A multi-energy complementary system of wind, solar, and storage water pumping and rainwater harvesting for coordinated irrigation.

Abstract

This invention discloses a wind-solar-storage multi-energy complementary water lifting and rainwater harvesting coordinated irrigation system, relating to the field of intelligent irrigation. The system includes: a power unit, a rainwater harvesting unit, a water lifting unit, sprinkler irrigation equipment, and a drone formation. The drone formation is used to fly carrying the sprinkler heads and water pipes of the sprinkler equipment under the control of the control system, and to adjust the sprinkler head's spray position under the control of the control system, and to maintain a safe distance between the water pipes in the sprinkler equipment and ground obstacles under the control of the control system. This invention can realize intelligent and low-cost irrigation for citrus planting in hillside areas.

Description

Technical Field

[0001] This invention relates to the field of intelligent irrigation, specifically to a multi-energy complementary system of wind, solar, and storage water pumping and rainwater harvesting for coordinated irrigation. Background Technology

[0002] Citrus cultivation has become a major economic crop in the Chengdu area. For example, large areas of Pujiang, Qionglai, Dayi and Danling in Chengdu are planting citrus varieties such as Papa Mandarin and Dekopon, and corresponding geographical indication protected products have been formed. In order to maximize economic benefits, the planting area has spread from the traditional plains to the hillsides and hilly areas, with a large number of fruit trees planted on non-plain mountains or hillsides.

[0003] Chengdu has good annual rainfall, and citrus cultivation does not require long-term irrigation, except during the hottest summer months of July to September. Without irrigation, the branches and leaves will wither and the fruit will fall off. Therefore, to ensure citrus yield, local villagers irrigate the citrus trees during the high temperatures of summer. The irrigation methods are as follows: if the planting area is close to a water source, such as a river or reservoir, water is directly pumped for irrigation. However, if the planting area is located on a hillside and is far from a water source, water needs to be transported to the planting area by vehicle, and then water is pumped for irrigation. This requires a lot of manpower and the level of intelligent irrigation is low.

[0004] Furthermore, the applicant's research found that current intelligent irrigation is not suitable for citrus cultivation on hillsides because citrus irrigation is only needed for a portion of the summer season, not year-round or for extended periods. If corresponding intelligent irrigation equipment is installed, it will be idle for a long time, and the cost of intelligent irrigation equipment is high, which is not conducive to promotion. In addition, the current planting areas of growers are scattered, and the size and location of each area are different, which is not suitable for the installation and implementation of traditional ground intelligent irrigation equipment.

[0005] Therefore, the current irrigation of citrus planting in hillside areas faces technical challenges, such as the need for a combination of manual labor and transport vehicles, which requires a large amount of manpower, and the difficulty and high cost of laying ground-based intelligent irrigation equipment. Summary of the Invention

[0006] The purpose of this invention is to achieve intelligent and low-cost irrigation for citrus cultivation in hillside areas.

[0007] To achieve the above-mentioned objectives, this invention provides a multi-energy complementary system for water pumping and rainwater harvesting for coordinated irrigation, comprising:

[0008] A power unit for generating electricity based on wind and solar power and storing the generated electrical energy, as well as for connecting to a mains power source;

[0009] A rainwater harvesting unit is used to collect rainwater from a preset area and store the collected rainwater.

[0010] The water lifting unit is used to transfer stored rainwater and / or water from a preset water source to a preset water storage device based on the electrical energy provided by the power unit and the control of the control system.

[0011] Sprinkler irrigation equipment is used to draw water from a pre-set water storage device and spray it onto the target citrus planting area through nozzles, based on the control of a control system.

[0012] The drone formation is used for flight carrying the nozzles and water pipes of the irrigation equipment under the control of the control system, as well as for adjusting the irrigation position of the nozzles under the control of the control system, and for maintaining a safe distance between the water pipes in the irrigation equipment and ground obstacles under the control of the control system.

[0013] The system incorporates a power unit to provide electricity for the system. This power unit is a power source composed of various energy sources, including wind and solar power, which can be stored and then used when irrigation is needed. To prevent insufficient stored power for irrigation, the power unit is also connected to the mains power supply, allowing for switching to mains power when the stored power is insufficient. Prioritizing the use of wind and solar power to generate and store electricity can reduce the system's electricity costs. Furthermore, the irrigation period for citrus trees planted on hillsides is concentrated in the summer months of July to September, and electricity generated from wind and solar power can be stored during other times.

[0014] Furthermore, this system is designed with a rainwater harvesting unit that can collect and store rainwater for use when irrigation is needed, in order to solve the problem of water shortage in hillside areas where water sources are far away.

[0015] This system is designed with a water lifting unit that can transfer stored rainwater and / or water from a preset water source to a preset water storage device based on the power provided by the power unit. For example, the water can be transferred to a water storage device near the hillside planting area. In normal times, such as spring, autumn and winter, wind and solar power can be used to generate electricity to transfer water from low-lying sources to the water storage device near the hillside planting area using low-cost electricity, so that it can be used for irrigation in summer. This saves the electricity cost of transporting water to the hillside area for irrigation.

[0016] In terms of irrigation methods, this system is designed to use drones to carry nozzles for irrigation. This method enables intelligent irrigation with low labor costs. It does not require laying irrigation equipment and pipelines on the ground, can be reused multiple times, and can irrigate multiple planting areas with the same set of equipment. It has a high reuse rate and low equipment cost.

