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Abstract This research was aimed at the defects in traditional artificial spraying control method and the problems such as the difficulty in pesticides applying， labor shortage and low operating efficiency in the middle and late stage of sugarcane high stalk crops. The aerial pesticide application technology for sugarcane main diseases and pests was systematically developed and demonstrated from the aspects of aircraft type choice， selection of special pesticides and auxiliaries， integration of pesticides and equipment， field operation， technical specifications， and largescale application organization mode. The UAV model and flight technical parameters suitable for the sugarcane planting area in lowlatitude plateau were analyzed， and the optimal agent formulation combination and application technology of the UAV flight control were screened out， and the UAV flight control was applied to the major sugarcane pests and diseases control in the lowlatitude plateau in large scale （UAV flight control was popularized and applied to 15 527 hm2 in 2018）. The research results provided mature wholeprocess technical support for the normalization of the application of the UVA flight control of major sugarcane pests and diseases. The UAV control technology for major sugarcane pests and diseases had the advantages of ultralow pesticides applying dosage and high operating efficiency， and could effectively solve the problems such as the difficulty in pesticides applying， labor shortage and low operating efficiency in the middle late growth stage of high stalk crops. This technology successfully opened up a simple， efficient and new way for the effective control of major sugarcane pests and diseases， and practically accelerated the process of integrated control and prevention of sugarcane pests and diseases. In addition， this technology had an extremely significant effect on reducing the loss of sugarcane farmers and enterprises caused by the epidemic and outbreak of sugarcane pests and diseases， increasing sugarcane yield and sugar content. At the same time， this technology played an important role in realizing the wholeprocess precise control of sugarcane pests and diseases， improving the quality and increasing the efficiency of sugarcane， and guaranteeing the national sugar safety.
Key words Low latitude plateau; Sugarcane diseases and pests; Unmanned aerial vehicle; Prevention and control technology
In recent years， due to climate change， continuous sugarcane cropping and reduced resistance of varieties， sugarcane pests shows the phenomena of overlapping and crossing generations and no distinct seasonal difference， resulting in the epidemic outbreak of various pests and diseases like sugarcane tip rot， sugarcane brown stripe and exotic pest varieties of Proceras venosatus and Tryporyza intacta， in the sugarcane producing areas of Nanhua of Lincang， Changyu of Menglian， Nanen of Xinping， Honghe Sugar Co.， Ltd. in Yunnan in the low latitude plateau. Thus， the yield of sugar has decreased significantly， and sugarcane production is facing increasingly severe disaster threats[1-4]. The survey results show that the main planting varieties of Yuetang 93159， ROC25 have suffered from the mixed infection of sugarcane tip rot and brown stripe， which has caused the epidemic outbreak， resulting in serious yield reduction. As for the diseases， the tip rot has wide occurrence area and serious damage， and has a trend of catastrophic outbreaks. According to the analysis of small sample points， the average rate of diseased plants is 81.1%， and 100% in serious case; the average loss rate of sugarcane yield is 38.42%， and the highest is 48.5%; the decrease in sugar fraction is 3.14%on average， and the maximum decrease is 4.21%[5-6]. In terms of pests， due to the special rainy and humid climate in recent years， the population of exotic new pest varieties of P. venosatus and T. intacta has a rapid growth trend， and has a great impact on sugarcane production and sugar content. According to the comprehensive analysis of small sample points， the average rate of border infected plants is 79.33%， and 100% in severe case; the average rate of borer infected joints is 13% with the highest of 19.41%. The general loss from borer damage is aggravated in the middle and late stages ， affecting more than 30% of sugarcane yield， and reducing sugar content by 4.19brix scale[6-7]. In the middle and late stages of sugarcane pest and disease control， there are problems of difficulty in pesticide applying， low efficiency and high costs. On the other hand， the unmanned aerial vehicle （UAV） flight control technology has the advantages of ultraow pesticide applying dosage and high operating efficiency， and can effectively solve the problems such as the difficulty in pesticides applying， labor shortage and low operating efficiency in the middle late growth stage of high stalk crops. It can have an extremely significant effect on accelerating the control of sugarcane pests and diseases， effectively control the occurrence of largescale