Automatic navigation (AN) is an essential component to ensure the safety of pesticide application in orchards, whereas precision variable-rate spraying (PVS) serves as an indispensable technology for reducing the application of pesticides and protecting the environment. At present, AN and PVS are not closely combined. In this case, a single three-dimension (3D) light detection and ranging (LIDAR) sensor is hereby adopted to sense the information of fruit trees around the robot and determine the region of interest (ROI). Moreover, two-dimensional (2D) processing is conducted over the point clouds within the ROI to obtain the center-of-mass coordinates of fruit trees, and determine the vertical distance of the robot to the center line of the fruit tree row (FTR) based on the FTR on both sides using the Random Sample Consensus (RANSAC) algorithm. Then, the robot is controlled to drive along the center line of the FTR. At the same time, the speed and position of the robot are determined by the encoder and inertial measurement unit (IMU), and the IMU corrects the information collected from the zoned canopy of the fruit trees. The results present a lateral deviation (LD) of less than 22 cm and a course deviation (CD) of less than 4.02° during AN. Compared with the traditional spraying (TS), the PVS applies 32.46%, 44.34% and 58.14% less pesticide application, air drift and ground loss, respectively. With the spraying effect guaranteed, the single 3D LIDAR, the encoder and IMU realize the AN and PVS of the robot, reduce the volume of pesticide application, ground loss and air drift, and effectively control the pollution caused by pesticides to the environment.

Background: Unmanned Aerial Vehicles (UAVs) are increasingly being used commercially for crop protection in East Asia as a new type of equipment for pesticide applications, which is receiving more and more attention worldwide. A new model of pear cultivation called the ‘Double Primary Branches Along the Row Flat Type’ standard trellised pear orchards (FT orchard) is widely used in China, Japan, Korea, and other Asian countries because it saves manpower and is suitable for mechanization compared to traditional spindle and open-center cultivation. The disease and pest efficacy of the flat-type trellised canopy structure of this cultivation is a great challenge. Therefore, a UAV spraying trial was conducted in an FT orchard, and a four-factor (SV: Spray application volume rate, FS: Flight speed, FH: Flight height, FD: Flight direction) and 3-level orthogonal test were designed. Results: These data were used to analyze the effect, including spray coverage, deposit density, coefficient of variation, and penetration coefficient on the canopy, to determine the optimal operating parameters of the UAV for pest efficacy in FT orchards. The analysis of extremes of variance showed that factor FD had a significant effect on both spray coverage and deposition density. Followed by factor FS, which had a greater effect on spray coverage (p < 0.05), and factor SV, FH, which had a greater effect on deposition density (p < 0.05). The effects of different factors on spray coverage and deposit density were FD > FS > FH > SV, FD > FH > SV > FS, in that order. The SV3-FS1-FH1-FD3, which flight along the row with an application rate of 90 L/ha, a flight speed of 1.5 m/s, and a flight height of 4.5 m, was the optimal combination, which produced the highest deposit density and spray coverage. It was determined through univariate analysis of all experimental groups, using droplet density of 25/cm² and spray coverage of 1%, and uniformity of 40% as the measurement index, that T4 and T8 performed the best and could meet the control requirements in different horizontal and vertical directions of the pear canopy. The parameters were as follows: flight along the tree rows, application rate not less than 75 L/ha, flight speed no more than 2 m/s, and flight height not higher than 5 m. Conclusion: This article provides ample data to promote innovation in the use of UAVs for crop protection programs in pergola/vertical trellis system orchards such as FT orchards. At the same time, this project provided a comprehensive analysis of canopy deposition methods and associated recommendations for UAV development and applications.

Driven by the demand for efficient plant protection in orchards, the autonomous navigation system for orchards is hereby designed and developed in this study. According to the three modules of unmanned system “perception-decision-control,” the environment perception and map construction strategy based on 3D lidar is constructed for the complex environment in orchards. At the same time, millimeter-wave radar is further selected for multi-source information fusion for the perception of obstacles. The extraction of orchard navigation lines is achieved by formulating a four-step extraction strategy according to the obtained lidar data. Finally, aiming at the control problem of plant protection machine, the ADRC control strategy is adopted to enhance the noise immunity of the system. Different working conditions are designed in the experimental section for testing the obstacle avoidance performance and navigation accuracy of the autonomous navigation sprayer. The experimental results show that the unmanned vehicle can identify the obstacle quickly and make an emergency stop and find a rather narrow feasible area when a moving person or a different thin column is used as an obstacle. Many experiments have shown a safe distance for obstacle avoidance about 0.5 m, which meets the obstacle avoidance requirements. In the navigation accuracy experiment, the average navigation error in both experiments is within 15 cm, satisfying the requirements for orchard spray operation. A set of spray test experiments are designed in the final experimental part to further verify the feasibility of the system developed by the institute, and the coverage rate of the leaves of the canopy is about 50%.