[0017] Existing technologies include the use of drones for pesticide spraying. Current drone-based pesticide spraying involves mounting a spraying system on the drone, which includes a tank and a pump. The tank typically has a capacity of several tens of liters, and an electric or pressure pump delivers the pesticide solution to the nozzles. The entire spraying system is installed on the drone. After spraying, the drone flies back to a refill point for additional pesticide application before continuing spraying. However, this method is unsuitable for irrigation in citrus cultivation in mountainous areas because drones can only spray small amounts of pesticide, which is insufficient for irrigation needs. Irrigation requires a continuous flow of water to the irrigated area. Therefore, this method cannot achieve irrigation; it can only be used for pesticide application.

[0018] To address this issue, the applicant has made improvements by using drone swarms for sprinkler irrigation in citrus-growing areas. To solve the water volume problem, the drone swarms in this invention carry sprinkler heads during flight. These sprinkler heads are connected to a water storage device via pipes and pumps, ensuring a continuous supply of water for irrigation. However, the water pipes are heavy during water transport, and traditional single drones cannot bear the weight. Therefore, this invention designs a drone swarm system where multiple drones work together to lift the water pipes, with each drone sharing the weight, thus solving the problem of the heavy pipes. Furthermore, because the system carries the water pipes during flight, and given the complex foliage in citrus-growing areas, the control system maintains a safe distance between the water pipes and ground obstacles, ensuring the safety of the drones during sprinkler irrigation operations and reducing damage to the fruit trees, resulting in higher safety.

[0019] Preferably, the drone formation includes: one first drone, several second drones, and a first identification unit;

[0020] The first UAV is equipped with a pitch and level adjustment mechanism, and the nozzle is mounted on the pitch and level adjustment mechanism; the first UAV is used to carry the nozzle and move or hover based on the control system; the pitch and level adjustment mechanism is used to control the spraying position of the nozzle based on the control system.

[0021] The surface of the water pipe is uniformly marked with several markings that correspond one-to-one with the second UAV; the lower end of the second UAV is equipped with a water pipe clamping mechanism.

[0022] The first identification unit is used to acquire images of the water pipe extending to the water pipe storage device in real time to obtain a first image, identify the markings in the first image, and determine whether the number of markings in the first image has increased. If the number of markings in the first image has increased, the control system controls the first drone to hover and fly, and then controls the second drone corresponding to the newly added marking in the first image to fly to the corresponding marking. The water pipe clamping mechanism on the second drone is controlled to clamp the water pipe body at the marking and fly upward to a set height. After the second drone carrying the water pipe flies to the set height, the hovering flight state of the first drone is released, and the second drone is controlled to fly synchronously with the first drone.

[0023] The first drone is equipped with a pitch and horizontal adjustment mechanism, and the nozzle is installed on the pitch and horizontal adjustment mechanism. The first drone can carry the nozzle and fly. The nozzle is connected to the water pump and water storage equipment through water pipes. Water is sprayed from the nozzle to irrigate the citrus planting area. The pitch and horizontal adjustment mechanism can be used to adjust the irrigation position of the nozzle in the pitch and horizontal directions.

[0024] In this invention, the surface of the water pipe is uniformly marked with several identifiers corresponding to the second drones. This arrangement ensures that each second drone has a unique identifier, giving each drone a unique clamping point. When the clamping point is not present, the corresponding drone is charging or waiting to take off. Once the clamping point is extended from the water pipe storage mechanism and appears in the first image, the drone flies to the corresponding identifier and clamps the water pipe. Each drone has a clamping point, and these points are evenly distributed on the water pipe, minimizing the difference in force applied to each drone and ensuring that all drones are within their bearing capacity. This guarantees the flight safety of the drones carrying the water pipes. The water pipe clamping mechanism effectively clamps and releases the water pipes.

[0025] The irrigation process in this invention is as follows: A first drone carrying a nozzle flies, causing a water pipe to extend from a water pipe storage mechanism. As the water pipe continues to extend from the storage mechanism, the number of markers on the water pipe gradually increases. For each additional marker, a corresponding second drone clamps the corresponding water pipe, sharing the load pressure with other drones. If a new marker appears, to ensure stable clamping, the first drone stops moving and hovers. Since if the first drone and the second drone corresponding to previously appearing markers are in motion, the water pipe and corresponding markers are also moving. This makes it difficult for the water pipe clamping mechanism of the newly launched second drone to accurately clamp the moving target. Therefore, if a new marker appears on the water pipe, the first drone is controlled to hover, minimizing water pipe movement for the clamping mechanism. Then, the first drone is controlled to hover, ensuring the water pipe remains relatively still for easy clamping. The second drone, corresponding to the newly added marker in the image, flies to the marker location. The water pipe clamping mechanism on the second drone clamps the water pipe at the marker and flies upwards to a set height. Flying to the set height ensures the safety of both the second drone and the water pipe, maintaining a safe distance between the water pipe and the drone and ground obstacles, and reducing damage to citrus branches and leaves. After the second drone, carrying the water pipe, reaches the set height, the first drone's hovering flight state is released, and the second drone is controlled to fly synchronously with the first drone. This synchronous flight design ensures synchronized movement and flight among the drones. Asynchronous flight could lead to flight instability due to the pull of the water pipe, as the drones are connected by water pipes that transmit force. If one drone is moving while the other is hovering, the movement of the drone will cause the water pipe to move, creating a pulling force on the hovering drone and affecting its flight stability.

[0026] The above design enables drone formations to carry nozzles and water pipes in an orderly and safe manner, achieving continuous irrigation, and ensuring that each drone is subjected to balanced forces and flies stably.

