Banana planting anti-lodging yield increasing system and method

Abstract

The application discloses a banana planting anti-lodging yield increasing system and method, which comprises a self-adaptive clamping device clamped on a banana tree and used for controlling the inclination angle of the banana tree, a sub-control device is arranged on the self-adaptive clamping device, the sub-control device is electrically connected with the self-adaptive clamping device, the sub-control device is electrically connected with an external server, the sub-control device is used for receiving feedback signals of the self-adaptive clamping device and control instructions of the server, and the self-adaptive clamping device is controlled by the control instructions to adjust the clamping height and clamping force of the banana tree, the system is used for cruising in a banana planting area by an unmanned aerial vehicle with a camera, and real-time conditions (images, coordinates and the like) of each banana tree are acquired, the image of the banana tree is processed by an image processor, the inclination angle of the banana tree is acquired, and the self-adaptive clamping device clamped on the banana tree is used for corresponding auxiliary adjustment (height, inclination, pole diameter changed due to growth and the like) of the banana tree.

Description

Technical Field

[0001] This invention relates to the field of banana cultivation technology, and in particular to a system and method for preventing lodging and increasing yield in banana cultivation. Background Technology

[0002] Bananas are herbaceous fruit trees that grow quickly, have a short production life, and high yields, allowing for year-round supply. They offer excellent economic benefits and are highly valued by banana-producing countries and banana farmers. However, bananas are prone to lodging during cultivation. The main reasons are as follows: First, banana plants are tall, ranging from 2.5 to 5.0 meters. The pseudostem is formed by the petiole, and its width gradually decreases from bottom to top. It also has a high water content, making it easy to break. Second, banana bunches are terminal and heavy. As the bunches mature, their weight gradually increases, causing the center of gravity of the banana plant to shift upwards, increasing the pressure on the pseudostem and making it prone to lodging. Third, banana leaves have a large surface area, and severe convective weather (such as thunderstorms, strong winds, hail, and short-term heavy rainfall) can also significantly affect lodging in banana cultivation. This is especially true in banana-growing areas near the coast of my country (such as Hainan, Guangdong, and Guangxi), where extreme weather such as strong winds, typhoons, and torrential rains are frequent. Extreme winds cause banana plants to lodging, and heavy rainfall can loosen or erode the soil, leading to lodging. These factors can range from reducing banana yield or even causing a complete crop failure to causing severe economic losses.

[0003] Currently, the main methods for preventing banana plants from lodging in banana cultivation are the stake method and the rope method. The stake method involves inserting support stakes (bamboo poles, wooden stakes, etc.) next to the banana tree and tying the banana pseudostem to the stakes with rope. The rope method involves tying a rope to the upper part of the banana pseudostem, with the other end of the rope pulled diagonally downwards and fixed to an anchor point (ground nail, the base of another banana plant's stem). These two methods primarily address lodging problems that occur after bananas have borne fruit but before harvest. These measures are generally taken before the banana buds emerge to prevent lodging after budding. However, in recent years, extreme weather events have become more frequent globally, with wind damage and thunderstorms occurring at increasingly unpredictable times. During the banana's vegetative growth and vigorous growth period (before budding), it is frequently subjected to sudden typhoons or thunderstorms. Without the use of rope-tying or stake-based anti-lodging measures, entire banana plantations have collapsed, causing significant hardship for growers. If the rope-pulling or stake-erecting method is used to prevent banana plants from lodging during their vegetative growth or vigorous growth period, the increasing height and width of the banana pseudostem makes it susceptible to damage from the rope binding, which can lead to rope embedding or cutting the pseudostem and increasing the risk of bacterial infection. Furthermore, it is difficult to flexibly, promptly, and accurately adjust the rope binding strength during wind damage, making it ineffective in preventing lodging. This method is inaccurate, inefficient, and labor-intensive. Once the banana plant has budded and begun fruiting, the original rope-pulling or stake-erecting method becomes unsuitable, requiring constant manual adjustment of the rope binding position and angle, resulting in high labor intensity and costs. Summary of the Invention