pests and diseases， and increase sugarcane yield and sugar content， which is of immeasurable significance for ensuring the sustainable and healthy development of the sugar industry. In view of the drawbacks of traditional artificial spraying control method and the problems such as the difficulty in pesticides applying， labor shortage and low operating efficiency in the middle and late stage of sugarcane high stalk crops， in 2016-2018， the aerial pesticide application technology for sugarcane main diseases and pests was systematically developed and demonstrated from the aspects of choosing UAV mode， selection of special pesticides and auxiliaries， integration of pesticides and equipment， field operation， technical specifications， and largescale application organization mode. The UAV model and flight technical parameters suitable for the sugarcane planting area in lowlatitude plateau were analyzed， and the optimal agent formulation combination and application technology of the UAV flight control were screened out， and the UAV flight control was applied to the major sugarcane pests and diseases control in the lowlatitude plateau in large scale （UAV flight control was popularized and applied to 15 527 hm2 in 2018）. The research results provided mature wholeprocess technical supportfor the normalization of the application of the UVA flight control of major sugarcane pests and diseases. In this paper， a systematic introduction was made to the UAV flight control technology of major sugarcane pests and diseases in low latitude plateau to provide references for the sugarcane producing areas， so as to enhance the leading role and radiation effect of UAV spraying in the control of sugarcane pests and diseases， give full play to the advantages of UAV in the control of pests and diseases in the middle and late stages of high stalk crops like sugarcane， enlarge the application area， promote the control process of sugarcane pests and diseases control， and improve the overall control effects of sugarcane pests and diseases. Control Principles and Application Range
The control of sugarcane pests and diseases adheres to the principle of "prevention first"， Adhere to the principle of "prevention first， unifying prevention and control"， establishing the concept of "scientific plant protection， public plant protection， and green plant protection". The aim is to reduce the harm of pests and diseases to sugarcane growth by agronomic measures such as using improved varieties and crop rotation， thereby effectively controlling the epidemic of pests and diseases.
UAV flight control is mainly applicable to the prevention and control of largescale pests and diseases in the continuous sugarcane fields with relatively concentrated land plots. In principle， the sugarcane fields should not have the slope of no more than 30 degrees， gentle terrain， more than 50% of the preservation rate of sugarcane leaves， canopy density of more than 0.5， and no obstacles affecting the safe flight of UAV.
Dynamic Inspection of Pests and Diseases in Sugarcane Field
Every year from April to August， according to the characteristics of the main pests and diseases， at least 2 to 3 field inspections are conducted every month to observe the dynamics of pests and diseases in the field， to make correct diagnose， thereby carrying out timely control in the initial stage of the occurrence.
UAV Flight Control Technology
Model selection and flight technical parameters
According to the development demonstration and application of UAV in the control of sugarcane pests and diseases in low latitude plateau， the recommended UAV models and flight technical parameters are shown in Table 1.
Optimal reagent combination and application technology for UAV flight control of major sugarcane pests and diseases
Based on the years of development demonstration and application of UAV in the control of sugarcane pests and diseases in low latitude plateau， the optimal reagent combination and application techniques suitable for UAV flight control are screened out as shown in Table 2.
Developing comprehensive plan for UAV flight control
The optimal reagents （combination） and application amount （Table 2） are selected according to the occurrence and development of different diseases and insect pests of sugarcane， and the overall plan for UAV flight control， requirements for single flight control operation， personnel division and safeguard as well as emergency measures are formulated in terms of the area， planting variety and the cultivation management status and climate of the sugarcane fields for flight control. UAV flight control operation regulations
（1） UAV flight control climate conditions. The visibility should be greater than 2 Km， the maximum wind speed less than 5 m/s， and the relative humidity during spraying should be above 60%. Avoid spraying in rainy days， and the pesticide should keep for 3-4 h from the rain after application. The most suitable sprayingtemperature is 20-30 ℃. When the temperature exceeds 30 ℃， it will affect the control effect， and in principle， the flight control should be suspended.
