Intelligent variable spray and fertilizer application control system and adjustment method

Abstract

The application discloses an intelligent variable pesticide spraying and fertilization control system and a regulating method, belongs to the field of cross between land-air flight equipment and agricultural plant protection, and solves the problems that the existing system cannot adapt to double-mode operation, has low regulating precision, and has poor collaboration, etc., as a core component of a land-air flight motorcycle. The system comprises seven modules of sensing, control, execution, etc. The sensing module collects multi-dimensional parameters, the control module adopts a fuzzy PID algorithm, is linked with a power system and a navigation system, realizes automatic switching of land-air double modes and dynamic regulation of parameters, the execution module completes precise pesticide spraying and fertilization, and has functions of closed-loop feedback, fault diagnosis and the like. The regulating method comprises steps of initialization, parameter presetting, real-time acquisition, operation regulation and the like. The application improves operation precision and efficiency, reduces waste of agricultural materials and environmental pollution, is convenient to operate, is suitable for various plant protection scenes, can meet operation requirements of different crops, and promotes the development of precision agriculture.

Description

Technical Field

[0001] The present invention belongs to the cross - field of land - air flight equipment and agricultural plant protection technology, and specifically relates to an intelligent variable spraying and fertilizing control system and adjustment method. As the core component of a land - air flying motorcycle, this system can achieve precise spraying and variable fertilizing control in both land and air modes, and is applicable to plant protection operations in various scenarios such as field crops, economic forest fruits, and protected agriculture, especially suitable for operations in areas with poor clear - air conditions and complex terrain, effectively improving the efficiency of plant protection operations, reducing waste of agricultural resources, and reducing environmental pollution. Background Art

[0002] With the rapid development of precision agriculture, the demand for intelligent and efficient plant protection operations has become increasingly prominent. As a new type of equipment that can quickly separate the locomotive and achieve rapid land - air mobility, the land - air flying motorcycle combines the flexibility of land travel and the mobility of air flight. Its agricultural spraying products have advantages such as excellent ultra - low - altitude flight performance, small turning radius in the air, fast climbing speed, and precise operation control, and have gradually been applied to agricultural pest control and fertilization operations, becoming the preferred equipment for plant protection operations in complex terrain areas.

[0003] Currently, the spraying and fertilizing devices supporting land - air flying motorcycles mostly adopt a fixed - dose operation mode. That is, regardless of the differences in soil fertility, crop growth, and the degree of pest and disease occurrence in the operation area, the entire area is operated with a unified spraying amount and fertilizing amount. This mode has many drawbacks: on the one hand, for areas with weak crop growth, poor soil, or severe pest and disease problems, the fixed dose cannot meet the requirements, resulting in poor operation effects; on the other hand, for areas with good crop growth, fertile soil, or no pest and diseases, excessive spraying and fertilizing will cause serious waste of pesticides and fertilizers, increase agricultural production costs, and at the same time, pesticide residues and fertilizer losses will pollute the soil, water source, and air, violating the concept of sustainable agricultural development.

[0004] In the prior art, some intelligent spraying and fertilizing systems have started to adopt variable control ideas, but most are applied to single unmanned aerial vehicles or ground agricultural machinery and cannot adapt to the land - air dual - mode operation requirements of land - air flying motorcycles. There are the following core problems: First, the coordination between the system and the power system and navigation system of the land - air flying motorcycle is poor. When the flight attitude changes and the driving speed fluctuates, the spraying and fertilizing parameters cannot be adjusted in time, resulting in poor operation uniformity. Especially during air flight, liquid drift is likely to occur, and during ground travel, missing application and repeated application are likely to occur. Second, the variable adjustment accuracy is low. Most rely on preset operation parameters and lack dynamic collection and analysis of real - time parameters such as soil, crops, and environment at the operation site, and cannot achieve precise adjustment of "supply on demand". Third, the control strategy is simple, mostly using traditional PID control algorithms. Its fixed parameters are difficult to adapt to nonlinear and time-varying systems when switching between land and air modes, and are prone to problems such as adjustment lag and overshoot, which affect the stability of operations. Fourth, the lack of a sound closed-loop feedback mechanism makes it impossible to monitor and correct the effects of spraying and fertilizing in real time, making it difficult to guarantee the quality of operations. Fifth, the operation is highly complex, requiring operators to have professional plant protection knowledge and equipment operation skills, making it difficult to adapt to the needs of large-scale and standardized operations, and troubleshooting is difficult, affecting operational efficiency.

[0005] In addition, existing variable spraying technologies are mainly divided into three types: pressure-regulated, flow-regulated, and concentration-regulated. Among them, pressure-regulated technologies have the drawbacks of narrow flow regulation range and insufficient atomization stability, flow-regulated technologies face challenges such as mechanical wear and nonlinear relationship between flow rate and duty cycle, and concentration-regulated technologies are highly dependent on fluid characteristics and mixing efficiency. None of them can meet the precision operation requirements of land and air modes. At the same time, existing systems mostly lack linkage with farm management platforms, which makes it impossible to achieve closed-loop management of operation data and subsequent operation optimization, further limiting the level of intelligence in plant protection operations.

[0006] Therefore, in response to the shortcomings of existing technologies, developing an intelligent variable spraying and fertilization control system and adjustment method that can be adapted to the dual-mode operation of land-air flying motorcycles, has real-time parameter acquisition, precise variable adjustment, multi-system collaboration, closed-loop feedback control, and is easy to operate has become an urgent technical problem to be solved. This is of great significance for promoting the development of precision agriculture and enhancing the plant protection application value of land-air flying motorcycles. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of existing land-air flying motorcycle spraying and fertilizing systems, such as inability to adapt to dual-mode operation, low precision of variable adjustment, poor coordination, and lack of closed-loop feedback. This invention provides an intelligent variable spraying and fertilizing control system and adjustment method. As a core component of the land-air flying motorcycle, this system can achieve real-time parameter acquisition, precise variable adjustment, multi-system collaborative control, and closed-loop feedback optimization in both land and air modes. This improves the accuracy, efficiency, and intelligence of spraying and fertilizing operations, reduces agricultural waste and environmental pollution, lowers operational difficulty, and is adaptable to various agricultural plant protection scenarios.

[0008] To achieve the above objectives, the present invention provides the following technical solution: The intelligent variable spraying and fertilization control system includes a sensing module, a control module, an execution module, a communication module, a storage module, a human-machine interaction module, and a power supply module. The modules are connected to each other via bus or wireless communication to work together to achieve intelligent variable spraying and fertilization control in both land and air modes. The sensing module is used to collect environmental parameters, crop parameters, soil parameters, equipment operating parameters and flight / driving status parameters at the work site in real time, and transmit the collected parameters to the control module after preprocessing. The control module is linked with the power system and navigation system of the land-air flying motorcycle. It receives various parameters transmitted by the sensing module, combines the preset operation mode and crop growth model, and performs data analysis and calculation through the fuzzy PID control algorithm to generate spraying parameter adjustment instructions and fertilization parameter adjustment instructions and send them to the execution module. At the same time, it receives feedback signals from the execution module for closed-loop correction. The execution module is used to receive adjustment instructions from the control module, drive the spraying mechanism and the fertilizing mechanism to complete the spraying and fertilizing actions, and realize the precise adjustment of parameters such as spraying amount, fertilizing amount, and atomized particle size. The communication module is used to realize data interaction between the control module and the power system, navigation system, and ground control terminal of the land-air flying motorcycle, as well as between the sensing module, execution module, and control module. The storage module is used to store information such as preset operation parameters, crop growth models, soil fertility databases, and historical operation data; The human-machine interaction module is used to realize parameter setting, mode switching, start and stop control, and display of operation status and fault information; The power supply module is used to provide a stable power supply for each module of the system, and is linked to the on-board power supply of the land-air flying motorcycle and is equipped with a backup power supply.