[0027] Preferably, a second identification unit is fixed on the first UAV. The second identification unit is used to acquire images of the citrus trees to be irrigated in the target citrus planting area to obtain a second image. The second image is analyzed to obtain the irrigable location. The control system controls the pitch and level adjustment mechanism to adjust the irrigating position of the nozzle based on the irrigable location and the flight parameters of the first UAV.

[0028] In this invention, the irrigation target is citrus trees, and the irrigation time is during the hot summer months. The applicant's research found that after being exposed to the sun in summer, the surface temperature of citrus fruits is high. If irrigation water is sprayed directly onto the fruit's surface, it can easily lead to bacterial growth and damage or cracking of the peel. Therefore, to meet the irrigation needs of citrus trees while protecting the citrus fruits and reducing the likelihood of bacterial growth and peel damage or cracking, this system selectively chooses the irrigation location. This differs from traditional or other irrigation methods, which use uniform spraying. Traditional methods, unlike this invention, do not consider this when determining the irrigation location. Traditional methods leave a lot of water residue on the citrus peel, increasing the likelihood of bacterial growth and peel damage or cracking. The method in this system is as follows:

[0029] A second identification unit is installed on the first drone to collect images of citrus trees to be irrigated in the target citrus planting area. The second image is then analyzed to determine the irrigable locations, i.e., areas outside of citrus trees and branches. By avoiding the irrigable locations outside of citrus trees and branches, and by coordinating the drone's flight parameters with pitch and horizontal adjustment mechanisms, the spraying position of the nozzles is adjusted so that the water sprayed directly onto the ground, reducing the chance of it spraying onto citrus branches and leaves, thus protecting the fruit. Furthermore, the strong spraying force could prevent some fruit from falling if it were sprayed directly onto the branches and leaves.

[0030] Preferably, the control system is also used to control the sprinkler equipment to spray each citrus tree to be irrigated in a set order, and after the irrigation is completed, control the drone formation to deliver the nozzles and water pipes to the set position.

[0031] During sprinkler irrigation, there are multiple citrus trees in the target citrus planting area that need to be sprinkled. The irrigation sequence can be set in advance before irrigation. Then, each citrus tree is sprinkled in turn according to the set sequence. After irrigation is completed, the drone formation is controlled to transport the nozzles and water pipes to the set position, such as the starting position. Then, the drone formation releases or removes the nozzles and water pipes and returns the water pipes and nozzles to the corresponding storage device.

[0032] Preferably, the step of analyzing the second image to obtain the irrigation location specifically includes:

[0033] Target analysis was performed on the second image to identify the distribution areas of the trunks and leaves of the citrus trees to be irrigated in the second image, thus obtaining the first region;

[0034] The non-first region in the second image is marked as the second region;

[0035] Identify the areas belonging to the ground region within the second region to obtain several third regions;

[0036] Obtain the distance from the center point of each third region to the citrus tree stump to be irrigated;

[0037] At least one irrigation location is selected from several third regions based on the distance value corresponding to each third region.

[0038] In this invention, to avoid spraying water onto the fruit during irrigation, the location of the sprinkler system is designed and improved. First, a second image is captured by a camera carried by a first drone. The second image contains the citrus tree to be irrigated, as well as other targets and objects. Then, target analysis is performed on the second image to identify the distribution area of ​​the trunk and leaves of the citrus tree to be irrigated, thus obtaining a first region. The purpose of avoiding the first region is to avoid it, as the first region is where the fruit is distributed. Then, the non-first region in the second image is marked as the second region. The second region has multiple parts. To improve the irrigation effect, it is preferable to irrigate the ground area, so that the roots of the citrus tree can better absorb water. Since there are multiple ground areas in the second region, considering the distribution distance between the citrus tree stump and its roots, at least one irrigation location corresponding to the root distribution is selected from multiple third regions. This ensures that as much water as possible is absorbed by the roots after irrigation, improving the irrigation effect.

[0039] Preferably, the identifier is set in the following way:

[0040] The length of the water pipe spacing between two adjacent markers is determined based on the carrying capacity of the second drone and the set height.

[0041] In this system, the second drone needs to carry a water pipe during flight. Since the pipe is filled with water during irrigation, a certain length of water pipe has a corresponding weight. Each second drone has a maximum load capacity; exceeding this capacity can easily lead to flight instability or a crash. Therefore, this invention needs to consider the load-bearing capacity of the second drone when setting the marker positions. Furthermore, the water pipe is naturally suspended between the two second drones, meaning both ends are fixed and the middle hangs down naturally. If the distance between two adjacent markers is too large, the water pipe may come into contact with obstacles on the ground, causing it to become entangled in obstacles such as citrus tree branches. This can easily lead to flight instability, flight accidents, and damage to citrus trees. Therefore, the distance between adjacent markers needs to be determined based on the flight altitude of the second drone. The distance between adjacent markers must satisfy the condition that the weight of the water in the pipe when it is full is less than the maximum load capacity of the second drone, and the drooping height of the water pipe between adjacent markers must be less than the flight altitude of the second drone.

[0042] Preferably, the system further includes a charging unit for charging or replacing the batteries of the drones in the drone swarm.

[0043] This system uses drone swarms for sprinkler irrigation. When using drone swarms, their power consumption and battery life must be considered. Therefore, this system is also designed with charging units that can charge or replace the batteries of the drones in the drone swarm to ensure their continuous operation capability.