The agronomic processes are complex in rice production. The mechanization efficiency is low in seeding, fertilization, and pesticide application, which is labor-intensive and time-consuming. Currently, many kinds of research focus on the single operation of UAVs on rice, but there is a paucity of comprehensive applications for the whole process of seeding, fertilization, and pesticide application. Based on the previous research synthetically, a multifunctional unmanned aerial vehicle (mUAV) was designed for rice planting management based on the intelligent operation platform, which realized three functions of seeding, fertilizer spreading, and pesticide application on the same flight platform. Computational fluid dynamics (CFD) simulations were used for machine design. Field trials were used to measure operating parameters. Finally, a comparative experimental analysis of the whole process was conducted by comparing the cultivation patterns of mUAV seeding (T1) with mechanical rice direct seeder (T2), and mechanical rice transplanter (T3). The comprehensive benefit of different rice management processes was evaluated. The results showed that the downwash wind field of the mUAV fluctuated widely from 0 to 1.5 m, with the spreading height of 2.5 m, and the pesticide application height of 3 m, which meet the operational requirements. There was no significant difference in yield between T1, T2, and T3 test areas, while the differences in operational efficiency and input labor costs were large. In the sowing stage, T1 had obvious advantages since the working efficiency was 2.2 times higher than T2, and the labor cost was reduced by 68.5%. The advantages were more obvious compared to T3, the working efficiency was 4 times higher than in T3, and the labor cost was reduced by 82.5%. During the pesticide application, T1 still had an advantage, but it was not a significant increase in advantage relative to the seeding stage, in which operating efficiency increased by 1.3 times and labor costs were reduced by 25%. However, the fertilization of T1 was not advantageous due to load and other limitations. Compared to T2 and T3, operational efficiency was reduced by 80% and labor costs increased by 14.3%. It is hoped that this research will provide new equipment for rice cultivation patterns in different environments, while improving rice mechanization, reducing labor inputs, and lowering costs.

Nozzles are the most critical component of a sprayer for pesticide applications. Recently, air-induction nozzles and twin flat-fan air-induction nozzles have started to be used for herbicide applications. In order to evaluate the potential of compact air-induction nozzles for herbicide spraying, this paper compares the effects of air-induction nozzles and standard flat-fan nozzles on spray atomization, deposition, drift, and weed control efficacy in maize and wheat. Droplet spectra were measured by a laser particle size analyzer, and drift potential values were determined using a drift test bench (ISO 22401). A field study was conducted to compare the spray drift and biological efficacy between Lechler standard flat-fan nozzles and compact air-induction nozzles including different nozzle sizes. In the range from 0.2 to 0.4 MPa, the droplet size classes of the LU and ST nozzles were very similar and ranged from fine to very fine, while the droplets of the air-induction nozzles IDK and IDKT were medium or coarse depending on the spray pressure and nozzle size. The drift potential trials showed that the droplet size characteristics, mainly V₁₀₀, are strongly linked with the drift reduction potential. Both drift potential and field results showed that the compact air-induction nozzles had a good performance in drift reduction. In terms of weed control biological efficacy, there were no significant differences between standard flat-fan nozzles and air-induction nozzles. In all cases, the efficacy values were above 80% both in maize and in wheat. In conclusion, air-induction nozzles are recommended for herbicide applications as they provide good biological efficacy while significantly reducing the amount of spray drift, which is of great significance for the protection of the environment and the surrounding sensitive crops.

As an essential element, the effect of Phosphorus (P) on plant growth is very significant. In the early growth stage of maize, it has a high sensitivity to the deficiency of phosphorus. The main purpose of this paper is to monitor the maize status under two phosphorus levels in soil by a nondestructive testing method and identify different phosphorus treatments by spectral data. Here, the Analytical Spectral Devices (ASD) spectrometer was used to obtain canopy spectral data of 30 maize inbred lines in two P-level fields, whose reflectance differences were compared and the sensitive bands of P were discovered. Leaf Area Index (LAI) and yield under two P levels were quantitatively analyzed, and the responses of different varieties to P content in soil were observed. In addition, the correlations between 13 vegetation indexes and eight phenotypic parameters were compared under two P levels so as to find out the best vegetation index for maize characteristics estimation. A Back Propagation (BP) neural network was used to evaluate leaf area index and yield, and the corresponding prediction model was established. In order to classify different P levels of soil, the method of support vector machine (SVM) was applied. The results showed that the sensitive bands of P for maize canopy included 763 nm, 815 nm, and 900–1000 nm. P-stress had a significant effect on LAI and yield of most varieties, whose reduction rate reached 41% as a whole. In addition, it was found that the correlations between vegetation indexes and phenotypic parameters were weakened under low-P level. The regression coefficients of 0.75 and 0.5 for the prediction models of LAI and yield were found by combining the spectral data under two P levels. For the P-level identification in soil, the classification accuracy could reach above 86%. These abilities potentially allow for phenotypic parameters prediction of maize plants by spectral data and different phosphorus contents identification with unknown phosphorus fertilizer status.