Multi-species multi-machine cooperative intercropping seeding system

Abstract

The application provides a multi-species multi-machine cooperative intercropping seeding system, which comprises a central controller, a hopper and a flying vehicle; a rectangular coordinate system and a plurality of cloud memories are arranged in the central controller; the central controller is used for receiving a plurality of acupoint coordinates and species information input by a user based on the rectangular coordinate system, and then sending the acupoint coordinates corresponding to the same species information into corresponding cloud memories for storage; the cloud memories are used for inputting the acupoint coordinates into the cloud memories for storage or outputting the acupoint coordinates from the cloud memories one by one according to a characteristic rule; a discharging valve is arranged at the lower end of the hopper; a cap is arranged on the surface of the hopper; and the flying vehicle is provided with a terminal controller and a CMOS jumper. According to the technical scheme, the acupoint coordinates are classified and stored in the cloud memories according to the species information, so that the data can be stored for a long time, the situation that the acupoint coordinates are overlapped or intersected can be avoided, the seeding efficiency is improved, and the labor intensity is reduced.

Description

Technical Field

[0001] This invention belongs to the field of crop planting technology, and in particular relates to a multi-species, multi-machine collaborative intercropping and sowing system. Background Technology

[0002] Currently, for large-scale planting of single-species crops, in order to reduce manpower and labor intensity, ground machinery and equipment are often used to enter tidal flats, slopes, and other areas for hole-making, sowing, covering soil, or fertilization. In recent years, drone technology has been continuously developed and improved, and drones can also be used for sowing in arable land areas with complex terrain, achieving good application results.

[0003] For example, patent document with publication number "CN107179776B" discloses a method for sowing landscape plants based on unmanned aerial vehicles (UAVs), including the following steps:

[0004] 1. Determine the boundary data P1 of the pattern shape of the planting area for the plants to be planted;

[0005] 2. Determine the boundary data P2 of the area to be planted;

[0006] 3. Adjust P1 to match P2 in terms of geographical location and area size to obtain P3;

[0007] 4. Input the UAV working parameters and area boundary data P3, and obtain the optimal UAV seeding path and the corresponding status information of each working unit of the UAV through the flight path planning algorithm.

[0008] 5. The drone will carry out autonomous aerial seeding operations according to the optimal aerial seeding path and the corresponding work unit status information.

[0009] The aforementioned patented technology has enabled mechanized and automated operations for planting large-scale, complex-shaped landscape plants, improving operational efficiency and quality. The algorithm optimizes the scheduling order of drone operations, reducing flight time during ineffective operation periods, and making the shape of the sowing area more precise and aesthetically pleasing. However, my country's arable land area is limited. In order to maximize crop output and improve economic benefits, multiple crops are often intercropped. Common intercropping crops include sorghum and soybeans. Using intercropping technology to cultivate multiple crops can, on the one hand, make comprehensive use of land space and improve land utilization, and also promote the growth of multiple crops. For example, soybeans are an important source of food crops and also a nitrogen-fixing crop, which can enhance soil fertility and promote the healthy growth of sorghum to a certain extent. On the other hand, after soybeans and sorghum mature, the height of the crops is not uniform. The intercropping pattern of crops with different heights can ensure that the two crops can get enough sunlight, improve the photosynthetic efficiency of crops, and increase the output of the two crops. In addition, the intercropping technology can also improve the soil environment of arable land (6), play a role in moisturizing and controlling weeds, and increase the economic benefits of farmers.

[0010] However, soybean seeds are generally 5-7 mm in size and slightly flattened. Soybean sowing is mainly divided into spring and summer sowing. Spring sowing is usually done around Qingming Festival, with a harvest in September. Summer sowing is done after the wheat harvest, specifically in June. Sorghum seeds, on the other hand, are oval-shaped, generally 2-4 mm long and 1-2 mm wide. Sorghum can be planted in both spring and summer, with spring sowing in March-April and summer sowing in May-June. It is evident that the two crops have different seed shapes and sizes, and their optimal sowing times also differ. If drones are used to sow crops in two separate stages, the mechanical equipment cannot retain long-term memory of the previously sown planting sites. This can easily lead to overlapping or interlocking of planting sites, or insufficient spacing between the two crops, preventing the intercropping method from achieving the desired effect and impacting economic benefits. Summary of the Invention

[0011] To address the aforementioned technical problems, this invention provides a multi-species, multi-machine collaborative intercropping and sowing system.