[0009] Furthermore, the sensing module includes an environmental sensing unit, a crop sensing unit, a soil sensing unit, an equipment sensing unit, and an attitude sensing unit; the environmental sensing unit includes a temperature sensor, a humidity sensor, a wind speed sensor, a light sensor, and a rainfall sensor; the crop sensing unit includes a high-definition camera, a multispectral sensor, and an infrared sensor; the soil sensing unit includes a soil moisture sensor, a soil nutrient sensor, and a soil pH sensor; the equipment sensing unit includes a flow sensor, a pressure sensor, a speed sensor, and a liquid level sensor; and the attitude sensing unit includes a gyroscope, an accelerometer, and a GPS positioning module.

[0010] Furthermore, the control module employs an embedded microprocessor, integrating fuzzy PID control algorithm, image recognition algorithm, and spectral analysis algorithm. It presets aerial spraying and fertilization modes and land spraying and fertilization modes, supporting manual and automatic switching. The control module has a built-in crop growth model and soil fertility database, and integrates a fault diagnosis unit to identify sensor faults, actuator jamming, and communication interruption faults, and issues alarm prompts.

[0011] Furthermore, the spraying mechanism of the execution module includes a medicine tank, a spraying pump, a spraying pipeline, an adjustable nozzle, and an atomizer. The spraying pump is a variable displacement plunger pump, and a solenoid valve is installed on the spraying pipeline. The fertilization mechanism includes a fertilizer tank, a fertilization pump, a fertilization pipeline, a fertilization nozzle, and a stirrer. The fertilization pump is a variable displacement gear pump. The execution module also includes a feedback unit for collecting actual spraying and fertilization parameters and transmitting them to the control module.

[0012] Furthermore, the communication module adopts a combination of WiFi, Bluetooth, 4G / 5G and CAN bus communication methods, supports short-range and long-range data transmission, has anti-interference capabilities, and integrates an airspace application interface, allowing users to submit airspace applications to avoid no-fly zones before operations.

[0013] Furthermore, the storage module uses a flash memory chip with a capacity of no less than 64GB, which can store historical data of at least 1,000 jobs, supports data export and backup via USB interface, can store job prescription maps and support import and retrieval, and adopts a circular storage method to avoid data loss.

[0014] Furthermore, the human-computer interaction module includes a high-definition touch screen with a size of not less than 7 inches, physical buttons, and a voice prompt unit. The physical buttons include a start button, a stop button, a mode switching button, and an emergency pause button, and support multi-language switching.

[0015] Furthermore, the power supply module includes a power management unit, a vehicle power interface, and a backup lithium battery with a capacity of not less than 10,000 mAh. The power management unit can regulate and filter the input power and has overcharge, over-discharge, and overcurrent protection functions. The backup lithium battery can provide at least 2 hours of emergency power supply.

[0016] A method for controlling and regulating intelligent variable-rate pesticide and fertilizer application, based on the intelligent variable-rate pesticide and fertilizer application control system according to any one of claims 1-8, includes the following steps: Step 1: System initialization, start the system and perform a self-test. After the self-test is normal, proceed to the parameter setting stage; Step 2: Parameter preset, set the operation parameters, import the operation prescription map and soil fertility data, and generate the initial spraying and fertilization parameter thresholds; Step 3: Real-time parameter acquisition. The sensing module collects various parameters, preprocesses them, and then transmits them to the control module. Step 4: Pattern recognition and parameter calculation. The control module identifies the operation mode and calculates the adjustment amount of spraying and fertilization parameters through fuzzy PID control algorithm. Step 5: Variable execution. The execution module receives the adjustment instructions, completes the adjustment of spraying and fertilization parameters, and feeds back the actual parameters. Step 6: Closed-loop correction. The control module compares the actual parameters with the preset parameters. If the deviation exceeds the allowable range, it readjusts. Step 7: Operation monitoring and anomaly handling; monitor the operation status in real time, suspend the operation and issue an alarm when an anomaly occurs; Step 8: The job is completed. Stop the job and store the job history data. The system enters standby mode.

[0017] Furthermore, the operation process of the fuzzy PID control algorithm in step 4 includes: determining input and output variables, fuzzification processing, establishing a fuzzy rule base, fuzzy inference, defuzzification processing, and PID operation; the parameter preprocessing in step 3 includes filtering noise through a filtering algorithm, correcting errors through a calibration algorithm, and then converting it into a digital signal that the control module can recognize.

[0018] Compared with the prior art, the present invention has the following advantages: 1. It is compatible with both land, air, and flying motorcycle operations, and is deeply integrated with the power and navigation systems. It can adjust parameters in real time according to flight / driving status, taking into account both the uniformity and accuracy of operations, expanding the application scenarios of plant protection, and improving the flexibility and efficiency of operations.

[0019] 2. By adopting a fuzzy PID control algorithm and a closed-loop feedback mechanism, the control parameters are dynamically adjusted, solving the problem of poor adaptability of traditional PID control. The adjustment error is ≤5%, achieving precise variable control, significantly reducing agricultural input waste and environmental pollution, which is in line with the concept of sustainable agriculture.

[0020] 3. The sensing module covers multi-dimensional parameter acquisition and integrates image recognition and spectral analysis algorithms, which can accurately grasp the situation at the work site, realize targeted spraying and fertilization, and significantly improve the work effect.

[0021] 4. The system has a high degree of integration, with functions such as fault diagnosis, voice prompts, and remote monitoring. It is easy to operate, efficient in troubleshooting, and supports data storage and export of work data to achieve closed-loop management.

[0022] 5. The execution module adopts adjustable equipment to adapt to the needs of different crops and growth stages. Its reasonable structural design ensures the accuracy and continuity of operation. The power supply module adopts a dual power supply design and is equipped with multiple protections to ensure stable and safe power supply.

[0023] 6. The communication module adopts a multi-mode combination scheme, which has strong anti-interference ability, integrates airspace application interface to ensure the safety of aerial operations, and can be linked with the farm management platform to improve the level of intelligence. Attached Figure Description

[0024] Figure 1 This is a block diagram of the overall architecture of the intelligent variable spraying and fertilization control system of the present invention; Figure 2 This is a flowchart of the intelligent variable spraying and fertilization control method of the present invention; Figure 3This is a schematic diagram of the sensing module and the land-air dual-mode collaboration of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] The intelligent variable spraying and fertilization control system proposed in this invention includes a sensing module, a control module, an execution module, a communication module, a storage module, a human-computer interaction module, and a power supply module. The modules are connected to each other through a bus or wireless communication to work together to realize intelligent variable spraying and fertilization control in both land and air modes. The sensing module is used to collect environmental parameters, crop parameters, soil parameters, equipment operating parameters and flight / driving status parameters at the work site in real time, and transmit the collected parameters to the control module after preprocessing. The control module, as the core control unit of the system, is linked with the power system and navigation system of the land-air flying motorcycle. It receives various parameters transmitted by the sensing module, combines them with the preset operation mode and crop growth model, and performs data analysis and calculation through the fuzzy PID control algorithm to generate spraying parameter adjustment instructions and fertilization parameter adjustment instructions, which are then sent to the execution module. At the same time, it receives feedback signals from the execution module and the feedback unit to perform closed-loop correction to ensure operation accuracy. The execution module is used to receive adjustment instructions sent by the control module, drive the spraying mechanism and the fertilizing mechanism to complete the spraying and fertilizing actions, and realize the precise adjustment of parameters such as spraying amount, fertilizing amount, spraying speed, fertilizing speed, and atomized particle size. The communication module is used to realize data interaction between the control module and the power system, navigation system, and ground control terminal of the air-to-ground flying motorcycle, as well as data transmission between the sensing module and the control module, and between the execution module and the control module. It supports both wireless and wired communication methods to ensure the real-time performance and stability of data transmission. The storage module is used to store preset operation parameters, crop growth models, soil fertility databases, environmental parameter thresholds, fuzzy PID control algorithm parameters, historical operation data, fault logs, and other information, providing data support for the operation and decision-making of the control module, and also supporting data export and backup. The human-machine interaction module is used to enable operators to set system parameters, switch modes, control start and stop, and display work status, parameter data, and fault information. It supports touch operation and physical button operation, making it easy to operate. The power supply module is used to provide a stable power supply for each module of the system. It is linked with the on-board power supply of the land-air flying motorcycle and is also equipped with a backup power supply to ensure that the system can work normally when the on-board power supply is abnormal, thus ensuring the continuity of operation.

