pesticide application of the unmanned aerial vehicle. For countries including the united states, russia and the like where the development of aerial pesticide application technology is earlier, the aerial plant protection pesticide application technology is at a leading level in various aspects such as the research field, the application range and the like. The unmanned aerial vehicle pesticide application technology in China is still imperfect, and various aspects including variable spraying technology, unmanned aerial vehicle supervision mechanism and the like are still in need of development and improvement.

Unmanned aerial vehicle equipment of giving medicine to poor free of charge is the important research direction of aviation application with its high efficiency, the superiority of effect, extensive suitability of giving medicine to poor free of charge gradually. However, in China, the unmanned aerial vehicle is mostly operated manually at present, because different landforms exist in different operation areas, such as too steep planting areas, too scattered land parcels and the like, if the unmanned aerial vehicle is automatically sprayed by adopting the prior art, the problems of uneven pesticide application amount distribution in the operation area range, low spraying efficiency and the like are easily caused; at present, the technical problems of turning, obstacle avoidance and the like of special terrains in China are not effectively solved; the unmanned aerial vehicle adopted at the present stage mainly comprises an electric type and an oil-driven type in terms of power, and a flight controller is not arranged in the unmanned aerial vehicle, so that the unmanned aerial vehicle also needs the professional flying hand operation of the unmanned aerial vehicle. Compared with automatic spraying, the unmanned aerial vehicle operated by the flyer has the advantages of stronger maneuverability, better environmental adaptability and the like. Unmanned aerial vehicles, as advanced technology products that combine electronic technology and mechanical structures, have higher complexity and degree of difficulty in their operation. At present, the main reasons that the unmanned aerial vehicle sprays the homogeneity poor, even the problem such as flight accident that causes are that operating personnel's specialty is not strong, the technique is not skilled. With the continuous development of agriculture in China in the aspect of aviation plant protection technology, higher requirements are provided for the precision and the operating efficiency of unmanned aerial vehicle plant protection in pesticide application. Under the operation requirement to different operation topography, different spraying object, different spraying environment and difference, unmanned aerial vehicle sprays requires differently, for reaching the requirement of best prevention and cure effect and non-staining environment, unmanned aerial vehicle's the homogeneity of spraying becomes a big main index of evaluation aviation plant protection effect. Plant protection unmanned aerial vehicle is at the operation in-process, and the homogeneity that sprays the pesticide and the prevention and cure effect of giving medicine to poor free of charge can direct influence by the change of flying speed state. Therefore, in the aviation pesticide application process, the key for improving the uneven pesticide application condition is to solve the problem of speed change of the unmanned aerial vehicle.

The application of unmanned aerial vehicle on the tobacco mainly focuses on the tobacco field monitoring, utilizes the remote sensing mode to monitor the condition such as tobacco field planting, plant diseases and insect pests promptly. In the aspect of pesticide spraying prevention and cure of plant diseases and insect pests, the unmanned aerial vehicle is used for preventing and curing myzus persicae, pesticide spraying efficiency can be improved, and operation uniformity and penetrability are superior to manual operation. The method has the advantages that the diseases and pests in the tobacco planting process are more, the diseases and pests comprise myzus persicae, oriental tobacco budworms, rhizome diseases, leaf spot diseases and the like, the pesticide is reasonably sprayed, and the method has important significance for reducing the loss of the diseases and pests and solving the problem of pesticide residue of the tobacco. Unmanned aerial vehicle flight is steady at the uniform velocity, and the plant blade surface can be opened to the air current of pushing down that the rotor screw produced, helps increasing fog and flows the penetrability to crops, makes the liquid medicine spray the root of plant, plays better prevention and cure effect. The large-scale unified control of unmanned aerial vehicle is implemented, the small environment of tobacco field can be effectively regulated and controlled, the control effect can be ensured, the tobacco diseases can be effectively controlled, the pesticide application amount is reduced, the air pollution and the soil pollution are reduced, and the pesticide residue of tobacco leaves is reduced. Meanwhile, the control effect can be met by the plant protection unmanned aerial vehicle with the dosage of 2 kg/mu on tobacco, the minimum manual operation requirement is 40kg of water, and the demand of the field plant protection link on water can be effectively reduced by unmanned aerial vehicle pesticide application. China's tobacco zone mainly uses hills, mountain region as the main, and the landmass is not of uniform size, irregular, uses unmanned aerial vehicle can not receive the restriction of topography and landform, realizes even operation, avoids leaking to spout, repeated spraying. Utilize unmanned aerial vehicle to fly to prevent, need professional technical personnel, the operation and the safety training of being convenient for realize standardized operation, and the operation personnel contact liquid medicine probability is little, has avoided pesticide to operation personnel's harm.