[0012] The present invention is achieved through the following technical solutions.

[0013] This invention provides a multi-species, multi-machine collaborative intercropping seeding system, which is used to intercrop and sow various types of crop seeds on the surface of cultivated land by using multiple aircraft to operate in a coordinated manner. The multi-species, multi-machine collaborative intercropping seeding system includes a central controller, a hopper, and aircraft.

[0014] Central Controller: The central controller is located on the periphery of the cultivated land, which has a first edge and a second edge. The central controller is equipped with a rectangular coordinate system and multiple cloud storage devices. The intersection of the first edge and the second edge serves as the origin O of the rectangular coordinate system. The first edge serves as the x-axis of the rectangular coordinate system, and the second edge serves as the y-axis. The central controller is used to receive several acupoint coordinates (m, n) and species information input by the user based on the rectangular coordinate system, and then send the acupoint coordinates (m, n) of the same species information to the corresponding cloud storage devices for storage. The cloud storage devices are used to input the acupoint coordinates (m, n) one by one into the cloud storage devices for storage or output them one by one from the cloud controller according to the feature rules.

[0015] Hopper: The hopper is used to hold crop seeds. A discharge valve is installed at the lower end of the hopper. A jump cap is provided on the surface of the hopper. The hopper can be attached to the aircraft.

[0016] The aircraft is equipped with a terminal controller and a CMOS jumper. The terminal controller is electrically connected to the CMOS jumper and the control terminal of the feed valve. The CMOS jumper is used to identify its engagement state with the jumper cap and send corresponding species information to the terminal controller based on the engagement state. The terminal controller is also used to retrieve a burrow coordinate (m, n) from the corresponding cloud storage based on the species information, use the burrow coordinate (m, n) as the target coordinate (p, q), control the aircraft to move to the farmland above the target coordinate (p, q), and then control the opening and closing of the feed valve to sow the crop seeds in the hopper onto the farmland surface corresponding to the target coordinate (p, q).

[0017] A first base pillar is also set up on the first edge of the land, and a second base pillar is also set up on the second edge of the land. An origin base pillar is also set up at the intersection of the first and second edges of the land. A first curtain is also set between the first base pillar and the origin base pillar, and a second curtain is also set between the second base pillar and the origin base pillar. The aircraft is also equipped with a ranging sensor. The terminal controller controls the aircraft to move to the farmland corresponding to the target coordinates (p, q). This means that the terminal controller first makes the aircraft fly to the farmland, and then controls the ranging sensor to measure the current coordinates (x, y) of the aircraft relative to the rectangular coordinate system with the first and second curtains as references. The terminal controller forwards the current coordinates (x, y) to the terminal controller. The terminal controller also calculates the first calibration distance a and the second calibration distance b according to the following formulas, a = px, b = qy, and then controls the aircraft to move along the first edge by the first calibration distance a and along the second edge by the second calibration distance b, respectively.

[0018] The first curtain is rolled around the outer surface of the first base column, and the second curtain is rolled around the outer surface of the second base column (8). The ends of the first curtain and the second curtain are fixed to hooks. The surface of the origin base column is provided with grooves.

[0019] The first base column, the second base column, or the origin base column are all formed by concrete pouring.

[0020] The first or second roll is made of solid-color, but not white, non-woven fabric.

[0021] The aircraft is also fixedly connected to the upper end of the support plate, the lower end of the support plate extends downward in the vertical direction, the surface of the support plate is also fixedly connected to the outer side of the guide frame through the support column, the inner side of the guide frame is provided with a tenon groove, the left and right sides of the hopper are respectively provided with tenon platforms, and the CMOS jumper is fixedly connected to the inner side of the guide frame.

[0022] The hopper is provided with multiple positioning holes on its left and right sides, and the guide frame is provided with multiple limiting holes on its surface. The outer side of the guide frame is also fixed to the lever plate by a spring. The lever plate is also fixed to one end of the limiting pin. The other end of the limiting pin passes through the positioning holes and the limiting holes one by one.