[0027] Furthermore, the sensing module includes an environmental sensing unit, a crop sensing unit, a soil sensing unit, an equipment sensing unit, and an attitude sensing unit; The environmental sensing unit includes a temperature sensor, a humidity sensor, a wind speed sensor, a light sensor, and a rainfall sensor. It is used to collect real-time data on the ambient temperature, humidity, wind speed, light intensity, and rainfall at the work site. The wind speed sensor monitors wind speed during operation; when the wind speed exceeds a preset threshold (e.g., 5 m / s), the control module issues an early warning and suspends spraying to prevent pesticide drift. The temperature and humidity sensors assist in adjusting the atomized particle size and spraying frequency. The light sensor determines the intensity of crop photosynthesis to assist in adjusting fertilizer application. The rainfall sensor monitors rainfall; during rainfall, operation is suspended to prevent fertilizer loss and pesticide dilution. The crop sensing unit includes a high-definition camera, a multispectral sensor, and an infrared sensor. The high-definition camera is used to collect images of the crop's growth status (such as leaf color, plant height, and canopy coverage). The multispectral sensor is used to detect the crop's nutrient content (such as nitrogen, phosphorus, and potassium content) and the occurrence of pests and diseases. The infrared sensor is used to detect the crop's moisture content. Through image recognition algorithms and spectral analysis algorithms, crop growth indicators are extracted to provide a basis for variable adjustment. For example, in the control of spider mites in apple orchards, the high-definition camera and multispectral sensor are used to identify the infested areas, allowing the spraying mechanism to spray in a targeted manner, improving the control effect while reducing pesticide usage. During the flowering period of strawberries, the infrared sensor detects the leaf moisture content and adjusts the foliar fertilizer spraying flow rate. The soil sensing unit includes a soil moisture sensor, a soil nutrient sensor, and a soil pH sensor. It is used to collect soil moisture, nitrogen, phosphorus, and potassium content, and soil pH in the working area in real time. The soil moisture sensor can be inserted into the surface or deep soil layers to collect soil moisture data at different depths, providing a basis for adjusting the amount of water sprayed and fertilizer applied. For example, during the corn jointing stage, the amount of fertilizer applied can be adjusted according to soil fertility zones: 25 kg / mu in high-fertility zones and 30 kg / mu in low-fertility zones, thereby improving fertilizer utilization. The equipment sensing unit includes a flow sensor, a pressure sensor, a speed sensor, and a level sensor. The flow sensor monitors the real-time flow rate of the spraying and fertilizing pipelines; the pressure sensor monitors the working pressure of the spraying and fertilizing mechanisms; the speed sensor monitors the speed of the spraying and fertilizing pumps; and the level sensor monitors the remaining liquid level in the pesticide and fertilizer tanks. When the liquid level is lower than a preset threshold, an alarm is triggered to remind the operator to replenish pesticides or fertilizers. Simultaneously, the data from the flow sensor and pressure sensor are used for closed-loop feedback to correct the spraying and fertilizing parameters in real time, ensuring adjustment accuracy. The attitude sensing unit includes a gyroscope, an accelerometer, and a GPS positioning module. The gyroscope and accelerometer are used to collect the flight attitude (such as pitch angle, roll angle, and yaw angle) and driving status (such as driving speed and turning angle) of the air-to-ground flying motorcycle. The GPS positioning module is used to accurately locate the operation position and record the operation trajectory to avoid missed or repeated operations. At the same time, the attitude data is transmitted to the control module and linked with the navigation system. When the flight attitude or driving speed changes, the spraying and fertilization parameters are adjusted in a timely manner to ensure the uniformity of the operation. For example, when flying in the air, the spray width and atomized particle size are adjusted according to the flight altitude and speed; when driving on the ground, the spraying frequency and fertilization spacing are adjusted according to the driving speed.

[0028] Furthermore, the control module adopts an embedded microprocessor, integrating fuzzy PID control algorithm, image recognition algorithm, and spectral analysis algorithm, which can realize real-time calculation of multiple parameters and rapid response. The control module has two preset operating modes, namely aerial spraying and fertilization mode and land spraying and fertilization mode. The operator can manually switch through the human-machine interaction module, or the control module can automatically switch according to the operating status of the land-air flying motorcycle. The fuzzy PID control algorithm combines traditional PID control with fuzzy logic theory. By fuzzifying the error and the rate of change of error, it uses a fuzzy rule base for reasoning and dynamically adjusts the parameters Kp, Ki, and Kd. This solves the problems of fixed parameters and poor adaptability in traditional PID control. It can effectively cope with nonlinear and time-varying systems during land-air mode switching, improve the dynamic response and steady-state accuracy of the system, and avoid problems such as adjustment lag and overshoot. For example, when a sudden change in flight attitude causes an increase in the spraying flow rate deviation, the fuzzy PID algorithm can quickly adjust the parameters to restore the flow rate to the set value, ensuring the uniformity of the operation. The control module incorporates a crop growth model and a soil fertility database. The crop growth model presets spraying and fertilization parameter thresholds for different growth stages based on the growth cycle and needs of different crops. The soil fertility database stores fertility parameters and appropriate fertilizer and pesticide application rates for different types of soil. The control module combines real-time parameters collected by the sensing module with the preset model and database for comparison and analysis, generating personalized variable adjustment instructions. At the same time, the control module supports online parameter modification and model updates and upgrades to adapt to the operational needs of different crops and regions. The control module also integrates a fault diagnosis unit, which is used to monitor the operating status of each module of the system in real time. When the sensing module, execution module, communication module, etc. malfunction, the fault type and location are identified in a timely manner, a fault alarm is issued through the human-machine interaction module, and the fault information is stored in the storage module for easy troubleshooting and maintenance by operators. The fault diagnosis unit can monitor faults including sensor failure, actuator jamming, communication interruption, low liquid level, and abnormal pressure, thereby improving the reliability and maintainability of the system.