（2） When meeting all the climatic conditions， the flight control should be conducted in strict accordance with the predetermined control plan and operation requirements. Following the selected flight parameters and operation procedures， the flight control should be operated by professional drone operators.
（3） Determine the total control air， flight control times as well as the connection and regulations of the flight control process.
（4） Check before the flight， and clean after the flight （spraying system must be cleaned after operation）， pay attention to the safety of crops and personnel during the flight， and prevent secondary disasters.
Precautions
（1） There should be no sensitive crops and creatures， breeding farms， reservoirs， like mulberry trees， bee farms and fish ponds around the sugarcane fields. If any， notification should be made in advance.
（2） Observe the working field and surrounding obstacles before the flight， disperse the crowd in and around the fields， and and all personnel must be more than 10 m away from the UAV during takeoff and landing.
（3） It is forbidden to enter any operational area during flight. Pay attention to the flight position of UAV to ensure flight safety. If there is any abnormality， return immediately or make a forced landing.
（4） UAV operators must wear professional protective equipment.
（5） In the event of human or animal hazards and secondary disasters， emergency relief should be carried out in accordance with the predetermined plan.
Application and Effect of UAV Flight Control on Major Sugarcane Pests and Diseases in Low Latitude Plateau
In 2018， a total area of 15 527 hm2 was applied with UAV air flight by Nanhua Sugar Co.， Ltd.， Lincang （Fig.1）， with the aim to reduce the losses caused by the outbreak and epidemic of disastrous sugarcane pests and diseases to sugarcane farmers and enterprises， solve the problems of difficulty in pesticides applying， labor shortage and low operating efficiency in the middle and late stage of sugarcane high stalk crops， and to explore the modern organization model which could be applied plant protection UAV in sugarcane poverty alleviation industry in large scale. The overall control effect of the 15 527 hm2 UAV flight control area was more than 85%. Only a few fields showed no control effect or poor control effects due to the environmental factors like fish ponds， mulberry fruits and vegetables， field edges， electric poles and wires， trees and so on. The sampling survey showed that the largearea flight control made the pest density， pest affected plants as well as the diseases and diseased rates significantly decrease over 30% when compared with the control. The results of the sampling survey showed that： ① The selected reagent combination had good control effects on borer affected plants or borer affected sugarcane joints by P. venosatus and T. intacta in the middle and late stages of sugarcane growth， and the borer affected plants or borer affected joints significantly dropped by 88.56% and 93.28% when compared with the control. The control effect on borer affected plants was 73.08%-100.00% with an average over 88.42%. the control effect on borer affected joints was 79.23%-100.00% with an average of 93.28%. ② The used reagent combination had good control effect on tip rot and brown stripe of sugarcane. The control effect on tip rot was 61.18%-92.94%， with an average of 74.34， and the control effect on brown stripe was 78.41%-83.26% with an average control effect of 81.13%. For the fields with one flight control， the measured output of each sampling plot increased by 6 450-53 250kg/hm2 compared with the blank control， and the average yield increase was 23 550 kg/hm2， with an average increase of 25.44%. And the measured yield of the large area increased by 24 600 kg/hm2 when compared with the blank control， an increase of 33.67%. On the other hand， the yield of plots with twice flight control was 7 200-24 600 kg/hm2 higher than the plots with one flight control， an average yield increase of 13 650 kg/hm2. The laboratory test showed that the sugar content in the field with flight control was 0.54%-3.93% higher than that of the control. References
[1] HUANG YK， LI WF. Illustrations of modern sugarcane diseases and insect pests prevention and control[M]. Beijing： China Agriculture Press， 2016.
[2] LI WF， YIN J， HUANG YK， et al. The dynamics of population structure and control strategies of sugarcane borers in Yunnan[J]. Journal of Agriculture， 2014， 4（8）： 35-38.
[3] HUANG YK， LI WF， SHEN K， et al. Occurrence， damage and control strategies of sugarcane borers in Yunnan[J]. Sugar Crops in China， 2014， （2）： 68-70.
[4] LI WF， SHAN HL， HUANG YK， et al. Epidemic dynamics and control strategies of important diseases of sugarcane in rainy and humid seasons[J]. Sugar Crops in China， 2017， 39（2）： 75-77.