[0023] The end face of the limiting pin is flush with the inner wall surface of the hopper.

[0024] The species information includes sorghum seeds and soybean seeds.

[0025] The aircraft is a rotor-wing unmanned aerial vehicle (UAV) with at least four rotor shafts.

[0026] The beneficial effects of this invention are as follows: When crop seeds are loaded into a hopper and the hopper is mounted on an aircraft, the jump cap is short-circuited with the corresponding two short pins in the CMOS jump pin, thereby identifying the species information loaded in the hopper. Then, the terminal controller retrieves the corresponding hole coordinate information from the corresponding cloud storage according to the species information and sows the seeds at the corresponding hole coordinates. Compared with the prior art, since the hole coordinates are classified and stored in various cloud storages according to the species information, the data in the cloud storage can be retained for a long time. Even if the sowing order of crop seeds is different, the corresponding coordinate data is cleared from the cloud storage as soon as the hole has been sown. Therefore, the holes of different crop seeds will not overlap or intersect, and the intercropping mode achieves the effect of pre-planning, which is conducive to improving economic benefits. In addition, when sowing large areas of cultivated land, multiple aircraft can be used to sow the same crop at the same time, cooperating without causing the sowing holes to overlap or intersect, improving sowing efficiency and reducing labor intensity. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the principle structure of the present invention;

[0028] Figure 2 This is a top view of the cultivated land, the first base column, the second base column, the origin base column, the first roll-up screen, and the second roll-up screen of the present invention;

[0029] Figure 3 This is a schematic diagram showing the connection of the first base column, the origin base column, the first roll-up screen, the hook, and the groove of the present invention;

[0030] Figure 4 This is a front view of the connection structure between the hopper and the aircraft of the present invention;

[0031] Figure 5 This is a left view of the connection structure between the hopper and the aircraft of the present invention.

[0032] In the diagram: 1-hopper, 2-discharge valve, 3-jump cap, 4-aircraft, 5-CMOS jumper pin, 6-cultivated land, 7-first base column, 8-second base column, 9-origin base column, 10-first roll-up screen, 11-second roll-up screen, 12-hook, 13-groove, 14-support plate, 15-support column, 16-guide frame, 17-spring, 18-pulling plate, 19-limit pin. Detailed Implementation

[0033] The technical solution of the present invention will be further described below, but the scope of protection is not limited to what is described.

[0034] like Figures 1 to 5 As shown, the present invention provides a multi-species, multi-machine collaborative intercropping seeding system. The multi-species, multi-machine collaborative intercropping seeding system is used to intercrop and sow various types of crop seeds on the surface of cultivated land 6 by using multiple aircraft 4 to operate in a coordinated manner. The multi-species, multi-machine collaborative intercropping seeding system includes a central controller, a hopper 1 and aircraft 4.

[0035] Central Controller: The central controller is located around the cultivated land 6. The cultivated land 6 can be polygonal in shape, requiring only two mutually perpendicular edges to be set on its surface. The cultivated land 6 has a first edge and a second edge. The central controller is equipped with a rectangular coordinate system and multiple cloud storage devices. The intersection of the first edge and the second edge serves as the origin O of the rectangular coordinate system. The first edge serves as the x-axis of the rectangular coordinate system, and the second edge serves as the y-axis. The central controller is used to receive several acupoint coordinates (m, n) and species information input by the user based on the rectangular coordinate system, and then send the acupoint coordinates (m, n) of the same species information to the corresponding cloud storage devices for storage. The cloud storage devices are used to input the acupoint coordinates (m, n) one by one into the cloud storage devices for storage or output them one by one from the cloud controller according to the feature rules.

[0036] Hopper 1: Hopper 1 is used to hold crop seeds. A discharge valve 2 is installed at the lower end of hopper 1. A jump cap 3 is provided on the surface of hopper 1. Hopper 1 can be attached to aircraft 4.