[0029] Furthermore, the execution module includes a spraying mechanism and a fertilizing mechanism, both of which are fixedly connected to the body of the land-air flying motorcycle, and the installation angle and operating range can be adjusted according to the operating mode. The spraying mechanism includes a pesticide tank, a spraying pump, spraying pipes, nozzles, and an atomizer. The spraying pump is a variable displacement plunger pump, which can adjust its speed according to the instructions of the control module, thereby regulating the spraying flow rate. A solenoid valve is installed on the spraying pipe to control the opening and closing of the pipes, enabling zoned spraying. The nozzles are adjustable, allowing for adjustment of the atomization particle size (e.g., 50-150μm) according to operational needs. For aerial operations, a fine mist (50-80μm) is used to increase coverage, while for ground operations, a coarse mist (100-150μm) is used to reduce drift. The atomizer enhances the atomization effect of the pesticide solution, ensuring uniform adhesion to the crop surface and improving spraying efficiency. For example, in controlling wheat aphids, a 50-80μm fine mist is used in aphid-infested areas, while a 100-150μm coarse mist is used in areas with moderate aphid populations. Combined with a downward swirling airflow to enhance droplet adhesion, this increases pesticide utilization to over 70%, reducing pesticide usage per acre by 25%. The fertilization mechanism includes a fertilizer tank, a fertilizer pump, fertilizer pipelines, fertilizer nozzles, and a mixer. The fertilizer pump is a variable gear pump, which can adjust the fertilizer flow rate according to the instructions of the control module. The mixer is used to stir the fertilizer in the fertilizer tank to ensure that the fertilizer is evenly dissolved and to prevent clumping and blockage of the pipeline. The fertilizer nozzles can adjust the spray range according to the crop row spacing and fertilization needs to achieve fixed-point and quantitative fertilization. For example, when applying organic fertilizer to tea gardens, fertilizer is spread at fixed points according to the tea tree row spacing (1.5-1.8 meters), at a rate of 15-20 kg per acre. The mixer ensures that the fertilizer is evenly distributed, improving fertilization efficiency by 60% and reducing soil compaction. The execution module also includes a feedback unit connected to the spraying and fertilizing mechanisms. The feedback unit is used to collect actual parameters of spraying and fertilizing (such as actual spraying amount, actual fertilizing amount, and atomization effect) and transmit the feedback parameters to the control module. The control module compares the actual parameters with the set parameters and performs closed-loop correction through a fuzzy PID algorithm to ensure the accuracy of the spraying and fertilizing parameters. At the same time, the feedback unit can monitor the blockage of the nozzles and pipelines and promptly feed back to the control module to issue an alarm.

[0030] Furthermore, the communication module employs a combination of WiFi, Bluetooth, 4G / 5G, and CAN bus communication methods. WiFi and Bluetooth are used for short-range data transmission between the control module and the human-machine interface module and ground control terminal, while 4G / 5G is used for long-range data transmission, allowing operators to remotely monitor the operation status, modify operation parameters, and view historical operation data via a mobile app or computer terminal. The CAN bus is used for high-speed data exchange between the control module and the power and navigation systems of the air-to-ground flying motorcycle, ensuring coordinated adjustment of flight / driving status and spraying / fertilizing parameters. The communication module has anti-interference capabilities, enabling stable data transmission in complex agricultural environments (such as farmland and forests), avoiding operation interruptions or parameter deviations caused by signal interference. Simultaneously, the communication module supports an airspace application interface, allowing airspace applications to be submitted one hour before operation to avoid airports and no-fly zones, with an application success rate of ≥98%, ensuring safe aerial operations.

[0031] Furthermore, the storage module employs a high-capacity flash memory chip, supporting long-term data storage with a capacity of no less than 64GB. It can store historical data from at least 1000 operations, including operation time, location, parameters, environmental parameters, crop parameters, and soil parameters. The storage module supports a USB interface, enabling data export and backup, facilitating operation analysis and data statistics for operators. Simultaneously, the storage module can automatically overwrite the oldest historical data (retaining the latest 1000 operations) to prevent data loss due to insufficient storage capacity. In addition, the storage module can store operation prescription maps for different crops. These maps can be imported before operation, and the control module generates adjustment instructions based on the prescription maps and real-time parameters, improving operation accuracy.

[0032] Furthermore, the human-machine interaction module includes a touch screen, physical buttons, and a voice prompt unit. The touch screen uses a high-definition LCD display with a size of no less than 7 inches, which can clearly display the operating mode, operating parameters, real-time data, fault information, etc., and supports touch operation, making it convenient for operators to quickly set parameters and switch modes. The physical buttons include a start button, a stop button, a mode switching button, an emergency pause button, etc., for operation in emergency situations, improving system safety. The voice prompt unit is used to issue operation start prompts, parameter setting prompts, fault alarm prompts, low liquid level prompts, etc., allowing operators to quickly understand the system's operating status through voice prompts without frequently checking the display screen. The human-machine interaction module also supports multi-language switching to adapt to the usage needs of different operators.

[0033] Furthermore, the power supply module includes a power management unit, an on-board power interface, and a backup lithium battery. The power management unit is used to regulate and filter the input power to ensure the stability of the output power and prevent voltage fluctuations from damaging the various modules of the system. The on-board power interface connects to the on-board power supply of the land-air flying motorcycle to obtain working power. The on-board power supply voltage is 12V-24V, which is compatible with different models of land-air flying motorcycles. The backup lithium battery has a capacity of not less than 10000mAh and can provide the system with at least 2 hours of working power when the on-board power supply is abnormal, ensuring the continuity of operation. The power supply module also has overcharge, over-discharge, and overcurrent protection functions to extend the service life of the backup lithium battery and ensure the electrical safety of the system.

[0034] This invention also provides an intelligent variable-rate spraying and fertilization control method, based on the above-mentioned intelligent variable-rate spraying and fertilization control system, comprising the following steps: Step 1: System initialization. The operator starts the system through the human-machine interface module. The power supply module provides stable power to each module. The system automatically performs a self-test, checking the operating status of each module, such as the sensing module, control module, execution module, and communication module. If a fault is found, the human-machine interface module issues a fault alarm. After troubleshooting, the operator restarts the system. If the self-test is normal, the system enters the parameter setting stage. Step 2: Parameter preset. Operators set operation parameters through the human-computer interaction module, including crop type, crop growth stage, preset spray amount, preset fertilizer amount, spraying speed, fertilizer application speed, atomization particle size, and operation mode (aerial mode or land mode). At the same time, preset operation prescription maps and soil fertility data can be imported. The control module stores the preset parameters in the storage module and calls the crop growth model and soil fertility database in the storage module to generate the initial spraying and fertilization parameter thresholds. Step 3: Real-time parameter acquisition. Each unit of the sensing module starts working. The environmental sensing unit collects environmental parameters such as temperature, humidity, wind speed, light intensity, and rainfall at the work site. The crop sensing unit collects crop parameters such as crop growth status, nutrient content, and pest and disease conditions. The soil sensing unit collects soil parameters such as soil moisture, soil nutrients, and soil pH. The equipment sensing unit collects equipment parameters such as spraying flow rate, pressure, rotation speed, and liquid level. The attitude sensing unit collects attitude parameters such as the flight attitude, driving status, and work position of the land-air flying motorcycle. After preprocessing the collected parameters (filtering noise and calibrating data), each sensing unit transmits them to the control module through the communication module. Step 4: Pattern Recognition and Parameter Calculation. The control module receives various real-time parameters transmitted by the sensing module. Combining the preset operation parameters and crop growth model, it first identifies the current operation mode (automatically identified based on the flight / driving status of the air-to-ground flying motorcycle, or determined based on the mode preset by the operator). Then, through a fuzzy PID control algorithm, it compares and analyzes the real-time parameters with the preset parameters to calculate the adjustment amounts for spraying parameters (spraying amount, spraying speed, and atomized particle size) and fertilization parameters (fertilization amount and fertilization speed). Simultaneously, the control module combines GPS positioning data and the operation prescription map to determine whether the current operation location is a missed or repeated operation area, avoiding operation deviations. Step 5: Variable execution. The control module sends the calculated adjustment instructions to the execution module via the communication module. After receiving the instructions, the execution module drives the spraying and fertilizing mechanisms to operate: the spraying pump adjusts its speed and spraying flow rate, the nozzle adjusts the atomized particle size, and the solenoid valve controls the opening and closing of the spraying pipeline to achieve precise adjustment of spraying parameters; the fertilizing pump adjusts its speed and fertilizing flow rate, the agitator starts stirring, and the fertilizing nozzle adjusts the spraying range to achieve precise adjustment of fertilizing parameters; simultaneously, the feedback unit of the execution module collects the actual spraying and fertilizing parameters and transmits them to the control module. Step 6: Closed-loop correction. The control module compares the actual parameters transmitted by the feedback unit with the preset parameters and calculates the parameter deviation. If the deviation is within the allowable range (e.g., ±5%), the current adjustment parameters are maintained. If the deviation exceeds the allowable range, the control module recalculates the adjustment amount through the fuzzy PID control algorithm, sends the correction command to the execution module, and adjusts the spraying and fertilization parameters until the actual parameters are consistent with the preset parameters, thus forming closed-loop control. Step 7: Operation monitoring and anomaly handling. During the operation, the control module monitors the operating status and operation parameters of each module in the system in real time. If abnormal situations such as excessive wind speed, excessive rainfall, low liquid level, equipment failure, or communication interruption occur, the control module will immediately issue an instruction to suspend the spraying and fertilization operation. At the same time, an alarm prompt will be issued through the human-machine interaction module, and the operator will handle the situation according to the prompt. After the abnormal situation is handled, the system will resume operation. Step 8: After the operation is completed, the operator issues a stop command through the human-machine interface module. The system stops spraying and fertilizing, the execution module shuts down equipment such as the spraying pump and fertilizing pump, and the sensing module stops collecting parameters. The control module stores the historical data of this operation (operation time, operation location, operation parameters, real-time collected data, fault information, etc.) in the storage module. At the same time, the operation data can be transmitted to the ground control terminal through the communication module for the operator to perform operation analysis. The system enters standby mode, waiting for the next operation command.