[5] SHAN HL， LI WF， ZHANG RY， et al. Analysis on epidemic reason of sugarcane Pokahh Boeng and its losses on yield and sucrose content[J]. Sugar Crops in China， 2018， 40 （3）： 40-42.
[6] LI WF， ZHANG RY， SHAN HL， et al. Occurrence and epidemic dynamics and accurate prevention and control of important sugarcane pests and diseases in the sugarcane areas of Yunnan[J]. Agricultural Biotechnolgy， 2018， 7（5）： 148-52.
[7] LI WF， YIN J， HUANG YK， et al. Investigation of sugarcane losses caused by sugarcane borers[J]. Plant Protection， 2016， 42（4）： 205-210.
Editor： Na LI Proofreader： Xinxiu ZHU
Key words Low latitude plateau; Sugarcane diseases and pests; Unmanned aerial vehicle; Prevention and control technology
In recent years， due to climate change， continuous sugarcane cropping and reduced resistance of varieties， sugarcane pests shows the phenomena of overlapping and crossing generations and no distinct seasonal difference， resulting in the epidemic outbreak of various pests and diseases like sugarcane tip rot， sugarcane brown stripe and exotic pest varieties of Proceras venosatus and Tryporyza intacta， in the sugarcane producing areas of Nanhua of Lincang， Changyu of Menglian， Nanen of Xinping， Honghe Sugar Co.， Ltd. in Yunnan in the low latitude plateau. Thus， the yield of sugar has decreased significantly， and sugarcane production is facing increasingly severe disaster threats[1-4]. The survey results show that the main planting varieties of Yuetang 93159， ROC25 have suffered from the mixed infection of sugarcane tip rot and brown stripe， which has caused the epidemic outbreak， resulting in serious yield reduction. As for the diseases， the tip rot has wide occurrence area and serious damage， and has a trend of catastrophic outbreaks. According to the analysis of small sample points， the average rate of diseased plants is 81.1%， and 100% in serious case; the average loss rate of sugarcane yield is 38.42%， and the highest is 48.5%; the decrease in sugar fraction is 3.14%on average， and the maximum decrease is 4.21%[5-6]. In terms of pests， due to the special rainy and humid climate in recent years， the population of exotic new pest varieties of P. venosatus and T. intacta has a rapid growth trend， and has a great impact on sugarcane production and sugar content. According to the comprehensive analysis of small sample points， the average rate of border infected plants is 79.33%， and 100% in severe case; the average rate of borer infected joints is 13% with the highest of 19.41%. The general loss from borer damage is aggravated in the middle and late stages ， affecting more than 30% of sugarcane yield， and reducing sugar content by 4.19brix scale[6-7]. In the middle and late stages of sugarcane pest and disease control， there are problems of difficulty in pesticide applying， low efficiency and high costs. On the other hand， the unmanned aerial vehicle （UAV） flight control technology has the advantages of ultraow pesticide applying dosage and high operating efficiency， and can effectively solve the problems such as the difficulty in pesticides applying， labor shortage and low operating efficiency in the middle late growth stage of high stalk crops. It can have an extremely significant effect on accelerating the control of sugarcane pests and diseases， effectively control the occurrence of largescale pests and diseases， and increase sugarcane yield and sugar content， which is of immeasurable significance for ensuring the sustainable and healthy development of the sugar industry. In view of the drawbacks of traditional artificial spraying control method and the problems such as the difficulty in pesticides applying， labor shortage and low operating efficiency in the middle and late stage of sugarcane high stalk crops， in 2016-2018， the aerial pesticide application technology for sugarcane main diseases and pests was systematically developed and demonstrated from the aspects of choosing UAV mode， selection of special pesticides and auxiliaries， integration of pesticides and equipment， field operation， technical specifications， and largescale application organization mode. The UAV model and flight technical parameters suitable for the sugarcane planting area in lowlatitude plateau were analyzed， and the optimal agent formulation combination and application technology of the UAV flight control were screened out， and the UAV flight control was applied to the major sugarcane pests and diseases control in the lowlatitude plateau in large scale （UAV flight control was popularized and applied to 15 527 hm2 in 2018）. The research results provided mature wholeprocess technical supportfor the normalization of the application of the UVA flight control of major sugarcane pests and diseases. In this paper， a systematic introduction was made to the UAV flight control technology of major sugarcane pests and diseases in low latitude plateau to provide references for the sugarcane producing areas， so as to enhance the leading role and radiation effect of UAV spraying in the control of sugarcane pests and diseases， give full play to the advantages of UAV in the control of pests and diseases in the middle and late stages of high stalk crops like sugarcane， enlarge the application area， promote the control process of sugarcane pests and diseases control， and improve the overall control effects of sugarcane pests and diseases. Control Principles and Application Range
The control of sugarcane pests and diseases adheres to the principle of "prevention first"， Adhere to the principle of "prevention first， unifying prevention and control"， establishing the concept of "scientific plant protection， public plant protection， and green plant protection". The aim is to reduce the harm of pests and diseases to sugarcane growth by agronomic measures such as using improved varieties and crop rotation， thereby effectively controlling the epidemic of pests and diseases.