[0037] Aircraft 4: Aircraft 4 is equipped with a terminal controller and a CMOS jumper 5. The terminal controller is electrically connected to the control terminals of the CMOS jumper 5 and the material drop valve 2 respectively. The CMOS jumper 5 is used to identify its matching state with the jumper cap 3 and send the corresponding species information to the terminal controller according to the matching state. The terminal controller is also used to obtain a hole coordinate (m, n) from the corresponding cloud storage according to the species information, use the hole coordinate (m, n) as the target coordinate (p, q), and then control the aircraft 4 to move to the top of the cultivated land 6 corresponding to the target coordinate (p, q). Then, it controls the opening and closing of the material drop valve 2 to sow the crop seeds in the hopper 1 onto the surface of the cultivated land 6 corresponding to the target coordinate (p, q).

[0038] Specifically, the central controller can be replaced by a computer, while the terminal controller is a microcontroller with at least 32 bits of processing power. The characteristic rule refers to either first-in, first-out (FIFO) or last-in, first-out (LIFO) operation of the acupoint coordinates (m, n). In the FIFO mode, the cloud storage acts like a queue; in the LIFO mode, it acts like a stack. Regardless of the mode, each time the aircraft retrieves an acupoint coordinate (m, n), the data in the cloud storage decreases by one, thus preventing the aircraft from retrieving duplicate acupoint coordinate (m, n) data.

[0039] Using the technical solution of this invention, when crop seeds are loaded into a hopper and the hopper is mounted on an aircraft, the jump cap is short-circuited with the corresponding two short pins in the CMOS jump pin, thereby identifying the species information loaded in the hopper. Then, the terminal controller retrieves the corresponding hole coordinate information from the corresponding cloud storage according to the species information and sows the seeds at the corresponding hole coordinates. Compared with the prior art, since the hole coordinates are classified and stored in various cloud storages according to the species information, the data in the cloud storage can be retained for a long time. Even if the sowing order of crop seeds is different, the corresponding coordinate data is cleared from the cloud storage as soon as the hole has been sown. Therefore, the holes of different crop seeds will not overlap or intersect, and the intercropping mode achieves the effect of pre-planning, which is conducive to improving economic benefits. In addition, when sowing large areas of cultivated land, multiple aircraft can be used to sow the same crop at the same time, coordinating with each other, without causing the sowing holes to overlap or intersect, improving sowing efficiency and reducing labor intensity.

[0040] In addition, a first base column 7 is set on the first edge of the land, a second base column 8 is set on the second edge of the land, and an origin base column 9 is set at the intersection of the first and second edges of the land. A first curtain 10 is set between the first base column 7 and the origin base column 9, and a second curtain 11 is set between the second base column 8 and the origin base column 9. The aircraft 4 is also equipped with a ranging sensor. The terminal controller is used to control the aircraft 4 to move above the cultivated land 6 corresponding to the target coordinates (p, q). This means that the terminal controller first makes the aircraft 4 fly above the cultivated land 6, and then controls the ranging sensor to measure the current coordinates (x, y) of the aircraft 4 relative to the rectangular coordinate system with the first curtain 10 and the second curtain 11 as references. The current coordinates (x, y) are then forwarded to the terminal controller. The terminal controller also calculates the first calibration distance a and the second calibration distance b according to the following formulas, a = px and b = qy. Then, it controls the aircraft 4 to move along the first edge by the first calibration distance a and along the second edge by the second calibration distance b, respectively. The ranging sensor is also used to measure and obtain the height value h of the aircraft 4 relative to the surface of the cultivated land 6. The central controller is used to receive the sowing height E input by the user, and then send the sowing height E corresponding to the same species information to the corresponding cloud storage. The cloud storage is also used to input the sowing height E into the cloud storage one by one according to the corresponding hole coordinates (m, n) according to the characteristic rules or output it one by one from the cloud controller. The terminal controller also calculates the height correction distance c according to the following formula, c = Eh, and then controls the aircraft 4 to move along the vertical direction to correct the height distance c.

[0041] Preferably, the first curtain roll 10 is wound around the outer surface of the first base column 7, and the second curtain roll 11 is wound around the outer surface of the second base column 8. The ends of both the first curtain roll 10 and the second curtain roll 11 are fixed to hooks 12. The surface of the origin base column 9 is provided with grooves. The first base column 7, the second base column 8, or the origin base column 9 are all formed by concrete casting. The first curtain roll 10 or the second curtain roll 11 is made of solid-color, but not white, non-woven fabric. The ranging sensor is a laser ranging sensor.