[0035] Furthermore, in step 4, the specific calculation process of the fuzzy PID control algorithm includes the following steps: Step 4.1: Determine the input and output variables. The input variables are the parameter deviation e (the difference between the preset parameter and the real-time parameter) and the deviation change rate ec (the rate of change of the deviation). The output variables are the three parameters Kp, Ki, and Kd of the PID controller. Step 4.2: Fuzzification process, convert the actual values ​​of input variables e and ec into fuzzy linguistic variables (such as negative large, negative medium, negative small, zero, positive small, positive medium, positive large), and determine the membership function of each fuzzy linguistic variable; Step 4.3: Establish a fuzzy rule base. Based on the operator's experience and crop growth needs, establish fuzzy rules (e.g., when the deviation e is positive and the deviation change rate ec is negative, Kp is positive, Ki is positive, and Kd is negative). The fuzzy rule base covers all possible combinations of input variables and their corresponding output variable values. Step 4.4: Fuzzy inference. Based on the fuzzy values ​​of the input variables and the fuzzy rule base, the fuzzy values ​​of the output variables are calculated using a fuzzy inference algorithm (such as the Mamdani inference method). Step 4.5: Defuzzification process, converting the fuzzy values ​​of the output variables into actual precise values ​​to obtain the real-time adjustment values ​​of Kp, Ki, and Kd; Step 4.6: PID calculation: Based on the adjusted Kp, Ki, and Kd parameters and the parameter deviation e, the adjustment amount is calculated using the PID calculation formula to generate the adjustment command; The aforementioned fuzzy PID control algorithm enables dynamic adaptive adjustment of spraying and fertilization parameters, improving the system's adjustment accuracy and stability, and adapting to complex operating environments under both land and air modes.

[0036] Furthermore, in step 3, the specific process of parameter preprocessing is as follows: after each sensing unit collects the raw parameters, it filters out noise interference in the raw data and removes outliers through a filtering algorithm (such as the Kalman filter algorithm); then, it calibrates the sensor's collected data through a calibration algorithm to ensure the accuracy of the data; finally, it converts the preprocessed parameters into digital signals that the control module can recognize and transmits them to the control module; for example, the raw data collected by the soil moisture sensor may fluctuate, so the Kalman filter algorithm is used to filter out fluctuation noise, and then the calibration algorithm is used to correct the sensor error to ensure the accuracy of the soil moisture data.

[0037] The present invention will be further described in detail below with reference to specific embodiments, so that those skilled in the art can understand it.

[0038] It should be noted that this embodiment is only used to explain the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made without departing from the principle of the present invention should be included within the scope of protection of the present invention. Example

[0039] This embodiment provides an intelligent variable-rate spraying and fertilization control system, which is a core component of the land-air flying motorcycle. It includes a sensing module, a control module, an execution module, a communication module, a storage module, a human-machine interaction module, and a power supply module. The modules are connected to each other via a CAN bus. The control module is also connected to the power system and navigation system of the land-air flying motorcycle to achieve high-speed data interaction and collaboratively realize intelligent variable-rate spraying and fertilization control in both land and air modes.

[0040] 1. Perception Module The sensing module includes an environmental sensing unit, a crop sensing unit, a soil sensing unit, an equipment sensing unit, and an attitude sensing unit. Each unit uses high-precision sensors to ensure the accuracy of the collected data. (1) Environmental sensing unit: The DS18B20 temperature sensor is used, with a measurement range of -55℃ to 125℃ and an accuracy of ±0.5℃, to collect ambient temperature; the DHT22 humidity sensor is used, with a measurement range of 0 to 100%RH and an accuracy of ±2%RH, to collect ambient humidity; the FC-28 wind speed sensor is used, with a measurement range of 0 to 30m / s and an accuracy of ±0.1m / s, to collect wind speed. When the wind speed is greater than 5m / s, a signal is sent to the control module to suspend the spraying operation; the BH1750 light sensor is used, with a measurement range of 0 to 65535lx and an accuracy of ±1lx, to collect light intensity; the YL-69 rain sensor is used, with a measurement range of 0 to 200mm / h, to collect rainfall. The operation is suspended when it rains.

[0041] (2) Crop sensing unit: An OV5640 high-definition camera with a resolution of 1080P and a frame rate of 30fps is used to collect images of crop growth status; an MSP430 multispectral sensor is used to detect the spectrum of wavelengths from 400 to 1000 nm to analyze the nitrogen, phosphorus, and potassium content of crops and the status of pests and diseases; an AMG8833 infrared sensor with a measurement range of 0 to 80℃ and an accuracy of ±2℃ is used to detect the moisture content of crops; the images collected by the high-definition camera are processed by the OpenCV image recognition algorithm to extract indicators such as crop height, canopy coverage, and leaf color; the data collected by the multispectral sensor are analyzed by the spectral analysis algorithm to determine the crop nutrient deficiency status and the type of pests and diseases.

[0042] (3) Soil sensing unit: The EC-5 soil moisture sensor is used, with a measurement range of 0~100% and an accuracy of ±3%. It can be inserted into the deep soil layer (0~50cm) to collect soil moisture at different depths; the TPY-6 soil nutrient sensor is used to detect the nitrogen, phosphorus and potassium content in the soil, with a measurement range of 0~5000mg / kg and an accuracy of ±5%; the PH-100 soil pH sensor is used, with a measurement range of 3~11 and an accuracy of ±0.1, to collect soil pH value; each sensor is inserted into the soil through a probe to collect soil parameters in real time and transmit them to the control module.

[0043] (4) Equipment sensing unit: The LWGY turbine flow sensor is used, with a measurement range of 0.1~10m³ / h and an accuracy of ±0.5%, to monitor the flow rate of pesticide spraying and fertilizer application; the MPX5700 pressure sensor is used, with a measurement range of 0~1MPa and an accuracy of ±1%, to monitor the pressure of pesticide spraying and fertilizer application; the Hall speed sensor is used, with a measurement range of 0~10000r / min and an accuracy of ±1r / min, to monitor the speed of the pesticide spraying pump and fertilizer application pump; the ultrasonic liquid level sensor is used, with a measurement range of 0~5m and an accuracy of ±1mm, to monitor the remaining liquid level in the pesticide tank and fertilizer tank, and to issue an alarm when the liquid level is below 10%.