[0044] Preferably, the system further includes a detection unit, a data acquisition unit, and a generation unit. The detection unit is used to detect soil moisture in the target citrus planting area and obtain soil moisture data. The data acquisition unit is used to acquire weather data for a future preset time period corresponding to the target citrus planting area. The generation unit is used to generate the irrigation water volume for the target citrus planting area based on the soil moisture data and the weather data. The control system controls the irrigation equipment to irrigate the target citrus planting area based on the irrigation water volume.

[0045] The applicant's research found that when citrus fruits experience drought during their expansion period and are then suddenly exposed to a large amount of water (such as excessive irrigation), the pulp absorbs water and expands much faster than the peel grows, leading to cracking and reduced income for fruit growers. Therefore, to reduce citrus fruit cracking and conserve water resources, this system implements precision irrigation. It can accurately irrigate citrus trees based on weather and soil moisture, reducing the likelihood of over-irrigation and conserving water resources. First, soil moisture is measured in the target citrus planting area to obtain soil moisture data. Based on this data, it is determined whether the citrus trees currently require irrigation. Then, weather data for a future preset time period corresponding to the target citrus planting area is collected. Based on the soil moisture data and weather data, the system generates the appropriate amount of water for sprinkler irrigation in the target citrus planting area. For example, if the soil is currently dry and the weather is expected to remain hot and without rain, the amount of water for sprinkler irrigation can be increased. Conversely, if the soil is currently moist and the weather is expected to remain rainy, the amount of water for sprinkler irrigation can be reduced or stopped. Finally, if the soil is currently dry and the weather is expected to rain, appropriate amounts of water can be sprinkled. The above method allows for accurate sprinkler irrigation of citrus trees by combining soil moisture and weather data, which can reduce the likelihood of fruit cracking and save irrigation water.

[0046] Preferably, the rainwater harvesting unit includes:

[0047] A filtration unit for filtering collected rainwater;

[0048] The disinfection unit is used to disinfect the stored rainwater.

[0049] The rainwater collected may contain impurities and pathogens. The impurities are filtered out by the filtration unit and disinfected by the disinfection unit, which can reduce the chances of citrus trees developing diseases.

[0050] Preferably, the system further includes: a soil fertility detection unit and a fertilization unit; the soil fertility detection unit is used to detect the soil fertility of the target citrus planting area and obtain soil fertility detection data; the fertilization unit is used to fertilize the water in the preset water storage device based on the soil fertility detection data before the sprinkler irrigation equipment sprays water.

[0051] The system also includes a soil fertility testing unit and a fertilization unit. Soil fertility can be tested before irrigation, and if the fertility is insufficient, appropriate fertilizer can be added to the irrigation water, thus integrating irrigation and fertilization, which is beneficial to the growth of citrus.

[0052] One or more technical solutions provided by this invention have at least the following technical effects or advantages:

[0053] This invention enables intelligent and low-cost irrigation for citrus cultivation in hillside areas.

[0054] When implementing intelligent irrigation, the drone formation of this invention, carrying nozzles and water pipes, can ensure the safety of the drones and reduce damage to fruit trees during sprinkler irrigation operations, thus achieving higher safety.

[0055] This invention enables drone formations to carry nozzles and water pipes in an orderly and safe manner, achieving continuous irrigation, and ensuring that each drone is subjected to balanced forces and has stable flight.

[0056] This invention can meet the sprinkler irrigation needs of citrus trees and protect citrus fruits, reducing the chance of bacterial growth on their surface and damage or cracking of the peel.

[0057] By employing the precise selection of sprinkler locations in this invention, the water after sprinkler irrigation can be absorbed by the root system as much as possible, thereby improving the sprinkler irrigation effect.

[0058] This invention can accurately irrigate citrus trees by combining soil moisture and weather data, which can reduce the probability of fruit cracking and save irrigation water. Attached Figure Description

[0059] The accompanying drawings, which are provided to further illustrate embodiments of the invention and constitute a part of this invention, are not intended to limit the scope of the invention.

[0060] Figure 1 This is a schematic diagram of a multi-energy complementary system that combines wind, solar, and energy storage for water lifting and rainwater harvesting for coordinated irrigation. Detailed Implementation

[0061] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, where there is no conflict, the embodiments of the present invention and the features thereof can be combined with each other.

[0062] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0063] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0064] It is understood that the term "a" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element can be one, while in another embodiment, the number of the element can be multiple, and the term "a" should not be understood as a limitation on the number.

[0065] Example 1;

[0066] Please refer to Figure 1 , Figure 1 This invention provides a wind-solar-storage multi-energy complementary water lifting and rainwater harvesting coordinated irrigation system, comprising:

[0067] A power unit for generating electricity based on wind and solar power and storing the generated electrical energy, as well as for connecting to a mains power source;

[0068] A rainwater harvesting unit is used to collect rainwater from a preset area and store the collected rainwater.

[0069] The water lifting unit is used to transfer stored rainwater and / or water from a preset water source to a preset water storage device based on the electrical energy provided by the power unit and the control of the control system.

[0070] Sprinkler irrigation equipment is used to draw water from a pre-set water storage device and spray it onto the target citrus planting area through nozzles, based on the control of a control system.

[0071] The drone formation is used for flight carrying the nozzles and water pipes of the irrigation equipment under the control of the control system, as well as for adjusting the irrigation position of the nozzles under the control of the control system, and for maintaining a safe distance between the water pipes in the irrigation equipment and ground obstacles under the control of the control system.

[0072] In this embodiment of the invention, the power unit can be a wind turbine and a solar power generator combined with corresponding power management equipment. The coordinated use of wind power and solar power with the grid power is usually achieved through a grid-connected system, an off-grid system, or a hybrid system. This power unit is an existing equipment unit, and this embodiment of the invention will not elaborate on it.