At present, the tobacco planting body is 1.33-3.67 hm²Mainly, the pesticide spraying is mainly carried out by the tobacco grower or the couple, the tobacco grower does not count the labor of the tobacco grower, and the cost is increased by adopting the unmanned aerial vehicle to fly and prevent. Moreover, after the unmanned aerial vehicle flies to prevent, fog drops per square centimeter of tobacco leaves are less than those of fog drops sprayed manually, so that the recognition degree of tobacco growers is influenced. Meanwhile, the unmanned aerial vehicle professional company considers the problems of cost, depreciation, benefit and the like, the mu service cost is higher than or close to the manual pesticide spraying cost of tobacco growers, and large-area popularization of unmanned aerial vehicle flight prevention is not facilitated.

The operation is not timely enough, and unmanned aerial vehicle flies to prevent that professional company is less, can not satisfy the tobacco field demand, can not in time carry out the operation when meetting to concentrate to fly to prevent and treat, has so not only reduced the prevention and cure effect, breaks up the unified prevention and control plan, has also influenced market reputation, has reduced the trust of tobacco grower.

The control effect is blank, the unmanned aerial vehicle pesticide application is operated on the upper part of a tobacco plant, the liquid medicine can cover the upper tobacco leaves, but the coverage rate of the middle and lower tobacco leaves is lower, and the key points of the control of tobacco leaf spot diseases such as alternaria leaf spot, climatic spots and the like are the middle and lower tobacco leaves. Because can not effectively cover the liquid medicine to middle and lower part tobacco leaf for unmanned aerial vehicle pesticide application technique has very big prevention effect blank area or invalid region.

Through the above analysis, the problems and defects of the prior art are as follows: the existing unmanned aerial vehicle tobacco pesticide application method has a large blank area or invalid area, so that pesticide is wasted, the environment is polluted, the cost is increased, the pest control effect is poor, and the unmanned aerial vehicle cannot be used for effectively controlling pests in most of the period from the tobacco bulk stage to the mature harvest and baking stage.

The difficulty in solving the above problems and defects is: the unmanned aerial vehicle mode of giving medicine to poor free of charge is most for top to bottom at present, and the middle and later stages of tobacco growth development receive the influence of hiding of upper portion tobacco leaf, and pesticide penetrating power is not enough hardly adheres to the surface of middle and lower part tobacco leaf, and this is also that blank area or the not good leading reason of sick worm prevention and cure effect appear in the unmanned aerial vehicle medicament spraying. Some unmanned aerial vehicle flies to prevent and control company improves the pest control effect through methods such as increase medicament flow or medicament spraying number of times, but the effect that plays from experimental result is very little, increases the cost on foot, can cause upper portion tobacco leaf to adhere to the pesticide too much moreover, appears irreversible phytotoxicity or the pesticide residue exceeds limit standard scheduling problem, and this also is the unmanned aerial vehicle flies to prevent the important limiting factor that the technique is difficult to extensively promote in planting cigarette production area.

The significance of solving the problems and the defects is as follows: by optimizing the pesticide application technology of the unmanned aerial vehicle, the pesticide spraying cost can be further reduced, and the approval of tobacco growers on the unmanned aerial vehicle flight prevention technology is improved; by optimizing the unmanned aerial vehicle pesticide application technology, the liquid medicine coverage rate can be improved, the blank areas or invalid areas of prevention effect are reduced, and the comprehensive prevention and control effect of plant diseases and insect pests is improved; by optimizing the unmanned aerial vehicle pesticide application technology, the green prevention and control technology system of the tobacco can be perfected, and the influence of chemical pesticides on the tobacco and the ecological environment is further reduced.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a tobacco pesticide application control method, a tobacco pesticide application control system, a storage medium and an unmanned aerial vehicle.

The invention is realized in such a way that a tobacco pesticide application control method comprises the following steps:

firstly, adopting an oil type multi-rotor spraying unmanned aerial vehicle according to the actual situation of tobacco production;

and secondly, combining the development growth, epidemic diseases and insect pests and key practical situations of the medicine for the tobacco in different periods, and applying the medicine according to different production seasons by adopting the flying-holding parameters in the transplanting period, the flying-holding parameters in the bulk period, the flying-holding parameters in the bud period and the flying-holding parameters in the flat top period.

Further, the net weight of the whole oil type multi-rotor spraying unmanned aerial vehicle is 15-20 Kg, the maximum takeoff weight is 30-50 Kg, the no-load continuous flight time is not less than 30min, and the full-load continuous flight time is not less than 10 min.