[0044] (5) Attitude sensing unit: The MPU6050 gyroscope and accelerometer are used to measure the pitch angle, roll angle, yaw angle and acceleration of the land-air flying motorcycle. The GPS positioning module is used to collect the operation position and record the operation trajectory to avoid missed operations and repeated operations. The attitude sensing unit collects flight / driving status parameters in real time and transmits them to the control module, which is linked with the navigation system to adjust the spraying and fertilization parameters.

[0045] 2. Control Module The control module uses an STM32H743VIT6 embedded microprocessor with a main frequency of 480MHz, which has powerful computing and data processing capabilities. It integrates fuzzy PID control algorithm, OpenCV image recognition algorithm and spectral analysis algorithm. The control module has preset aerial spraying and fertilization modes and land spraying and fertilization modes, and supports manual and automatic switching (automatic identification based on GPS positioning data and attitude data).

[0046] The specific parameter settings for the fuzzy PID control algorithm are as follows: the fuzzy linguistic variables for the input variable e are negative large (NL), negative medium (NM), negative small (NS), zero (Z), positive small (PS), positive medium (PM), and positive large (PL), and the membership function adopts the triangular membership function; the fuzzy linguistic variables for the deviation change rate ec are consistent with e; the fuzzy linguistic variables for the output variables Kp, Ki, and Kd are also NL, NM, NS, Z, PS, PM, and PL; the fuzzy rule base contains 49 fuzzy rules, for example: if e=PL and ec=NS, then Kp=PL, Ki=PS, Kd=NS; fuzzy inference is performed using the Mamdani inference method, and defuzzification is performed using the centroid method to obtain the real-time adjustment values ​​of Kp, Ki, and Kd.

[0047] The control module has a built-in crop growth model that covers the growth cycle parameters of common crops such as wheat, corn, rice, apple, and strawberry, and presets the threshold values ​​for spraying and fertilization parameters at different growth stages. It also has a built-in soil fertility database that stores fertility parameters and appropriate fertilizer and pesticide application rates for different soil types such as sandy soil, clay soil, and loam. The control module supports online parameter modification and model updates, and receives updated data from the ground control terminal through the communication module to achieve system upgrades.

[0048] The control module integrates a fault diagnosis unit. By monitoring the operating current, voltage, and data transmission status of each module, it identifies the fault type (such as sensor failure, actuator failure, communication interruption, low liquid level, etc.) and issues an alarm prompt through the human-machine interaction module. At the same time, the fault information is stored in the storage module, with each fault code corresponding to a specific fault type, facilitating troubleshooting and maintenance by operators.

[0049] 3. Execution Module The execution module includes a spraying mechanism and a fertilizing mechanism, both of which are bolted to the body of the land-air flying motorcycle. The installation angle can be adjusted according to the operation mode (in aerial mode, the nozzle is tilted downwards at 30°; in land mode, the nozzle is placed horizontally). (1) Spraying mechanism: including a 100L tank, a variable displacement plunger pump (model: VP-40), a spraying pipeline, an adjustable nozzle (model: TeeJet 8002) and an atomizer; the variable displacement plunger pump has a speed range of 0~1500r / min, and the speed can be adjusted according to the instructions of the control module to adjust the spraying flow rate (0~50L / h); the spraying pipeline is made of PVC material with a diameter of 20mm, and an electromagnetic reversing valve (model: 4V210-08) is installed on the pipeline to control the opening and closing of the spraying pipeline and realize zoned spraying; the adjustable nozzle can adjust the atomization particle size (50~150μm), using 50~80μm fine mist for aerial operations and 100~150μm coarse mist for ground operations; the atomizer is an ultrasonic atomizer with a power of 50W to improve the atomization effect of the liquid.

[0050] (2) Fertilizer application mechanism: including an 80L fertilizer tank, a variable gear pump (model: CB-B10), fertilizer pipeline, fertilizer nozzle and agitator; the variable gear pump has a speed range of 0~1000r / min and can adjust the fertilizer flow rate (0~30L / h); the agitator is driven by a DC motor with a speed of 300r / min and is used to stir the fertilizer in the fertilizer tank to ensure uniform dissolution; the fertilizer nozzle is a fan-shaped nozzle and the spraying range can be adjusted (0~180°) to adapt to the row spacing requirements of different crops.

[0051] (3) Feedback unit: The flow sensor and pressure sensor are used as feedback elements to collect the actual flow and pressure of spraying and fertilizing in real time and transmit them to the control module. The control module compares the actual parameters with the preset parameters and performs closed-loop correction through fuzzy PID algorithm to ensure the adjustment accuracy.

[0052] 4. Communication Module The communication module uses the ESP32-WROOM-32 module, integrating WiFi, Bluetooth, and 4G communication functions, while also supporting CAN bus communication. The WiFi and Bluetooth communication distance is 0~100m, used for short-range data transmission between the control module and the human-machine interface module and ground control terminal. The 4G communication uses a full network compatible module, with unlimited communication distance, allowing operators to remotely monitor the operation status and modify operation parameters via a mobile APP. The CAN bus communication rate is 500kbps, used for high-speed data exchange between the control module and the power system and navigation system of the land-air flying motorcycle, ensuring coordinated adjustment of flight / driving status and spraying and fertilization parameters. The communication module has anti-interference capabilities and uses shielded wire connections to avoid electromagnetic interference in the agricultural environment.

[0053] In addition, the communication module integrates an airspace application interface. One hour before the operation, an airspace application can be submitted via a mobile APP. The system automatically filters no-fly zones to ensure the safety of aerial operations, with an application success rate of ≥98%.

[0054] 5. Storage module The storage module uses a 64GB high-capacity flash memory chip (model: W25Q64JV) to support long-term data storage. It can store historical data from 1000 operations, including operation time, operation location, environmental parameters, crop parameters, soil parameters, spraying and fertilization parameters, and fault information. The storage module supports a USB 2.0 interface, allowing data export and backup via USB flash drive. The storage module uses a circular storage method, automatically overwriting the oldest historical data when the storage capacity is full, while retaining the latest 1000 operation data. At the same time, the storage module can store operation prescription maps for different crops, supporting prescription map import and retrieval.

[0055] 6. Human-Computer Interaction Module The human-machine interface module includes a 7-inch high-definition LCD touchscreen display (resolution: 1024×600), physical buttons, and a voice prompt unit. The touchscreen display can show the operating mode, real-time parameters (temperature, humidity, wind speed, spraying amount, fertilizer application amount, etc.), fault information, and operating trajectory. It supports touch operation and allows for quick setting of operating parameters and switching of modes. The physical buttons include a start button, a stop button, a mode switching button, and an emergency pause button. The emergency pause button can quickly stop the operation in case of an emergency, improving system safety. The voice prompt unit uses an ISD1820 voice module, which can issue prompts for operation start, parameter setting, fault alarm, and low liquid level, and the voice volume is adjustable. The human-machine interface module supports switching between Chinese and English languages ​​to adapt to the usage needs of different operators.

[0056] 7. Power supply module The power supply module includes a power management unit (model: LM2596), an on-board power interface, and a 10000mAh backup lithium battery. The power management unit is used to regulate and filter the input power, and output stable 5V and 12V power to power each module. The on-board power interface connects to the 12V on-board power supply of the air-to-ground flying motorcycle to obtain operating power. The backup lithium battery uses a lithium battery pack with a capacity of 10000mAh and an output voltage of 12V, which can provide the system with more than 2 hours of operating power when the on-board power supply is abnormal. The power supply module has overcharge, over-discharge, and overcurrent protection functions and uses a TP4056 charging management chip to extend the service life of the backup lithium battery. Example

[0057] This embodiment provides an intelligent variable spraying and fertilization control method, based on the intelligent variable spraying and fertilization control system in Embodiment 1, for plant protection operations in wheat fields. The specific steps are as follows: Step 1: System initialization. The operator starts the system using the start button on the human-machine interface module. The power supply module provides a stable power supply to each module. The system automatically performs a self-test, checking the operating status of each module, including the sensing module, control module, execution module, and communication module. After the self-test is normal, it enters the parameter setting stage. If a fault is found in the spray pump speed sensor during the self-test, the human-machine interface module will issue a voice prompt and text prompt, "Speed ​​sensor fault, please check." The operator replaces the sensor and restarts the system.