[0073] In this embodiment of the invention, the rainwater harvesting unit typically consists of multiple functional modules for the collection, filtration, storage, purification, and reuse of rainwater. Existing rainwater harvesting unit equipment is not described in detail in this embodiment. Considering that hillside areas are generally developed into planting areas, solar energy and rainwater harvesting equipment can be installed on rural rooftops.

[0074] In this embodiment of the invention, when the power unit has sufficient stored power, the stored power is used to pump water from the foot of the mountain to a reservoir on the mountain via the water pumping unit for storage. When the power unit has insufficient stored power, mains power is used to pump water from the foot of the mountain to a reservoir on the mountain via the water pumping unit. The water pumping unit may include pumping equipment, water conveying equipment, and water storage equipment. For example, the pumping equipment includes a pump, the water conveying equipment includes water pipes, and the water storage equipment includes a water tank. If the slope where water needs to be pumped is at a high altitude, multi-stage pumping is required to reduce the pressure on the pumping equipment. For example, the first-stage pumping equipment pumps water from the water source to the first-stage water tank, then the second-stage pumping equipment pumps water from the first-stage water tank to the second-stage water tank, and so on, until the water is pumped to the target reservoir.

[0075] In this embodiment of the invention, the sprinkler irrigation equipment includes a water pump, a water pipe, a water pipe storage device, and a sprinkler head. One end of the water pipe is connected to the water pump, and the other end is connected to the sprinkler head after passing through the water pipe storage device. Appropriate water valves can be installed on the water pipe as needed. The water pump pressurizes and transports water from the water source to the pipe, and then the water is transported to the sprinkler head through the pipe. The sprinkler head sprays the water out. It should be noted that the sprinkler head in this embodiment of the invention should avoid using atomizing sprinkler heads as much as possible, because atomizing sprinkler heads will cause water droplets to appear on the citrus fruit, which can easily cause diseases. The water pipe storage device is a rotatable roller on which the water pipe is wound for convenient storage, collection, and transportation. The roller can be used with a corresponding motor to realize the automatic retraction and release of the water pipe. The sprinkler irrigation equipment is an existing device, and the relevant details will not be described in detail in this embodiment of the invention.

[0076] In this embodiment of the invention, the drone formation includes multiple drones. The drones in this invention are existing drones, and the flight system and control system used are also existing. This embodiment of the invention will not elaborate on the relevant details. The drones in this invention need to carry nozzles or water pipes for flight. Existing drone transportation is a mature technology. This embodiment of the invention will not elaborate on the principle of drone transportation of objects. It should be noted that this invention can design corresponding structures to clamp or fix the nozzles and water pipes to enable the drones to carry the nozzles and water pipes for flight. The specific structure will be introduced in the following content.

[0077] In this embodiment of the invention, the drone formation includes: one first drone, several second drones, and a first identification unit;

[0078] The first UAV is equipped with a pitch and level adjustment mechanism, and the nozzle is mounted on the pitch and level adjustment mechanism; the first UAV is used to carry the nozzle and move or hover based on the control system; the pitch and level adjustment mechanism is used to control the spraying position of the nozzle based on the control system.

[0079] The surface of the water pipe is uniformly marked with several markings that correspond one-to-one with the second UAV; the lower end of the second UAV is equipped with a water pipe clamping mechanism.

[0080] The first identification unit is used to acquire images of the water pipe extending to the water pipe storage device in real time to obtain a first image, identify the markings in the first image, and determine whether the number of markings in the first image has increased. If the number of markings in the first image has increased, the control system controls the first drone to hover and fly, and then controls the second drone corresponding to the newly added marking in the first image to fly to the corresponding marking. The water pipe clamping mechanism on the second drone is controlled to clamp the water pipe body at the marking and fly upward to a set height. After the second drone carrying the water pipe flies to the set height, the hovering flight state of the first drone is released, and the second drone is controlled to fly synchronously with the first drone.

[0081] In this embodiment of the invention, the first UAV is preferably a UAV with landing gear, because there is space between the landing gear and the fuselage to install a pitch and level adjustment mechanism. The pitch and level adjustment mechanism is installed and fixed to the UAV's landing gear using appropriate mounting components such as screws or brackets. Then, the nozzle is installed on the pitch and level adjustment mechanism. The pitch and level adjustment mechanism allows adjustment of the nozzle's spray angle in the pitch and horizontal directions, thereby adjusting the final spraying position. The pitch and level adjustment mechanism is connected to a corresponding controller, which is connected to a control system. The controller executes control commands received from the control system. The controller can be connected to the control system via appropriate communication equipment; alternatively, the control system communicates with the first UAV, and the first UAV is connected to the controller. The control system sends control commands to the first UAV, and the first UAV sends control commands to the controller, which then adjusts the pitch and level adjustment mechanism. The pitch and level adjustment mechanism can be powered independently by a battery or connected to the first UAV's battery. The pitch and level adjustment mechanism can employ an existing dual-axis gimbal mechanism, which will not be described in detail in this embodiment.

[0082] In this embodiment of the invention, the surface of the water pipe is uniformly provided with a plurality of markings corresponding one-to-one with the second drone. The number of the second drones and markings is determined according to the length of the water pipe. If the water pipe is long, more second drones and markings are required; if the water pipe is short, fewer second drones and markings are required. The markings can be numerical markings such as numbers from 1 to N, where N is an integer greater than 1. They can also be Chinese characters or markings of different colors or graphics. This embodiment of the invention does not impose any restrictions on the specific marking format.