Furthermore, the flying parameters in the transplanting period are the flying height between two ridges of the flying route and 1.0-1.5 m, the distance between the sensing probe and the bottom of the furrow is 30-35 cm, the flying speed is 4.0-5.0 m/s, and the spraying flow is 1.2-1.6L/min.

Further, the flight-executing parameter of the agglomeration period is that the flight route is between two ridges;

the first flight height is 1.0-1.5 m, the distance between the sensing probe and the bottom of the furrow is 25-30 cm, the flight speed is 3.0-4.0 m/s, and the spraying flow is 1.5-1.8L/min;

the second time of flying prevention and the first time of flying prevention are separated by 1-2 days, the flying height is 1.5-1.8 m, the distance between the sensing probe and the bottom of the furrow is 40-45 cm, the flying speed is 4.0-6.0 m/s, and the spraying flow is 2.0-2.4L/min.

Further, the current bud-stage flying-carrying parameter is between two ridges of the flight route;

the first flight height is 1.5-2.0 m, the distance between the sensing probe and the bottom of the furrow is 25-30 cm, the flight speed is 3.0-4.0 m/s, and the spraying flow is 1.5-1.8L/min;

the second time of flying prevention and the first time of flying prevention are separated by 1-2 days, the flying height is 2.0-2.5 m, the distance between the sensing probe and the bottom of the furrow is 50-60 cm, the flying speed is 4.0-5.0 m/s, and the spraying flow is 1.6-2.0L/min.

Further, the flat top period flight-executing parameter is between two ridges of a flight route;

the flying height of the two flyings is 2.5-3.0 m, the distance between the induction probe and the bottom of the furrow is 50-60 cm, the flying speed is 3.5-4.5 m/s, and the spraying flow is 2.0L/min.

It is another object of the present invention to provide a program storage medium for receiving user input, the stored computer program causing an electronic device to perform the steps comprising:

firstly, adopting an oil type multi-rotor spraying unmanned aerial vehicle according to the actual situation of tobacco production;

and secondly, combining the development growth, epidemic diseases and insect pests and key practical situations of the medicine for the tobacco in different periods, and applying the medicine according to different production seasons by adopting the flying-holding parameters in the transplanting period, the flying-holding parameters in the bulk period, the flying-holding parameters in the bud period and the flying-holding parameters in the flat top period.

Another object of the present invention is to provide a tobacco application control system for implementing the tobacco application control method, the tobacco application control system including:

the hardware execution module is used for realizing the spraying of the medicament;

and the parameter setting module is used for setting a transplanting period flight executing parameter, a bulk period flight executing parameter, a bud period flight executing parameter and a flat top period flight executing parameter.

Another object of the present invention is to provide a tobacco application control device equipped with the tobacco application control system, the tobacco application control device including:

an unmanned aerial vehicle;

the guide bar is installed to unmanned aerial vehicle's bottom and stores up the medicine ware, stores up the medicine ware lower extreme and is connected with one-level guide arm and shower nozzle, second grade guide arm and shower nozzle, tertiary guide arm and shower nozzle, and inductive probe is installed to the below of tertiary guide arm and shower nozzle, and unmanned aerial vehicle rises and falls on the platform that rises and falls, and the platform that rises and falls is installed at the top of platform support.

The bottom of the medicine storage box is provided with a connecting groove, a sealing gasket and a waste liquid port;

the upper platform and the lower platform of the platform support are flat plates made of stainless steel materials, fan-shaped notches are reserved in the center and one side of the platform support, and the upper platform is provided with a level gauge; the platform support is a hollow pipe made of stainless steel and is provided with a screwing device and a fixed support leg;

the guide rod and the spray head are welded by stainless steel materials, and special anti-corrosion coatings are plated on the inner surface and the outer surface; each level of guide rod is connected by a liquid separator component; the first-stage guide rod and the spray head are used in a tobacco transplanting period and a tobacco agglomeration period, the first-stage guide rod and the spray head, the second-stage guide rod and the spray head are connected in series for a tobacco vigorous growing period, and the first-stage guide rod and the spray head, the second-stage guide rod and the spray head, and the third-stage guide rod and the spray head are connected in series for a tobacco flat top period; the spray heads are connected by a liquid separator, and a connector is reserved at the lower end of the liquid separator and used for installing a guide rod or a probe.