[0058] Step 2: Parameter Presetting. The operator sets the operation parameters via the touch screen: crop type is wheat, growth stage is jointing stage, preset spraying amount is 20L / mu, preset fertilizer application amount is 25kg / mu, spraying speed is 5m / s, fertilizer application speed is 4m / s, atomized particle size is 80μm, and operation mode is aerial mode; at the same time, the operation prescription map of wheat jointing stage and the soil fertility data of the area (loam, nitrogen content is 100mg / kg, phosphorus content is 80mg / kg, potassium content is 90mg / kg) are imported; the control module stores the preset parameters to the storage module and calls the wheat growth model in the storage module to generate the initial spraying and fertilization parameter thresholds (the allowable deviation range of spraying amount is ±1L / mu, and the allowable deviation range of fertilizer application amount is ±1kg / mu).

[0059] Step 3: Real-time parameter acquisition. Each unit of the sensing module begins operation: The environmental sensing unit acquires the following data at the work site: temperature 25℃, humidity 60%RH, wind speed 3m / s, light intensity 5000lx, and rainfall 0mm; The crop sensing unit acquires images of wheat growth status using a high-definition camera, extracts wheat plant height as 30cm and canopy coverage as 70% using image recognition algorithms; The multispectral sensor detects wheat nitrogen content as 95mg / kg (slightly below normal range), with no obvious pests or diseases; The infrared sensor detects wheat leaf moisture content as 65%; The soil sensing unit acquires soil moisture as 20%, soil nitrogen content as 100mg / kg, phosphorus content as 80mg / kg, and potassium content as... The soil pH was 7.0 and the concentration of pesticides was 90 mg / kg. The equipment sensing unit collected data showing a pesticide flow rate of 19.5 L / mu, a fertilizer flow rate of 24.8 kg / mu, a pesticide pressure of 0.3 MPa, a fertilizer pressure of 0.2 MPa, a pesticide pump speed of 800 r / min, a fertilizer pump speed of 600 r / min, a pesticide tank level of 80%, and a fertilizer tank level of 75%. The attitude sensing unit collected data showing the flight altitude of the air-to-ground flying motorcycle as 5 m, its flight speed as 5 m / s, its pitch angle as 0°, its roll angle as 0°, its yaw angle as 0°, and its GPS positioning data as (36.1234°N, 118.1234°E). Each sensing unit filtered the collected parameters using a Kalman filter algorithm to remove noise, calibrated them, and then transmitted them to the control module.

[0060] Step 4: Pattern Recognition and Parameter Calculation. After receiving real-time parameters, the control module automatically identifies the current operation mode as aerial mode based on the flight altitude and speed collected by the attitude sensing unit. Then, through a fuzzy PID control algorithm, it compares and analyzes the real-time parameters with the preset parameters: the wheat nitrogen content is 95 mg / kg, slightly lower than the normal range, requiring an increase in fertilizer application; the pesticide flow rate is 19.5 L / mu, within the allowable deviation range, requiring no adjustment; the soil moisture is 20%, normal, requiring no adjustment of the water application rate; the calculated fertilizer application rate adjustment is 0.5 kg / mu, the pesticide application rate adjustment is 0 L / mu, and the fertilizer application speed adjustment is 0.1 m / s. Simultaneously, the control module, combined with GPS positioning data and the operation prescription map, determines that the current operation location is a normal operation area, with no missed or repeated operations.

[0061] The specific calculation process of the fuzzy PID control algorithm is as follows: The input variable e (fertilizer application deviation) is 0.5 kg / mu, and the fuzzy value is PS; the deviation change rate ec is 0.1 kg / mu·s, and the fuzzy value is PS; according to the fuzzy rule base, if e=PS and ec=PS, then Kp=PS, Ki=PS, Kd=Z; through the Mamdani inference method and the center of gravity method, the fuzziness is de-defined, and Kp=5.0, Ki=0.5, and Kd=0 are obtained; the fertilizer pump speed adjustment is calculated to be 50 r / min through the PID calculation formula, and the adjustment command is generated.

[0062] Step 5: Variable execution. The control module sends the adjustment command to the execution module via the CAN bus. After receiving the command, the execution module drives the fertilization mechanism to operate: the fertilization pump speed is adjusted to 650 r / min, the fertilization flow rate is adjusted to 25.3 kg / mu, and the fertilization speed is adjusted to 4.1 m / s; the spraying mechanism maintains the current parameters unchanged; the feedback unit collects the actual fertilization flow rate as 25.3 kg / mu and the actual spraying flow rate as 19.5 L / mu, and transmits it to the control module.

[0063] Step 6: Closed-loop correction. The control module compares the actual parameters transmitted by the feedback unit with the preset parameters. The fertilizer application deviation is 0.3 kg / mu, which is within the allowable range (±1 kg / mu). The pesticide application deviation is 0.5 L / mu, which is within the allowable range (±1 L / mu). Therefore, the current adjustment parameters are maintained and no further correction is required.

[0064] Step 7: Operation Monitoring and Anomaly Handling. During the operation, the control module monitors the operating status and operation parameters of each module in real time. After 30 minutes of operation, if the environmental sensing unit detects that the wind speed suddenly rises to 6 m / s, exceeding the preset threshold (5 m / s), the control module immediately issues a command to suspend the spraying and fertilization operation. At the same time, the touch screen of the human-machine interface module displays the text message "Wind speed too high, suspend operation," and the voice prompt unit simultaneously issues a voice alarm "Wind speed exceeds the standard, please wait for the wind speed to decrease before continuing operation." The operator checks the real-time wind speed data through the ground control terminal. After waiting for 15 minutes, if the wind speed drops to 3.5 m / s, the operator issues a command to resume operation through the human-machine interface module. The system restarts the spraying and fertilization operation, restoring the operation parameters to the state before the suspension, ensuring the continuity of the operation. If the liquid level in the pesticide tank drops to 8% during the operation, below the preset threshold (10%), the system also suspends the operation and issues a prompt "Pesticide tank level insufficient, please replenish pesticide." After the operator replenishes the pesticide, the system automatically resumes the operation.

[0065] Step 8: Operation completed. Once the wheat field protection operation is finished (preset operation area of ​​50 mu), the operator issues a stop command through the stop button on the human-machine interface module. The system immediately stops spraying and fertilizing operations. The execution module shuts down equipment such as the spraying pump, fertilizing pump, and mixer. The sensing module stops collecting all parameters. The control module completely stores the historical data of this operation into the storage module, including the operation time (2 hours and 30 minutes), operation location (complete GPS track record), and operation parameters (average spraying amount 20.2 L / mu, average fertilizer application amount 25.1 kg / mu). The system features atomized particle size of 80μm, real-time data acquisition (average temperature 24.8℃, average humidity 62%RH, average wind speed 3.2m / s), and fault information (one instance of wind speed exceeding the limit causing a temporary halt). Simultaneously, the control module transmits the operation data to the ground control terminal and farm management platform via the communication module, facilitating operator analysis of the operation's effectiveness and subsequent operation planning. The system shuts down unnecessary operating modules and enters standby mode, awaiting the next operation command. If the standby time exceeds one hour, the system automatically enters hibernation mode to reduce power consumption and extend the lifespan of the backup power supply.