[0083] In this embodiment of the invention, the first identification unit acquires images via a camera, and then processes the images using a processor equipped with a target recognition model. The target recognition model is an existing model, obtainable through machine learning, training, or by using existing models; it is a conventional image processing method and will not be elaborated upon in this embodiment. The camera can be mounted on a drone, or preferably a drone with a built-in camera. The images acquired by the drone are transmitted to the processor for processing via a connection established with the drone's system. The target recognition model in the processor can identify markings on the water pipes. For example, if the current markings are numbers 1-3, the corresponding drone configuration is: a first drone carrying a nozzle, and three second drones with pipe clamping mechanisms corresponding to numbers 1-3. The first identification unit acquires the first image in real time. When the marking number 4 appears in the first image, it indicates an increase in the number of markings in the first image. The unit then controls a new second drone to take off, clamping the water pipe corresponding to number 4. After a new marker, such as number 4, appears in the first image, the first drone needs to switch to hover flight mode. At this time, the second drones corresponding to numbers 1-3, which are flying synchronously with the first drone, also switch to hover flight mode. Then, the second drone corresponding to number 4 clamps the water pipe corresponding to the marker number 4 and flies to the set altitude. Then, both the first drone and the second drones corresponding to numbers 1-3 release the hover flight mode. The second drone corresponding to number 4 flies synchronously with the first drone. Synchronous flight means that the flight direction and speed of the two are the same.

[0084] The water pipe clamping mechanism can be an electric gripper. The electric gripper is fixedly connected to the landing gear or fuselage of the UAV through corresponding installation or fixing equipment (such as screws or fixing brackets). The electric gripper is controlled by a corresponding controller to perform clamping and releasing operations. When it is necessary to control the clamping of the water pipe, the controller controls the electric gripper to open. Then, the second UAV flies to a suitable position so that the water pipe is within the clamping range of the electric gripper. Then, the controller controls the electric gripper to clamp, thus achieving the clamping of the water pipe. The electric gripper is an existing intelligent clamping device that can be opened and closed by a controller to achieve the clamping of the water pipe. The electric gripper will not be described in detail in this embodiment of the invention.

[0085] The target recognition model described above can be used to locate the coordinates of the marker corresponding to the water pipe that needs to be clamped. Then, based on the spatial relationship between the electric gripper and the second UAV, the control system can calculate the corresponding hovering position of the second UAV. After the second UAV flies to the corresponding hovering position, the water pipe corresponding to the marker is within the clamping range of the electric gripper, and then the electric gripper is activated to clamp it.

[0086] The target recognition model can locate the coordinates of the marker corresponding to the water pipe that needs to be clamped. However, the drone may not be able to clamp the water pipe when it flies to these coordinates because the clamping action is performed by a motorized gripper. Therefore, the spatial relationship between the motorized gripper and the second drone needs to be considered in determining the hovering position of the second drone for clamping. For example, if the spatial coordinates of the marker to be clamped are (x, y, z), and the motorized gripper is located 20 cm below the center of the second drone's fuselage, then the spatial coordinates of the second drone's hovering position for clamping are (x, y, z). (x+a, y+b, z+20), where a and b are the installation errors of the electric gripper in the horizontal plane during installation. At this point, the electric gripper can hold the water pipe. In actual operation, there can be corresponding allowable errors, as long as the electric gripper can hold the water pipe. Furthermore, the clamping force of the electric gripper and the inner diameter of the final clamping closure need to be determined in combination with the size and material of the water pipe. If the water pipe is relatively soft, the clamping force needs to be adjusted to be smaller. If the outer diameter of the water pipe is large, the inner diameter of the final clamping closure of the electric gripper needs to match the outer diameter of the water pipe to reduce the impact on the water delivery of the water pipe.

[0087] In one embodiment of the invention, a second identification unit is fixed on the first drone. The second identification unit is used to acquire images of citrus trees to be irrigated in the target citrus planting area to obtain a second image. The second image is analyzed to obtain the irrigable location. The control system controls the pitch and horizontal adjustment mechanism to adjust the irrigating position of the nozzle based on the irrigable location and the flight parameters of the first drone.

[0088] In this embodiment of the invention, the second identification unit can be a camera built into the first drone or an external camera. The second identification unit is connected to the control system. The second identification unit of the invention acquires images through the camera and then processes the images through a processor equipped with a target recognition model. The target recognition model is an existing model that can be obtained through machine learning or training or by using existing models. It is a conventional image processing method and will not be described in detail in this embodiment of the invention. After determining the coordinates of the irrigable location, the pitch and horizontal adjustment mechanism of the first drone is controlled to adjust the spraying position of the nozzle based on the flight parameters of the first drone. After determining the position of the target, the pitch and horizontal adjustment mechanism of the first drone is controlled to adjust the spraying position of the nozzle based on the flight parameters of the first drone. This is an existing technology, such as drone tracking aerial photography, drone directional target delivery, drone precision spraying of pesticides, etc. The specific implementation means of this invention will not be described in detail. Unlike the existing technology, this invention determines the precise irrigating position and then performs irrigation, rather than blindly performing uniform coverage irrigation.

[0089] In this embodiment of the invention, the control system is further configured to control the sprinkler equipment to sequentially irrigate each citrus tree to be irrigated according to a set order, and after irrigation is completed, control the drone formation to transport the nozzles and water pipes to the set positions. The set order can be adjusted according to actual needs, and this embodiment of the invention does not impose any limitations on it. For example, some trees can be irrigated first, some later, or in order from far to near, or in order from near to far.