The unmanned aerial vehicle is a main carrier for accurate pesticide application, and carries accessories such as a pesticide box and a connecting groove, wherein the pesticide box is designed in a replaceable manner and is arranged in the connecting groove at the bottom of the unmanned aerial vehicle; the guide rod, the spray head and the like are directly arranged at the lower part of the connecting groove, and the guide rod or the spray head with different specifications is selected according to the requirement. Platform support, high probe etc. are accurate auxiliary assembly who gives medicine to poor free of charge, use with the unmanned aerial vehicle cooperation, and wherein platform support's main function is for unmanned aerial vehicle take off and land provide convenience, and high probe ensures unmanned aerial vehicle safety.

The invention also aims to provide an unmanned aerial vehicle carrying the tobacco pesticide application control device.

By combining all the technical schemes, the invention has the advantages and positive effects that: the invention provides a brand-new tobacco unmanned aerial vehicle pesticide application mode which is provided specially aiming at the physiological characteristics and the disease characteristics of tobacco on the basis of a pesticide application method of a large-agriculture unmanned aerial vehicle. The requirement of unmanned aerial vehicle pesticide application to place and personnel etc. is reduced, can adapt to the demand in different planting cigarette production areas, all have good effect in aspects such as reply complicated topography influence, control plant diseases and insect pests emergence, effectively improved mechanized, information-based and intelligent level of tobacco plant diseases and insect pests prevention and control link, be the important means that improves pesticide availability factor, reduce the incomplete pollution of farming.

According to the occurrence characteristics and the popular trend of different plant diseases and insect pests of tobacco, four sets of unmanned aerial vehicle pesticide application technical rules are formulated by combining the growth period of the tobacco, each set of technical rules comprises a hardware module and a parameter module, wherein the hardware module comprises an unmanned aerial vehicle, a navigation rod, an induction ball, an undercarriage and other components, and technical references comprise pesticide preparation, operation guidance, attention and the like. By different combinations of hardware and matching with corresponding pesticide application technologies, the pesticide application requirements of tobacco in different growth periods such as a colony period and a vigorous growth period can be met, the accurate prevention and control of plant diseases and insect pests such as tobacco virus diseases, climatic spots, brown spot, powdery mildew, myzus persicae and the like are realized, the method is suitable for various tobacco planting areas such as mountainous regions, hills, plains and the like, and has wide applicability and extremely high popularization value.

The invention relates to a method for accurately applying pesticide to tobacco by an unmanned aerial vehicle, which is a brand-new pesticide applying mode of the unmanned aerial vehicle for the tobacco on the basis of a pesticide applying method of a large-scale agricultural unmanned aerial vehicle, and is specially designed for the physiological characteristics and the disease-causing characteristics of the tobacco.

According to the precise pesticide application method for the unmanned aerial vehicle, innovative accessories such as a multi-stage guide rod, a four-way sprayer and an adjustable lifting platform are designed, spraying blank areas or invalid areas of the pesticide can be effectively reduced through matching, waste and loss of the pesticide can be avoided, the pest control effect is improved, and the problem that the unmanned aerial vehicle cannot be used in the middle and later periods of a tobacco field or the pest control effect is poor is solved. Accessories such as platform that rises and falls with adjustable have reinforceed the adaptability that unmanned aerial vehicle goes up and down, accord with and plant the actual conditions and the demand that the cigarette region is mostly topography such as mountain region, hills.

The hardware configuration and technical parameters of the unmanned aerial vehicle for accurate pesticide application are analyzed and summarized on the basis of multiple field tests, have good effects on dealing with the influence of complex terrain in tobacco planting areas, preventing and controlling the occurrence of tobacco diseases and insect pests and the like, effectively improve the mechanization, informatization and intelligentization levels of comprehensive disease and insect pest prevention in tobacco production areas, are important means for improving the use efficiency of pesticides, reducing pesticide residue pollution and protecting ecological environment, and provide a new method and reference for tea leaves, fruit trees and other agricultural products similar to tobacco and for the prevention and control of flying and prevention of unmanned aerial vehicles by diseases and insect pests.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.

FIG. 1 is a flow chart of a tobacco application control method provided by an embodiment of the present invention.

FIG. 2 is a schematic structural diagram of a tobacco application control system provided in an embodiment of the present invention;

in the figure: 1. a hardware execution module; 2. and a parameter setting module.

FIG. 3 is a schematic structural view of a tobacco application control device provided by an embodiment of the present invention;

in the figure: 3. an unmanned aerial vehicle; 4. a guide bar; 5. a medicine storage device; 6. a landing platform; 7. a primary guide rod and a spray head; 8. a secondary guide rod and a spray head; 9. a three-stage guide rod and a spray head; 10. a platform support; 11. an inductive probe.

Fig. 4 is a schematic diagram of a transplantation period of an unmanned aerial vehicle precise pesticide application technology provided by an embodiment of the invention.