UAV flight control is mainly applicable to the prevention and control of largescale pests and diseases in the continuous sugarcane fields with relatively concentrated land plots. In principle， the sugarcane fields should not have the slope of no more than 30 degrees， gentle terrain， more than 50% of the preservation rate of sugarcane leaves， canopy density of more than 0.5， and no obstacles affecting the safe flight of UAV.
Dynamic Inspection of Pests and Diseases in Sugarcane Field
Every year from April to August， according to the characteristics of the main pests and diseases， at least 2 to 3 field inspections are conducted every month to observe the dynamics of pests and diseases in the field， to make correct diagnose， thereby carrying out timely control in the initial stage of the occurrence.
UAV Flight Control Technology
Model selection and flight technical parameters
According to the development demonstration and application of UAV in the control of sugarcane pests and diseases in low latitude plateau， the recommended UAV models and flight technical parameters are shown in Table 1.
Optimal reagent combination and application technology for UAV flight control of major sugarcane pests and diseases
Based on the years of development demonstration and application of UAV in the control of sugarcane pests and diseases in low latitude plateau， the optimal reagent combination and application techniques suitable for UAV flight control are screened out as shown in Table 2.
Developing comprehensive plan for UAV flight control
The optimal reagents （combination） and application amount （Table 2） are selected according to the occurrence and development of different diseases and insect pests of sugarcane， and the overall plan for UAV flight control， requirements for single flight control operation， personnel division and safeguard as well as emergency measures are formulated in terms of the area， planting variety and the cultivation management status and climate of the sugarcane fields for flight control. UAV flight control operation regulations
（1） UAV flight control climate conditions. The visibility should be greater than 2 Km， the maximum wind speed less than 5 m/s， and the relative humidity during spraying should be above 60%. Avoid spraying in rainy days， and the pesticide should keep for 3-4 h from the rain after application. The most suitable sprayingtemperature is 20-30 ℃. When the temperature exceeds 30 ℃， it will affect the control effect， and in principle， the flight control should be suspended.
（2） When meeting all the climatic conditions， the flight control should be conducted in strict accordance with the predetermined control plan and operation requirements. Following the selected flight parameters and operation procedures， the flight control should be operated by professional drone operators.
（3） Determine the total control air， flight control times as well as the connection and regulations of the flight control process.
（4） Check before the flight， and clean after the flight （spraying system must be cleaned after operation）， pay attention to the safety of crops and personnel during the flight， and prevent secondary disasters.
Precautions
（1） There should be no sensitive crops and creatures， breeding farms， reservoirs， like mulberry trees， bee farms and fish ponds around the sugarcane fields. If any， notification should be made in advance.
（2） Observe the working field and surrounding obstacles before the flight， disperse the crowd in and around the fields， and and all personnel must be more than 10 m away from the UAV during takeoff and landing.
（3） It is forbidden to enter any operational area during flight. Pay attention to the flight position of UAV to ensure flight safety. If there is any abnormality， return immediately or make a forced landing.
