Design and test of a six-rotor unmanned aerial vehicle (UAV) electrostatic spraying system for crop protection

Pod phenotypic traits are closely related to grain yield and quality. Pod phenotype detection in soybean populations in natural environments is important to soybean breeding, cultivation, and field management. For an accurate pod phenotype description, a dynamic detection method is proposed based on an improved YOLO-v5 network. First, two varieties were taken as research objects. A self-developed field soybean three-dimensional color image acquisition vehicle was used to obtain RGB and depth images of soybean pods in the field. Second, the red–green–blue (RGB) and depth images were registered using an edge feature point alignment metric to accurately distinguish complex environmental backgrounds and establish a red–green–blue-depth (RGB-D) dataset for model training. Third, an improved feature pyramid network and path aggregation network (FPN+PAN) structure and a channel attention atrous spatial pyramid pooling (CA-ASPP) module were introduced to improve the dim and small pod target detection. Finally, a soybean pod quantity compensation model was established by analyzing the influence of the number of individual plants in the soybean population on the detection precision to statistically correct the predicted pod quantity. In the experimental phase, we analyzed the impact of different datasets on the model and the performance of different models on the same dataset under the same test conditions. The test results showed that compared with network models trained on the RGB dataset, the recall and precision of models trained on the RGB-D dataset increased by approximately 32% and 25%, respectively. Compared with YOLO-v5s, the precision of the improved YOLO-v5 increased by approximately 6%, reaching 88.14% precision for pod quantity detection with 200 plants in the soybean population. After model compensation, the mean relative errors between the predicted and actual pod quantities were 2% to 3% for the two soybean varieties. Thus, the proposed method can provide rapid and massive detection for pod phenotyping in soybean populations and a theoretical basis and technical knowledge for soybean breeding, scientific cultivation, and field management.

Rice blast is a serious threat to rice yield. Breeding disease-resistant varieties is one of the most economical and effective ways to prevent damage from rice blast. The traditional identification of resistant rice seeds has some shortcoming, such as long possession time, high cost and complex operation. The purpose of this study was to develop an optimal prediction model for determining resistant rice seeds using Ranman spectroscopy. First, the support vector machine (SVM), BP neural network (BP) and probabilistic neural network (PNN) models were initially established on the original spectral data. Second, due to the recognition accuracy of the Raw-SVM model, the running time was fast. The support vector machine model was selected for optimization, and four improved support vector machine models (ABC-SVM (artificial bee colony algorithm, ABC), IABC-SVM (improving the artificial bee colony algorithm, IABC), GSA-SVM (gravity search algorithm, GSA) and GWO-SVM (gray wolf algorithm, GWO)) were used to identify resistant rice seeds. The difference in modeling accuracy and running time between the improved support vector machine model established in feature wavelengths and full wavelengths (200–3202 cm⁻¹) was compared. Finally, five spectral preproccessing algorithms, Savitzky–Golay 1-Der (SGD), Savitzky–Golay Smoothing (SGS), baseline (Base), multivariate scatter correction (MSC) and standard normal variable (SNV), were used to preprocess the original spectra. The random forest algorithm (RF) was used to extract the characteristic wavelengths. After different spectral preproccessing algorithms and the RF feature extraction, the improved support vector machine models were established. The results show that the recognition accuracy of the optimal IABC-SVM model based on the original data was 71%. Among the five spectral preproccessing algorithms, the SNV algorithm’s accuracy was the best. The accuracy of the test set in the IABC-SVM model was 100%, and the running time was 13 s. After SNV algorithms and the RF feature extraction, the classification accuracy of the IABC-SVM model did not decrease, and the running time was shortened to 9 s. This demonstrates the feasibility and effectiveness of IABC in SVM parameter optimization, with higher prediction accuracy and better stability. Therefore, the improved support vector machine model based on Ranman spectroscopy can be applied to the fast and non-destructive identification of resistant rice seeds.

To address the technical problems of broad droplet size spectrum, insufficient atomization uniformity, and spray drift in plant protection unmanned aerial vehicle (UAV) applications, this study developed a novel two-stage aerial electrostatic spraying device based on the coupled mechanisms of hydraulic atomization and electrostatic induction, and, through the integration of three-dimensional numerical simulation and additive manufacturing technology, a new two-stage inductive charging device was designed on the basis of the traditional hydrodynamic nozzle structure, and a synergistic optimization study of the charging effect and atomization characteristics was carried out systematically. With the help of a charge ratio detection system and Malvern laser particle sizer, spray pressure (0.25–0.35 MPa), charging voltage (0–16 kV), and spray height (100–1000 mm) were selected as the key parameters, and the interaction mechanism of each parameter on the droplet charge ratio (C/m) and the particle size distribution (Dv50) was analyzed through the Box–Behnken response surface experimental design. The experimental data showed that when the charge voltage was increased to 12 kV, the droplet charge-to-mass ratio reached a peak value of 1.62 mC/kg (p < 0.01), which was 83.6% higher than that of the base condition; the concentration of the particle size distribution of the charged droplets was significantly improved; charged droplets exhibited a 23.6% reduction in Dv50 (p < 0.05) within the 0–200 mm core atomization zone below the nozzle, with the coefficient of variation of volume median diameter decreasing from 28.4% to 16.7%. This study confirms that the two-stage induction structure can effectively break through the charge saturation threshold of traditional electrostatic spraying, which provides a theoretical basis and technical support for the optimal design of electrostatic spraying systems for plant protection UAVs. This technology holds broad application prospects in agricultural settings such as orchards and farmlands. It can significantly enhance the targeted deposition efficiency of pesticides, reducing drift losses and chemical usage, thereby enabling agricultural enterprises to achieve practical economic benefits, including reduced operational costs, improved pest control efficacy, and minimized environmental pollution, while generating environmental benefits.

Distribution regularity of downwash airflow under rotors of agricultural UAV for plant protection