Fig. 5 is a schematic view of first flight control in a group period of an unmanned aerial vehicle accurate pesticide application technology provided by an embodiment of the invention.

Fig. 6 is a schematic view of the second flight control in the group period of the precise pesticide application technology of the unmanned aerial vehicle provided by the embodiment of the invention.

Fig. 7 is a schematic diagram of first-time flight control in the bud stage of the precise pesticide application technology of the unmanned aerial vehicle provided by the embodiment of the invention.

Fig. 8 is a schematic diagram of the precise pesticide application technology of the unmanned aerial vehicle for the second flight control in the bud stage according to the embodiment of the invention.

Fig. 9 is a schematic diagram of flat-top flight control in the precise pesticide application technology of the unmanned aerial vehicle provided by the embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Aiming at the problems in the prior art, the invention provides a tobacco pesticide application control method, a tobacco pesticide application control system, a storage medium and an unmanned aerial vehicle, and the invention is described in detail with reference to the attached drawings.

As shown in figure 1, the tobacco pesticide application control method provided by the invention comprises the following steps:

s101: according to the practical situation of tobacco production, an oil type multi-rotor spraying unmanned aerial vehicle is adopted, the net weight of the whole machine is required to be 15-20 Kg, and the maximum takeoff weight is required to be 30-50 Kg, so that the capacity of a liquid medicine box is ensured to be about 15-20L, the no-load continuous flight time is not less than 30min, and the full-load continuous flight time is not less than 10 min.

S102: and (3) applying the pesticide by adopting the flying parameters in the transplanting period, the flying parameters in the bulk period, the flying parameters in the bud period and the flying parameters in the flat top period according to different production seasons by combining the actual conditions of the tobacco such as development growth, epidemic diseases and insect pests, drug application emphasis and the like in different periods.

As shown in fig. 2, the present invention provides a tobacco application control system comprising:

and the hardware execution module 1 is used for realizing the spraying of the medicament.

And the parameter setting module 2 is used for setting a transplanting period flight executing parameter, a bulk period flight executing parameter, a bud period flight executing parameter and a flat top period flight executing parameter.

The technical solution of the present invention is further described below with reference to the accompanying drawings.

As shown in fig. 3, the present invention provides a tobacco application control device comprising: unmanned aerial vehicle 3, guide bar 4, medicine storage device 5, the platform 6 that rises and falls, one-level guide arm and shower nozzle 7, second grade guide arm and shower nozzle 8, tertiary guide arm and shower nozzle 9, platform support 10, inductive probe 11.

Guide bar 4 and storage medicine ware 5 are installed to unmanned aerial vehicle 3's bottom, and storage medicine ware 5 lower extreme is connected with one-level guide arm and shower nozzle 7, second grade guide arm and shower nozzle 8, tertiary guide arm and shower nozzle 9, and inductive probe 11 is installed to the below of tertiary guide arm and shower nozzle 9, and unmanned aerial vehicle 3 rises and falls on platform 6 that rises and falls, and platform 6 that rises and falls is installed at the top of platform support 10.

In order to meet the special requirements of disease and insect pest prevention and control of tobacco, components such as a guide rod 4, an induction probe 11, a lifting platform 6 and the like are developed in addition to a conventional unmanned aerial vehicle 3 and a medicine storage device 5, and the special requirements of disease and insect pest prevention and control of tobacco in different growth periods are met through matching use.

These designs have changed unmanned aerial vehicle mode of applying medicine from top to bottom in the past, and the medicament entering route is improved to the side direction at no dead angle, accords with the demand of using medicine of a class crops of tobacco more, reduces or has avoided the blank area of spouting the medicine operation, has promoted effective depth and the coverage of medicament.

1. Unmanned aerial vehicle parameters

Unmanned aerial vehicle 3 is the main carrier tool of accurate application of pesticides technique, and the mode of concentrating the company of slices is mostly adopted in present tobacco planting, so need dispose power big enough, the strong and good model of stability of maneuverability, according to the actual conditions of tobacco production, can adopt oily many rotor spraying unmanned aerial vehicle, require complete machine net weight 15 ~ 20Kg, the weight of taking off 30 ~ 50Kg of the biggest, in order to ensure that medicine storage device 5 capacity is about 15 ~ 20L, the continuous flight time of no load is more than or equal to 30min, the continuous flight time of full-load is not less than 10 min.