[0090] In this embodiment of the invention, the step of analyzing the second image to obtain the irrigation location specifically includes:

[0091] Target analysis was performed on the second image to identify the distribution areas of the trunks and leaves of the citrus trees to be irrigated in the second image, thus obtaining the first region;

[0092] The non-first region in the second image is marked as the second region;

[0093] Identify the areas belonging to the ground region within the second region to obtain several third regions;

[0094] Obtain the distance from the center point of each third region to the citrus tree stump to be irrigated;

[0095] At least one irrigation location is selected from several third regions based on the distance value corresponding to each third region.

[0096] The process involves using a trained target recognition model to identify the trunks and leaves of the citrus trees to be irrigated. After identification, bounding boxes are used to mark the areas, thus identifying the distribution of the trunks and leaves of the citrus trees to be irrigated in the second image. The first region is then removed from the second image, leaving the second region. The trained target recognition model is then used to identify the ground area to obtain the third region. The target recognition model can be trained using existing machine learning methods to construct corresponding training, validation, and test sets. The specific implementation methods are not detailed here. Existing image analysis methods, such as target detection and localization, camera calibration, and distance calculation, or existing commercial image processing software, can be used to obtain the direct distance value between the target and the stump of the citrus tree to be irrigated. When using these commercial image processing software programs, it is only necessary to mark the target to directly obtain the distance value between the center point of each third region and the stump of the citrus tree to be irrigated.

[0097] When selecting suitable locations for sprinkler irrigation, the root distribution of the citrus trees to be irrigated needs to be considered. The root distribution range of the citrus trees to be irrigated is mainly affected by their age. The horizontal distribution range of the roots is as follows:

[0098] Young trees (1-3 years old): The horizontal extension of the root system is usually 1 to 1.5 times the diameter of the canopy projection, about 0.5 to 1.5 meters away from the trunk. The absorbing roots are concentrated near the canopy drip line (vertical projection of the canopy edge).

[0099] Mature trees (4 years and older): The ability of the root system to extend horizontally is enhanced, reaching 1.5 to 3 times the canopy projection, about 2 to 4 meters away from the trunk, but the main absorbing roots are still concentrated in the area from the drip line to 1 to 2 meters outward from the outer edge of the canopy.

[0100] Therefore, when selecting suitable locations for sprinkler irrigation, the age of the citrus trees to be irrigated should be determined first. Then, based on the age, the main distribution range of the root system should be determined, and then the corresponding suitable sprinkler locations should be matched according to the main distribution range of the root system. By using the above method, suitable sprinkler locations can be accurately found. Sprinkler irrigation at these locations allows the roots to better absorb irrigation water and also saves irrigation water.

[0101] In this embodiment of the invention, the identifier is set in the following way:

[0102] The length of the water pipe spacing between two adjacent markers is determined based on the carrying capacity of the second drone and the set height.

[0103] In this scenario, assuming the maximum payload of the second drone is mKG (where m is an integer), the load caused by the weight of the water pipe must be less than mKG. The weight of the water pipe needs to consider both its own weight and the weight of the water inside. Since the pipe size is already determined during the labeling process, we assume a constant pipe size. The weight of the water inside a certain section of the pipe is: G = 9800πr²L, where r is the inner radius of the pipe and L is the length of that section. Therefore, assuming a constant inner diameter, the weight of the water inside the pipe is related to the length of the pipe. In practical applications, the weight of the pipe itself can also be considered; using a lighter flexible hose would be more appropriate. Ignoring the weight of the water pipes themselves, if the distance between two adjacent markers is too large, it could easily exceed the carrying capacity of the second drone. Furthermore, an excessively large distance could cause the drooping sections of the water pipes between the two drones to come into contact with ground obstacles. Therefore, both factors must be considered simultaneously. The distance K between two adjacent markers must satisfy the following conditions: the weight of the water pipes when fully filled with water is less than the maximum load capacity of the second drone; and the minimum height of the water pipes when fully filled with water must be less than a set height. This ensures the safe flight of the second drones and prevents the water pipes between adjacent markers from contacting ground obstacles.

[0104] In this embodiment of the invention, the system further includes a charging unit for charging or replacing the batteries of the drones in the drone swarm. The charging unit may include a charging platform or charging equipment, or it may directly utilize a smart drone control room where drones can be charged or have their batteries replaced.

[0105] In this embodiment of the invention, the system further includes a detection unit, a data acquisition unit, and a generation unit. The detection unit is used to detect soil moisture in the target citrus planting area and obtain soil moisture data, such as a portable soil moisture meter that is inserted into the soil to take a direct reading. The data acquisition unit is used to acquire weather data for a future preset time period corresponding to the target citrus planting area. The generation unit is used to generate the irrigation water volume for the target citrus planting area based on the soil moisture data and the weather data. The control system controls the irrigation equipment to irrigate the target citrus planting area based on the irrigation water volume.

[0106] First, a training set can be constructed using historical and standard data. Each data point in the training set consists of soil moisture data, weather data within a preset future time period, and a corresponding standard irrigation volume. By training the training set, an irrigation volume prediction model can be obtained through machine learning. In practical applications, soil moisture detection data and weather data within a preset future time period are obtained. By inputting the soil moisture detection data and the weather data into the irrigation volume prediction model, the corresponding irrigation volume can be obtained.

[0107] In this embodiment of the invention, the rainwater harvesting unit includes:

[0108] A filtration unit for filtering collected rainwater;

[0109] The disinfection unit is used to disinfect the stored rainwater.