（4） UAV operators must wear professional protective equipment.
（5） In the event of human or animal hazards and secondary disasters， emergency relief should be carried out in accordance with the predetermined plan.
Application and Effect of UAV Flight Control on Major Sugarcane Pests and Diseases in Low Latitude Plateau
In 2018， a total area of 15 527 hm2 was applied with UAV air flight by Nanhua Sugar Co.， Ltd.， Lincang （Fig.1）， with the aim to reduce the losses caused by the outbreak and epidemic of disastrous sugarcane pests and diseases to sugarcane farmers and enterprises， solve the problems of difficulty in pesticides applying， labor shortage and low operating efficiency in the middle and late stage of sugarcane high stalk crops， and to explore the modern organization model which could be applied plant protection UAV in sugarcane poverty alleviation industry in large scale. The overall control effect of the 15 527 hm2 UAV flight control area was more than 85%. Only a few fields showed no control effect or poor control effects due to the environmental factors like fish ponds， mulberry fruits and vegetables， field edges， electric poles and wires， trees and so on. The sampling survey showed that the largearea flight control made the pest density， pest affected plants as well as the diseases and diseased rates significantly decrease over 30% when compared with the control. The results of the sampling survey showed that： ① The selected reagent combination had good control effects on borer affected plants or borer affected sugarcane joints by P. venosatus and T. intacta in the middle and late stages of sugarcane growth， and the borer affected plants or borer affected joints significantly dropped by 88.56% and 93.28% when compared with the control. The control effect on borer affected plants was 73.08%-100.00% with an average over 88.42%. the control effect on borer affected joints was 79.23%-100.00% with an average of 93.28%. ② The used reagent combination had good control effect on tip rot and brown stripe of sugarcane. The control effect on tip rot was 61.18%-92.94%， with an average of 74.34， and the control effect on brown stripe was 78.41%-83.26% with an average control effect of 81.13%. For the fields with one flight control， the measured output of each sampling plot increased by 6 450-53 250kg/hm2 compared with the blank control， and the average yield increase was 23 550 kg/hm2， with an average increase of 25.44%. And the measured yield of the large area increased by 24 600 kg/hm2 when compared with the blank control， an increase of 33.67%. On the other hand， the yield of plots with twice flight control was 7 200-24 600 kg/hm2 higher than the plots with one flight control， an average yield increase of 13 650 kg/hm2. The laboratory test showed that the sugar content in the field with flight control was 0.54%-3.93% higher than that of the control. References
[1] HUANG YK， LI WF. Illustrations of modern sugarcane diseases and insect pests prevention and control[M]. Beijing： China Agriculture Press， 2016.
[2] LI WF， YIN J， HUANG YK， et al. The dynamics of population structure and control strategies of sugarcane borers in Yunnan[J]. Journal of Agriculture， 2014， 4（8）： 35-38.
[3] HUANG YK， LI WF， SHEN K， et al. Occurrence， damage and control strategies of sugarcane borers in Yunnan[J]. Sugar Crops in China， 2014， （2）： 68-70.
[4] LI WF， SHAN HL， HUANG YK， et al. Epidemic dynamics and control strategies of important diseases of sugarcane in rainy and humid seasons[J]. Sugar Crops in China， 2017， 39（2）： 75-77.
[5] SHAN HL， LI WF， ZHANG RY， et al. Analysis on epidemic reason of sugarcane Pokahh Boeng and its losses on yield and sucrose content[J]. Sugar Crops in China， 2018， 40 （3）： 40-42.
[6] LI WF， ZHANG RY， SHAN HL， et al. Occurrence and epidemic dynamics and accurate prevention and control of important sugarcane pests and diseases in the sugarcane areas of Yunnan[J]. Agricultural Biotechnolgy， 2018， 7（5）： 148-52.
[7] LI WF， YIN J， HUANG YK， et al. Investigation of sugarcane losses caused by sugarcane borers[J]. Plant Protection， 2016， 42（4）： 205-210.
Editor： Na LI Proofreader： Xinxiu ZHU