2. Guide rod

Guide bar 4 is the auxiliary fitting of unmanned aerial vehicle flight in-process, can adopt light, tough and difficult stainless steel material preparation of rolling over, length and unmanned aerial vehicle broad width phase-match, and mainly used unmanned aerial vehicle's course is confirmed, makes liquid medicine shower nozzle and tobacco plant be stable contained angle state, ensures the evenly distributed of liquid medicine at the tobacco leaf.

3. Medicine storage box

The explosive box 5 is polyethylene material, disposable complete molding, acid and alkali-resistance, corrosion-resistant, and the volume is about 15 ~ 20L, contains annexes such as graduation apparatus, filter screen and ventilative valve, and supporting corresponding diaphragm hydraulic pump uses with the unmanned aerial vehicle cooperation. The design of 5 bottoms of explosive box has spread groove, sealed pad and waste liquid mouth etc. can install liquid medicine guide arm and flowmeter according to the demand, and mainly used liquid medicine is stored and flow control to and the changing dressings of explosive box 5, wash etc. combine flight speed and height in the application of medicine in-process, regulate and control the spraying efficiency of liquid medicine in real time.

4. Platform support

The platform support 10 is an adjustable platform support and is an unmanned aerial vehicle 3 lifting auxiliary device specially designed for precise pesticide application technology, the upper platform and the lower platform are flat plates made of stainless steel, fan-shaped gaps are reserved in the center and one side of the upper platform, and the upper platform is provided with a level gauge which is matched with the platform support 10 to ensure that the platforms are in a horizontal position after being installed; platform support 10 is stainless steel's hollow tube, is furnished with screwing device and fixed stabilizer blade, can adjust six spinal branch lengths respectively as required, can adapt to the needs such as level land, hillside fields and unsmooth topography, makes 3 rises and falls of unmanned aerial vehicle no longer limited by the topography.

5. Guide rod and spray head

The guide rod and the spray head are key components for ensuring accurate pesticide application of the unmanned aerial vehicle, are formed by welding stainless steel and other materials, and are plated with special anti-corrosion coatings on the inner surface and the outer surface. The guide rods of all levels are connected by corresponding parts such as a liquid separator and the like, and can be used independently or in series according to requirements, wherein the first-level guide rod and the spray head 7 are mainly used in a tobacco transplanting period and a tobacco agglomeration period, the first-level guide rod and the spray head 7, the second-level guide rod and the spray head 8 are connected in series and are mainly used in a tobacco vigorous growing period, and the first-level guide rod and the spray head 7, the second-level guide rod and the spray head 8, the third-level guide rod and the spray. The shower nozzle is fan-shaped pressure shower nozzle, improves the liquid medicine penetrating power in order to adapt to the depth demand of tobacco plant, reduces the elegant influence of unmanned aerial vehicle wind field etc.. The guide rod and the spray head are designed in a split mode and can be combined according to requirements, the guide rod is divided into two specifications of length, the four spray heads with the same specification are in a group and are connected through a liquid distributor, and a connecting port is reserved at the lower end of the liquid distributor and used for installing the guide rod or the probe.

6. Induction probe

Apart from inductive probe 11 to be 3 auxiliary device that rise and fall and fly of unmanned aerial vehicle, the main function is the damage of protecting unmanned aerial vehicle 3 and guide arm shower nozzle etc. to avoid physical collision, according to the period of using medicine, the growing trend of tobacco plant and weather conditions etc. for unmanned aerial vehicle coordinates flight height isoparametric, ensures the accurate high efficiency of giving medicine to poor free of charge.

The parameter module of the unmanned aerial vehicle 3 precise pesticide application technology is divided into four parts, namely a transplanting stage flying-holding parameter, a bulk stage flying-holding parameter, a bud stage flying-holding parameter, a flat top stage flying-holding parameter and the like according to different production seasons by combining actual conditions of development growth, epidemic diseases and insect pests, pesticide application key points and the like of tobaccos in different periods.

1. Transplanting period

A. The development condition of tobacco plants, the transplanting period of tobacco production, the height of the overground part of the tobacco plants is 4-6 cm, the width of the overground part of the tobacco plants is 8-12 cm, and the number of leaves is 2-4.

B. Mainly preventing diseases and insect pests, tobacco anthracnose, damping-off and the like, and virus diseases such as common mosaic disease and the like.

C. For reference of preparation of the medicament, 500 times of liquid of 50% zineb wettable powder, 800 times of liquid of 72.2% propamocarb aqueous solution, 50% thiram wettable powder, 1600 times of liquid of 8% ningnanmycin aqueous solution and the like are sprayed for 1-2 times with an interval period of 5-7 days.

