Development of a low-cost quadrotor UAV based on ADRC for agricultural remote sensing

Droplet retention during pesticide application is a serious problem because run-off droplets flow out of the target area and pose a hazard to human health and the environment. The present study was conducted with the aim to measure the droplet retention of sprayed droplets on crop leaves in vivo using a constructed test system. In the measurement, three crop species with different surface properties (tomato, chili pepper, and winter wheat) were selected for droplet retention determination, and the variations in the time intervals of maximum retention and stable retention were determined. Contact angle and surface roughness ($R_a$), which are the most important surface properties of crop leaves, were used as independent variables. The $R_a$ values of tomato, pepper, and winter wheat were 24.73 $\mathsf{\mu }\mathrm{m}$, 5.28 $\mathsf{\mu }\mathrm{m}$, and 17.59 $\mathsf{\mu }\mathrm{m},$ respectively, while the contact angles of tomato, pepper, and winter wheat were 97.67°, 70.07° and 131.98°, respectively. The results showed that the curves of droplet retention on sprayed tomato and wheat leaves had similar patterns over time and could be divided into four periods (rapidly increasing period, slowly increasing period, collapsing period, and stable period). The maximum droplet retention on tomato leaf surface was $R_{max}$ = 0.169 $\mathrm{g}\cdot {\mathrm{cm}}^{-2}$, and the stable retention was $R_{st}$ = 0.134 $\mathrm{g}\cdot {\mathrm{cm}}^{-2}$. The maximum droplet retention on the surface of winter wheat leaf was $R_{max}$ = 0.244 $\mathrm{g}\cdot {\mathrm{cm}}^{-2}$, and the stable retention was $R_{st}$ = 0.093 $\mathrm{g}\cdot {\mathrm{cm}}^{-2}$. However, droplet retention on pepper leaves was different from that on tomato and wheat leaves. The curve pattern of droplet retention on pepper leaves over time showed two peaks and two valleys. Moreover, the maximum retention, $R_{max}$, was in the range of 0.149~0.151 $\mathrm{g}\cdot {\mathrm{cm}}^{-2}$, and the stable retention was $R_{st}$ = 0.077 $\mathrm{g}\cdot {\mathrm{cm}}^{-2}$. It is expected that the obtained results can be used to characterize the properties of crop leaves and that this study can contribute to the improvement of droplet retention for effective chemical application and the reduction in the environmental pollution caused by agricultural pesticides.

Target and off-target spray depositions determine the spray’s effectiveness and impact on the environment. A decisive stage in the measurement of spray deposition and drift is selecting an appropriate sampling approach under field conditions. There are various approaches available for sampling spray deposition and drift, during the evaluation of ground sprayers used for the UAV sprayer assessment, under field conditions. In this study, two sampling approaches (water-sensitive paper, and glass strip collectors) were compared to analyze spray deposition in target and off-target zones. The results showed a variation in the estimation of the spray deposits among the two applied sampling methods. The results showed that the water-sensitive paper recorded the droplet deposition in the target zone with a range from 0.049 to 4.866 µLcm⁻², whereas the glass strip recorded from 0.11 to 0.793 µLcm⁻². The results also showed the water sensitive paper recorded an 80.3% higher deposition than that of the glass strip at zero position during the driving flight height 2 m and flight speed 2 ms⁻¹ (T1 treatment). It can be concluded that variation in recorded depositing is due to the sampling material. It is recommended that the confident deposition results, measurement methods and sampling approaches must be standardized for UAV sprayers according to the field conditions and controlled within artificial assessments.

Air-assisted boom sprayer is proven to be one of the best pesticide application methods to achieve uniform deposition of droplets in the canopy and improve the effective utilization of pesticides. However, the air flow velocity, air flow volume and air flow direction of the orchard sprayer should match the characteristic parameters of the target canopy, equipment spraying parameters and meteorological conditions so as to improve the spraying quality and reduce environmental pollution. This paper elaborates on the research status of air-assisted field sprayers and orchard sprayers, summarizes the research methods of air-assisted sprayers in four aspects, including experimental verification, theoretical analysis, simulation and structural optimization, and clarifies the advantages and disadvantages of these methods. It also presents two future research and development trends, including the intelligent, precise dynamic regulation of air flow velocity, air flow volume and air flow direction and the instant feedback of spraying quality, hoping to provide a reference for the research of air-assisted spray technology and equipment.

As a new type of crop protection machinery, the Crop Protection Unmanned Aerial System (CPUAS) has developed rapidly and been widely used in China; currently, how to use the CPUAS scientifically has become a top priority. However, the relationships between the operating parameters of the CPUAS and the effective spraying width (ESW), droplet distribution characteristics, and control effects of insect pests and diseases are not clear yet. Therefore, three levels of flight speed (FS) as 3, 4, and 5 m/s, three levels of flight height (FH) as 1.5, 2.0, and 2.5 m, and spraying volume 2.0 L/min experiments were carried out to investigate the effects of FS and FH on the ESW, droplet deposition uniformity (DDU), and droplet penetration rate (DPR) by using an electric single-rotor CPUAS CE20. Based on the obtained results, combined with the insect pests and diseases occurrence agronomic laws, the optimal operation parameters of the CPUAS were selected to control the wheat aphids, powdery mildew, and head blight. The results showed that the ESW of CE20 was not consistent, the maximum value was 5.78 m, and the minimum one was 2.51 m. The FS had a highly significant impact on ESW (p = 0.0033 < 0.01), while the FH and the interaction between FS and FH had no significant impact on ESW. The coefficients of variation (CV) of the droplet deposition were between 23.3% and 34.4%, which meant good deposition uniformity. The FH (p = 0.0019) and the interaction between FS and FH (p = 0.02) had significant impacts on the DDU. The control effects on aphids were 78.71% (1 day), 84.88% (3 days), and 90.42% (7 days), the control effects on powdery mildew were 77.17% (7 days) and 82.83% (14 days), and the control effect on head blight was 88.32% (20 days). This study proved that by the optimization of parameters and the combination of agronomy, good control effects for insect pests and diseases could be achieved by the CPUAS. The research results would provide some technical supports for CPUAS application.

Parameters optimization of crop protection UAS based on the first industry standard of China