[0042] Using the technical solution of this invention, the first base column, the second base column, the origin base column, the first roll-up screen, and the second roll-up screen form a reference frame. A laser rangefinder sensor is used to locate and correct the aircraft's current position, which helps the aircraft correctly locate the planting holes and improves the accuracy of the planting holes. After the planting work is completed, the first roll-up screen 10 and the second roll-up screen 11 can be rolled up and stored on the outer surfaces of the first base column 7 and the second base column 8, respectively, for easy storage and organization. Generally, the height of the first roll-up screen 10 and the second roll-up screen 11 is greater than the planting height E input by the user.

[0043] Furthermore, the aircraft 4 is fixedly connected to the upper end of the support plate 14, and the lower end of the support plate 14 extends downward in the vertical direction. The surface of the support plate 14 is also fixedly connected to the outer side of the guide frame 16 through the support column 15. The inner side of the guide frame 16 is provided with a tenon groove, and the left and right sides of the hopper 1 are respectively provided with tenon platforms. The CMOS jumper 5 is fixedly connected to the inner side of the guide frame 16. By adopting the technical solution of the present invention, the hopper can be more stably attached to the aircraft through the relative sliding fit connection between the tenon platform and the tenon groove, thus avoiding wobbling of the hopper.

[0044] In addition, multiple positioning holes are provided on the left and right sides of the hopper 1, and multiple limiting holes are provided on the surface of the guide frame 16. The outer side of the guide frame 16 is also fixedly connected to the lever plate 18 by the spring 17. The lever plate 18 is also fixedly connected to one end of the limiting pin 19, and the other end of the limiting pin 19 passes through the positioning holes and limiting holes one by one. The end face of the limiting pin 19 is flush with the inner wall surface of the hopper 1. The cross-section of the tenon groove is dovetail groove shaped. Using the technical solution of the present invention, when it is necessary to disassemble and separate the hopper from the aircraft, simply press the lever plate. Since all the limiting pins are fixedly connected to the lever plate, all the limiting pins can be simultaneously and once disengaged from the corresponding limiting holes, thereby easily separating the hopper mounted on the aircraft. The operation is quick and convenient, improving loading and unloading efficiency.

[0045] In addition, species information includes sorghum seeds and soybean seeds. Specifically, generally speaking, sorghum seeds and soybean seeds should be arranged in a 3:3 row ratio, with a spacing of more than 50cm between sorghum seed holes and soybean seed holes, a spacing of more than 25cm between two adjacent soybean seed holes, and two soybean seed holes between two adjacent sorghum seed holes. The preferred aircraft 4 is a propeller-driven unmanned aerial vehicle (UAV) with at least four propeller shafts.

Claims

1. A multi-species, multi-machine collaborative intercropping and sowing system, characterized in that: The multi-species multi-machine collaborative intercropping seeding system is used to intercrop and sow various types of crop seeds on the surface of cultivated land (6) by using multiple aircraft (4) to operate in a coordinated manner. The multi-species multi-machine collaborative intercropping seeding system includes a central controller, a hopper (1) and aircraft (4). Central controller: The central controller is set on the periphery of the cultivated land (6). The cultivated land (6) has a first edge and a second edge. The central controller is equipped with a rectangular coordinate system and multiple cloud storage devices. The intersection of the first edge and the second edge is used as the origin O of the rectangular coordinate system. The first edge is used as the x-axis of the rectangular coordinate system, and the second edge is used as the y-axis of the rectangular coordinate system. The central controller is used to receive several acupoint coordinates (m, n) and species information input by the user based on the rectangular coordinate system, and then send the acupoint coordinates (m, n) of the same species information to the corresponding cloud storage devices for storage. The cloud storage devices are used to input the acupoint coordinates (m, n) one by one into the cloud storage devices for storage or output them one by one from the cloud controller according to the feature rules. Hopper (1): The hopper (1) is used to hold crop seeds. A discharge valve (2) is installed at the lower end of the hopper (1). A jump cap (3) is provided on the surface of the hopper (1). The hopper (1) can be attached to the aircraft (4). Aircraft (4): The aircraft (4) is equipped with a terminal controller and a CMOS jumper (5), and the terminal controller is electrically connected to the control terminal of the CMOS jumper (5) and the dropping valve (2). The jumper cap (3) is used to short-circuit with the corresponding two short pins in the CMOS jumper (5). The CMOS jumper (5) is used to identify its matching state with the jumper cap (3) and send the corresponding species information to the terminal controller according to the matching state. The terminal controller is also used to obtain a burial site coordinate (m, n) from the corresponding cloud storage according to the species information, use the burial site coordinate (m, n) as the target coordinate (p, q), and then control the aircraft (4) to move to the farmland (6) corresponding to the target coordinate (p, q). Then, control the opening and closing of the dropping valve (2) so that the crop seeds in the hopper (1) are sown on the surface of the farmland (6) corresponding to the target coordinate (p, q).