D. The flight control operation parameters are as shown in fig. 4, the flight control operation is carried out in the time with fine weather or less clouds, proper temperature and high visibility, the flight speed is below 4 level, the flight route is between two ridges, the flight height is 1.0-1.5 m (the distance between an induction probe and the bottom of a furrow is 30-35 cm), the flight speed is 4.0-5.0 m/s, the spraying flow is 1.2-1.6L/min, and other operation parameters are adjusted according to on-site investigation.

2. At the stage of agglomeration

A. The tobacco plant development condition is that in the tobacco development and agglomeration period, the height of the overground part of the tobacco plant is 20-30 cm, the width of the overground part of the tobacco plant is 40-60 cm, and the number of the visible leaves is 8-12.

B. Mainly prevents diseases and insect pests, such as black head drop, black shank, black root rot and the like of tobacco, virus diseases such as common mosaic, cucumber mosaic, potato Y and the like, and insect pests such as myzus persicae, bemisia tabaci and the like.

C. The preparation reference of the medicament is that the medicament is sprayed for 1-2 times with the first flying prevention medicament, 50% dimethomorph water dispersible granule 1500 times liquid, 50% carbendazim wettable powder 600 times liquid and the like, and the interval period is 5-7 days. And (3) spraying the pesticide for the second time, namely 8% ningnanmycin aqua 1600 times liquid, 5% imidacloprid missible oil 1200 times liquid or 10% imidacloprid missible oil 1500 times liquid for 1-2 times, wherein the interval period is 5-7 days.

D. And (3) flying defense operation parameters, selecting time with fine weather or less clouds, proper temperature and high visibility to perform flying defense operation, wherein the flying wind speed is below 4 grade, and the flying route is between two ridges.

As shown in figure 5, the first flight control is mainly for the root diseases such as black shank, the key points of the application of the medicament are the rhizosphere of the tobacco plant, the flight height is 1.0-1.5 m (the distance between an induction probe and the bottom of a furrow is 25-30 cm), the flight speed is 3.0-4.0 m/s, the spraying flow is 1.5-1.8L/min, and other operation parameters are adjusted according to on-site investigation.

As shown in figure 6, the interval between the second flight control and the first flight control is 1-2 days, virus diseases such as common mosaic disease and insect pests such as tobacco aphid are mainly used, the medicament application is mainly performed on the middle upper part of a tobacco plant, the flying height is 1.5-1.8 m (the distance between an induction probe and the bottom of a furrow is 40-45 cm), the flying speed is 4.0-6.0 m/s, the spraying flow is 2.0-2.4L/min, and other operation parameters are adjusted according to field investigation.

3. Bud stage

A. The tobacco plant development condition is that at the bud stage of tobacco development, the height of the overground part of the tobacco plant is 60-80 cm, the width of the overground part of the tobacco plant is 50-70 cm, and the number of leaves is 18-24.

B. Mainly prevents diseases and insect pests, such as tobacco black shank, root black rot, bacterial wilt, hollow stem disease and other rhizome diseases, leaf diseases such as frog eye disease, gray mold, southern blight, sooty mould, target spot disease and climatic spot, and insect pests such as tobacco aphid, tobacco whitefly, bug, green bug, tobacco budworm, cotton bollworm, prodenia litura and leaf miner.

C. The preparation reference of the medicament is that the medicament is applied for the first time, 1500 times of liquid of 50% dimethomorph water dispersible granules, 600 times of liquid of 50% carbendazim wettable powder, 1000 times of liquid of 72% agricultural streptomycin sulfate wettable powder and the like are sprayed for 2-3 times, and the interval period is 5-7 days. And (3) spraying the pesticide for the second time, namely spraying 600 times of 50% carbendazim wettable powder, 500 times of 50% thiophanate-methyl wettable powder, 1500 times of 10% imidacloprid missible oil, 1200 times of 2.5% high-efficiency cyhalothrin missible oil or 3500 times of 5% perchloro-emamectin benzoate microemulsion for 2-3 times at an interval period of 5-7 days.

D. And (3) flying defense operation parameters, selecting time with fine weather or less clouds, proper temperature and high visibility to perform flying defense operation, wherein the flying wind speed is below 4 grade, and the flying route is between two ridges. As shown in figure 7, the first flight control is mainly for rhizome diseases such as black shank, the medicament application is mainly for the rhizosphere of tobacco plants, the flight height is 1.5-2.0 m (the distance between an induction probe and the bottom of a furrow is 25-30 cm), the flight speed is 3.0-4.0 m/s, the spraying flow is 1.5-1.8L/min, and other operation parameters are adjusted according to on-site investigation. As shown in figure 8, the interval between the second flight control and the first flight control is 1-2 days, leaf surface diseases such as climatic spots and insect pests such as tobacco aphids are mainly used, the medicament application is mainly performed on the middle upper part of a tobacco plant, the flying height is 2.0-2.5 m (the distance between an induction probe and the bottom of a furrow is 50-60 cm), the flying speed is 4.0-5.0 m/s, the spraying flow is 1.6-2.0L/min, and other operation parameters are adjusted according to on-site investigation.