[0110] In this embodiment of the invention, the system further includes a soil fertility detection unit and a fertilization unit. The soil fertility detection unit is used to detect the soil fertility of the target citrus planting area and obtain soil fertility detection data, such as the TYF-3 soil nitrogen, phosphorus and potassium three-in-one sensor, or the FDS-150 soil nitrogen, phosphorus and potassium sensor, etc. This embodiment of the invention does not impose any corresponding limitations. The fertilization unit is used to fertilize the water in the preset water storage device based on the soil fertility detection data before the sprinkler irrigation equipment irrigates.

[0111] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0112] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A multi-energy complementary irrigation system combining wind, solar, and storage water pumping with rainwater harvesting, characterized in that: The system includes: A power unit for generating electricity based on wind and solar power and storing the generated electrical energy, as well as for connecting to a mains power source; A rainwater harvesting unit is used to collect rainwater from a preset area and store the collected rainwater. The water lifting unit is used to transfer stored rainwater and / or water from a preset water source to a preset water storage device based on the electrical energy provided by the power unit and the control of the control system. Sprinkler irrigation equipment is used to draw water from a pre-set water storage device and spray it onto the target citrus planting area through sprinklers, based on the control of a control system. The drone formation is used for controlling the nozzles and water pipes of the irrigation equipment to fly under the control of the control system, and for adjusting the irrigation position of the nozzles under the control of the control system, and for maintaining a safe distance between the water pipes in the irrigation equipment and ground obstacles under the control of the control system; the drone formation includes: one first drone, several second drones and a first identification unit. The first UAV is equipped with a pitch and level adjustment mechanism, and the nozzle is mounted on the pitch and level adjustment mechanism; the first UAV is used to carry the nozzle and move or hover based on the control system; the pitch and level adjustment mechanism is used to control the spraying position of the nozzle based on the control system. The surface of the water pipe is uniformly marked with several markings that correspond one-to-one with the second UAV; the lower end of the second UAV is equipped with a water pipe clamping mechanism. The first identification unit is used to acquire images of the water pipe extending to the water pipe storage device in real time to obtain a first image, identify the markings in the first image, and determine whether the number of markings in the first image has increased. If the number of markings in the first image has increased, the control system controls the first drone to hover and fly, and then controls the second drone corresponding to the newly added marking in the first image to fly to the corresponding marking location. The water pipe clamping mechanism on the second drone is controlled to clamp the water pipe body at the marking location and fly upward to a set height. After the second drone carrying the water pipe flies to the set height, the hovering flight state of the first drone is released, and the second drone is controlled to fly synchronously with the first drone. The first drone is equipped with a second identification unit, which is used to acquire images of the citrus trees to be irrigated in the target citrus planting area to obtain a second image, analyze the second image to obtain the irrigable location, and the control system controls the pitch and horizontal adjustment mechanisms to adjust the spraying position of the nozzle based on the irrigable location and the flight parameters of the first drone. The step of analyzing the second image to obtain the irrigation location specifically includes: Target analysis was performed on the second image to identify the distribution areas of the trunks and leaves of the citrus trees to be irrigated in the second image, thus obtaining the first region; The non-first region in the second image is marked as the second region; Identify the areas belonging to the ground region within the second region to obtain several third regions; Obtain the distance from the center point of each third region to the citrus tree stump to be irrigated; At least one irrigation location is selected from several third regions based on the distance value corresponding to each third region.

2. The wind-solar-storage multi-energy complementary water lifting and rainwater harvesting synergistic irrigation system according to claim 1, characterized in that, The control system is also used to control the sprinkler equipment to spray each citrus tree to be irrigated in a set order, and to control the drone formation to deliver the nozzles and water pipes to the set position after the irrigation is completed.

3. The wind-solar-storage multi-energy complementary water lifting and rainwater harvesting synergistic irrigation system according to claim 1, characterized in that, The method for setting the identifier is as follows: The length of the water pipe spacing between two adjacent markers is determined based on the carrying capacity of the second drone and the set height.

4. The wind-solar-storage multi-energy complementary water lifting and rainwater harvesting synergistic irrigation system according to claim 1, characterized in that, The system also includes a charging unit for charging or replacing the batteries of drones in a drone swarm.

5. The wind-solar-storage multi-energy complementary water lifting and rainwater harvesting synergistic irrigation system according to claim 1, characterized in that, The system further includes a detection unit, a data acquisition unit, and a generation unit. The detection unit is used to detect soil moisture in the target citrus planting area and obtain soil moisture data. The data acquisition unit is used to acquire weather data for a future preset time period corresponding to the target citrus planting area. The generation unit is used to generate the irrigation water volume for the target citrus planting area based on the soil moisture data and the weather data. The control system controls the irrigation equipment to irrigate the target citrus planting area based on the irrigation water volume.

6. The wind-solar-storage multi-energy complementary water lifting and rainwater harvesting synergistic irrigation system according to claim 1, characterized in that, The rainwater harvesting unit includes: A filtration unit for filtering collected rainwater; The disinfection unit is used to disinfect the stored rainwater.

7. The wind-solar-storage multi-energy complementary water lifting and rainwater harvesting synergistic irrigation system according to claim 1, characterized in that, The system also includes a soil fertility detection unit and a fertilization unit; the soil fertility detection unit is used to detect the soil fertility of the target citrus planting area and obtain soil fertility detection data; the fertilization unit is used to fertilize the water in the preset water storage device based on the soil fertility detection data before the sprinkler irrigation equipment sprays water.

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