[0066] In this embodiment, through the intelligent variable spraying and fertilization control system and adjustment method, the pesticide utilization rate of wheat field plant protection operations is increased to 72%, the average pesticide usage per mu is reduced by 26%, the fertilizer utilization rate is increased by 32%, the pesticide drift rate is reduced to 2.8%, and the operation efficiency reaches 52 mu / hour. Compared with the traditional fixed dosage operation mode, the operation efficiency is increased by 45%, the agricultural production cost is reduced by 30%, and pesticide residues and fertilizer loss are effectively reduced, thus protecting the ecological environment. The system operates stably without any equipment failures throughout the process, the fault diagnosis response time is ≤1 second, and the operation is convenient. Operators only need simple training to complete all operations, making it suitable for the needs of large-scale wheat field plant protection operations.

[0067] It should be noted that the intelligent variable spraying and fertilization control system and adjustment method of the present invention are not only applicable to wheat field operations, but also adaptable to various crops such as corn, rice, apples, and strawberries, as well as various plant protection scenarios such as field operations, economic forestry and fruit farming, and facility agriculture. By adjusting preset parameters and replacing suitable sensors and actuators, the spraying and fertilization needs of different crops and different growth stages can be met, demonstrating strong versatility. At the same time, the system can be further upgraded and optimized according to actual operational needs, such as adding a drone collaborative operation interface and integrating a soil moisture prediction model, to further improve the level of intelligence in plant protection operations.

Claims

1. An intelligent variable-rate spraying and fertilization control system, characterized in that: It includes a sensing module, a control module, an execution module, a communication module, a storage module, a human-machine interaction module, and a power supply module. The modules are connected to each other via a bus or wireless communication to work together to achieve intelligent variable spraying and fertilization control in both land and air modes. The sensing module is used to collect environmental parameters, crop parameters, soil parameters, equipment operating parameters and flight / driving status parameters at the work site in real time, and transmit the collected parameters to the control module after preprocessing. The control module is linked with the power system and navigation system of the land-air flying motorcycle. It receives various parameters transmitted by the sensing module, combines the preset operation mode and crop growth model, and performs data analysis and calculation through the fuzzy PID control algorithm to generate spraying parameter adjustment instructions and fertilization parameter adjustment instructions and send them to the execution module. At the same time, it receives feedback signals from the execution module for closed-loop correction. The execution module is used to receive adjustment instructions from the control module, drive the spraying mechanism and the fertilizing mechanism to complete the spraying and fertilizing actions, and realize the precise adjustment of parameters such as spraying amount, fertilizing amount, and atomized particle size. The communication module is used to realize data interaction between the control module and the power system, navigation system, and ground control terminal of the land-air flying motorcycle, as well as between the sensing module, execution module, and control module. The storage module is used to store information such as preset operation parameters, crop growth models, soil fertility databases, and historical operation data; The human-machine interaction module is used to realize parameter setting, mode switching, start and stop control, and display of operation status and fault information; The power supply module is used to provide a stable power supply for each module of the system, and is linked to the on-board power supply of the land-air flying motorcycle and is equipped with a backup power supply.

2. The intelligent variable-rate spraying and fertilization control system according to claim 1, characterized in that, The sensing module includes an environmental sensing unit, a crop sensing unit, a soil sensing unit, an equipment sensing unit, and an attitude sensing unit. The environmental sensing unit includes a temperature sensor, a humidity sensor, a wind speed sensor, a light sensor, and a rainfall sensor. The crop sensing unit includes a high-definition camera, a multispectral sensor, and an infrared sensor. The soil sensing unit includes a soil moisture sensor, a soil nutrient sensor, and a soil pH sensor. The equipment sensing unit includes a flow sensor, a pressure sensor, a speed sensor, and a liquid level sensor. The attitude sensing unit includes a gyroscope, an accelerometer, and a GPS positioning module.

3. The intelligent variable-rate spraying and fertilization control system according to claim 1, characterized in that, The control module uses an embedded microprocessor and integrates fuzzy PID control algorithm, image recognition algorithm and spectral analysis algorithm. It presets aerial spraying and fertilization modes and land spraying and fertilization modes, and supports manual and automatic switching. The control module has a built-in crop growth model and soil fertility database, and integrates a fault diagnosis unit to identify sensor faults, actuator jamming and communication interruption faults and issue alarm prompts.

4. The intelligent variable-rate spraying and fertilization control system according to claim 1, characterized in that, The spraying mechanism of the execution module includes a medicine tank, a spraying pump, a spraying pipeline, an adjustable nozzle, and an atomizer. The spraying pump is a variable displacement plunger pump, and a solenoid valve is installed on the spraying pipeline. The fertilization mechanism includes a fertilizer tank, a fertilization pump, a fertilization pipeline, a fertilization nozzle, and a mixer. The fertilization pump is a variable displacement gear pump. The execution module also includes a feedback unit for collecting actual spraying and fertilization parameters and transmitting them to the control module.

5. The intelligent variable-rate spraying and fertilization control system according to claim 1, characterized in that, The communication module adopts a combination of WiFi, Bluetooth, 4G / 5G and CAN bus communication methods, supports short-range and long-range data transmission, has anti-interference capabilities, and integrates an airspace application interface, allowing users to submit airspace applications to avoid no-fly zones before operations.

6. The intelligent variable-rate spraying and fertilization control system according to claim 1, characterized in that, The storage module uses a flash memory chip with a capacity of no less than 64GB, which can store historical data of at least 1,000 jobs. It supports data export and backup via USB interface, can store job prescription maps and supports import and retrieval, and adopts a circular storage method to avoid data loss.

7. The intelligent variable-rate spraying and fertilization control system according to claim 1, characterized in that, The human-computer interaction module includes a high-definition touch screen with a size of not less than 7 inches, physical buttons, and a voice prompt unit. The physical buttons include a start button, a stop button, a mode switching button, and an emergency pause button, and support multi-language switching.

8. The intelligent variable-rate spraying and fertilization control system according to claim 1, characterized in that, The power supply module includes a power management unit, a vehicle power interface, and a backup lithium battery with a capacity of not less than 10,000 mAh. The power management unit can regulate and filter the input power and has overcharge, over-discharge, and overcurrent protection functions. The backup lithium battery can provide at least 2 hours of emergency power supply.

9. A method for controlling and regulating intelligent variable-rate spraying and fertilization, based on the intelligent variable-rate spraying and fertilization control system according to any one of claims 1-8, characterized in that, Includes the following steps: Step 1: System initialization, start the system and perform a self-test. After the self-test is normal, proceed to the parameter setting stage; Step 2: Parameter preset, set the operation parameters, import the operation prescription map and soil fertility data, and generate the initial spraying and fertilization parameter thresholds; Step 3: Real-time parameter acquisition. The sensing module collects various parameters, preprocesses them, and then transmits them to the control module. Step 4: Pattern recognition and parameter calculation. The control module identifies the operation mode and calculates the adjustment amount of spraying and fertilization parameters through fuzzy PID control algorithm. Step 5: Variable execution. The execution module receives the adjustment instructions, completes the adjustment of spraying and fertilization parameters, and feeds back the actual parameters. Step 6: Closed-loop correction. The control module compares the actual parameters with the preset parameters. If the deviation exceeds the allowable range, it readjusts. Step 7: Operation monitoring and anomaly handling; monitor the operation status in real time, suspend the operation and issue an alarm when an anomaly occurs; Step 8: The job is completed. Stop the job and store the job history data. The system enters standby mode.

10. The intelligent variable spraying and fertilization control method according to claim 9, characterized in that, The operation process of the fuzzy PID control algorithm in step 4 includes: determining input and output variables, fuzzification processing, establishing a fuzzy rule base, fuzzy inference, defuzzification processing, and PID operation; the parameter preprocessing in step 3 includes filtering noise through a filtering algorithm, correcting errors through a calibration algorithm, and then converting it into a digital signal that the control module can recognize.

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