2. The multi-species, multi-machine collaborative intercropping and sowing system as described in claim 1, characterized in that: A first base pillar (7) is also set up on the first edge of the land, and a second base pillar (8) is also set up on the second edge of the land. An origin base pillar (9) is also set up at the intersection of the first edge of the land and the second edge of the land. A first curtain (10) is also set up between the first base pillar (7) and the origin base pillar (9), and a second curtain (11) is also set up between the second base pillar (8) and the origin base pillar (9). The aircraft (4) is also equipped with a ranging sensor. The terminal controller is used to control the aircraft (4) to move to the farmland (6) corresponding to the target coordinates (p, q). This means that the terminal controller... The device first makes the aircraft (4) fly above the cultivated land (6), and then controls the ranging sensor to measure the current coordinates (x, y) of the aircraft (4) relative to the rectangular coordinate system using the first screen (10) and the second screen (11) as references. The current coordinates (x, y) are then forwarded to the terminal controller. The terminal controller also calculates the first calibration distance a and the second calibration distance b according to the following formula, a = px, b = qy. Then, the device controls the aircraft (4) to move along the first ground edge by the first calibration distance a and along the second ground edge by the second calibration distance b, respectively.

3. The multi-species, multi-machine collaborative intercropping and sowing system as described in claim 2, characterized in that: The first roll (10) is wound around the outer surface of the first base column (7), and the second roll (11) is wound around the outer surface of the second base column (8). The ends of the first roll (10) and the second roll (11) are fixed to hooks (12). The surface of the origin base column (9) is provided with hook grooves (13).

4. A multi-species, multi-machine collaborative intercropping and sowing system as described in claim 2 or 3, characterized in that: The first base column (7), the second base column (8), or the origin base column (9) are all formed by concrete pouring.

5. A multi-species, multi-machine collaborative intercropping and sowing system as described in claim 2 or 3, characterized in that: The first curtain (10) or the second curtain (11) is made of solid-color but not white nonwoven fabric.

6. The multi-species, multi-machine collaborative intercropping and sowing system as described in claim 1, characterized in that: The aircraft (4) is also fixedly connected to the upper end of the support plate (14), the lower end of the support plate (14) extends downward in the vertical direction, the surface of the support plate (14) is also fixedly connected to the outer side of the guide frame (16) through the support column (15), the inner side of the guide frame (16) is provided with a tenon groove, the left and right sides of the hopper (1) are respectively provided with tenon platforms, and the CMOS jumper (5) is fixedly connected to the inner side of the guide frame (16).

7. The multi-species, multi-machine collaborative intercropping and sowing system as described in claim 6, characterized in that: The hopper (1) is provided with multiple positioning holes on its left and right sides. The guide frame (16) is provided with multiple limiting holes on its surface. The outer side of the guide frame (16) is also fixedly connected to the lever plate (18) by a spring (17). The lever plate (18) is also fixedly connected to one end of the limiting pin (19). The other end of the limiting pin (19) passes through the positioning holes and the limiting holes one by one.

8. The multi-species, multi-machine collaborative intercropping and sowing system as described in claim 7, characterized in that: The end face of the limiting pin (19) is flush with the inner wall surface of the hopper (1).

9. The multi-species, multi-machine collaborative intercropping and sowing system as described in claim 1, characterized in that: The species information includes sorghum seeds and soybean seeds.

10. The multi-species, multi-machine collaborative intercropping and sowing system as described in claim 1, characterized in that: The aircraft (4) is a rotor-wing unmanned aerial vehicle, and it has no less than four rotor shafts.

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