4. Plateau phase

A. The tobacco plant development condition is that in the tobacco production flat stage, the height of the overground part of the tobacco plant is 90-120 cm, the width of the overground part of the tobacco plant is 60-80 cm, and the number of the visible leaves is 18-22.

B. Mainly prevents diseases and insect pests, leaf diseases such as alternaria alternate, powdery mildew, wildfire, angular leaf spot and climatic spot of tobacco, and nutrient imbalance symptoms such as potassium deficiency.

C. Referring to the preparation of the medicament, as shown in fig. 9, for the first time of the flying prevention medicament, a 3% polyoxin aqueous solution 600 times liquid or 40% dimetachlone wettable powder 500 times liquid, 50% thiophanate-methyl wettable powder 500 times liquid, 72% agricultural streptomycin sulfate wettable powder 1000 times liquid and the like are sprayed for 2-3 times with an interval period of 5-7 days. As shown in fig. 9, the second flight control is based on the occurrence of malnutrition symptoms, for example, when potassium deficiency symptoms such as "coke tip" or "coke edge" occur in the lower leaves, liquid fertilizers such as 2% monopotassium phosphate or 2.5% potassium sulfate are sprayed on the leaves. Most of the leaf fertilizers have certain acidity or alkalinity, and are not required to be mixed with pesticides under an unclear condition so as to avoid the influence of chemical reaction to generate precipitate or floccule on the effectiveness of the pesticides. If the tobacco plant is normally developed and has no symptom of malnutrition, flying prevention is not needed.

D. And (3) flying defense operation parameters, selecting time with fine weather or less clouds, proper temperature and high visibility to perform flying defense operation, wherein the flying wind speed is below 4 grade, and the flying route is between two ridges. The first time of flight control is mainly conducted on leaf surface diseases of late stages such as brown spot, powdery mildew and climatic spot, the second time of flight control is mainly conducted on leaf surface fertilizer spraying, the tobacco leaves at the upper part, the middle part and the lower part of a tobacco plant are both taken into consideration when the medicament for the two times of flight control is applied, the middle and lower leaves are taken as key points, the flight height is 2.5-3.0 m (the distance between an induction probe and the bottom of a furrow is 50-60 cm), the flight speed is 3.5-4.5 m/s, the spraying flow is about 2.0L/min, and other operation parameters are adjusted according to on-site investigation.

The unmanned aerial vehicle flight control needs to be developed according to a comprehensive tobacco pest prevention and control scheme and a tobacco pest prediction and early warning scheme, the principle of prevention is adhered to, the pesticide is taken in advance by combining the epidemic trend of pests, and the influence of the pests on tobacco production and tobacco plant development can be reduced to the maximum extent. In order to save or reduce the labor and investment for accurate pesticide application of the unmanned aerial vehicle, various control pesticides can be mixed when different plant diseases and insect pests are controlled, so that the flying times and time of the unmanned aerial vehicle are reduced. But the mixing of the pesticide must be scientific and reasonable, and the pesticide mixing principle and the cautionary matters are strictly followed. 1 ~ 2 days before unmanned aerial vehicle flies to prevent, must carry out the regional field investigation of unmanned aerial vehicle flight prevention, grasp key information such as topography, slope, direction of ridge, tobacco plant growth and development stage conscientiously, formulate in advance and adjust flight parameter and fly to prevent scheme etc. especially spraying height and medicament flow etc. ensure that unmanned aerial vehicle flies to prevent accurate effective.

The technical effects of the present invention will be described in detail with reference to the experiments.

According to the experiment, the tobacco pest control experiment in Sichuan can be seen, compared with the conventional unmanned aerial vehicle pesticide application method, the optimized unmanned aerial vehicle accurate pesticide application method has certain advantages in pest control type, pest control effect, medicament cost and the like, compared with the conventional ground manual pesticide application method, the method is lower in required cost and higher in benefit, and the problems that the traditional manual pesticide application method is high in operation labor intensity, low in efficiency and long in time consumption, if sudden and explosive pest and weed damage occurs, the control requirement cannot be met, serious loss is caused, pesticide application personnel are prone to poisoning events and the like are solved.

TABLE 1 comparative analysis of different prevention and control modes

It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.

The above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.