[0004] To address the above shortcomings, this invention provides a banana planting lodging prevention and yield-increasing system and method, overcoming the technical problems existing in the background art. Through a designed adaptive clamping device combined with a server, adjustments and support are made according to the growth status of the banana tree and environmental conditions, preventing lodging during banana planting. The specific technical solution is as follows: A banana planting anti-lodging and yield-increasing system includes an adaptive clamping device that clamps onto the banana tree and controls the tilt angle of the banana tree. The adaptive clamping device is equipped with several sub-control devices, which are electrically connected to the adaptive clamping device and to an external server. The sub-control devices are used to receive feedback signals from the adaptive clamping device and control commands from the server, and control the adaptive clamping device to adjust the clamping height and clamping force on the banana tree through the control commands. It also includes a drone equipped with a camera, which is used to move the camera and record the GPS coordinates of each banana tree shooting point. The camera is also used to acquire images of the banana trees. It also includes a coordinate database, an image database, a tilt angle database, a bend height database, and an image processor. The coordinate database stores the GPS coordinates, the image database stores the banana tree image, and the image processor calculates the tilt angle and bend height of the banana tree based on the banana tree image. The tilt angle database stores the tilt angle, and the bend height database stores the bend height value. The server is electrically connected to the camera, drone, coordinate database, image database, tilt angle database, bend height database, and image processor. The image processor is also electrically connected to the image database, tilt angle database, and bend height database. The server receives the GPS coordinates, banana tree image, tilt angle, and bend height value, transmits the GPS coordinates and banana tree image to the coordinate database and image database respectively, and sends control commands to the sub-control device based on the tilt angle and bend height value.

[0005] Preferably, the adaptive clamping device includes a support clamping mechanism, a correction clamping mechanism, and a support adjustment mechanism, wherein the support clamping mechanism clamps at the bending point of the banana tree; The corrective clamping mechanism includes two SMA adaptive grippers. Each SMA adaptive gripper includes an arc-shaped SMA spring, a first buffer rubber layer, and a first contact rubber layer connected in sequence. A plurality of first pressure sensors are disposed within the first buffer rubber layer. First connecting seats are provided on opposite sides of the arc-shaped SMA spring. The two SMA adaptive grippers are connected by a telescopic clamping part. The telescopic clamping part includes a micro motor and a threaded rod. The threaded rod is mounted on the output end of the micro motor. By driving the micro motor, the two SMA adaptive grippers are moved closer or further apart. One end of the support adjustment mechanism is rotatably connected to the support clamping mechanism, and the other end is rotatably connected to the SMA adaptive gripper. The support clamping mechanism, the arc-shaped SMA spring sheet, the first pressure sensor, the micro motor, and the support adjustment mechanism are all electrically connected to the sub-control device.

[0006] Preferably, the support clamping mechanism includes a base plate, a drive adjustment part, and a support claw. The base plate has a through groove for the banana tree to pass through and sliding grooves located at opposite ends of the through groove. The support claw is slidably mounted on the sliding groove. The support claw includes an arc-shaped spring metal sheet, a second buffer rubber layer, and a second contact rubber layer connected in sequence. The bottom end of the arc-shaped spring metal sheet is provided with a slider that is slidably connected to the sliding groove. A plurality of second pressure sensors are provided in the second buffer rubber layer. The drive adjustment unit includes a first dual-axis motor, a drive wheel, a driven wheel, an adjustment screw, a first rotating seat, and an adjustment slider. The first dual-axis motor is mounted on the base plate, and the drive wheel is provided on both output ends of the first dual-axis motor. The adjustment slider is connected to the support jaw and slidably disposed on the slide groove. The first rotating seat is mounted on the base plate, and the adjustment screw is rotatably mounted on the first rotating seat. The adjustment slider is threadedly connected to the adjustment screw. The driven wheel is mounted on the adjustment screw, and the driven wheel is connected to the drive wheel via a synchronous belt.

[0007] Preferably, anti-slip stripes are provided on the inner sides of both the first contact rubber layer and the second contact rubber layer.

[0008] Preferably, the support adjustment mechanism includes a hollow adjustment column, a second dual-axis motor, an adjustment push rod, and a second rotating seat. The second dual-axis motor is fixedly installed inside the hollow adjustment column, and its two output ends are respectively threaded to one of the adjustment push rods. The adjustment push rod is slidably connected to the hollow adjustment column, and its other end is connected to the second rotating seat. The two second rotating seats are respectively rotatably connected to the arc-shaped SMA spring and the first rotating seat. The second dual-axis motor is electrically connected to the sub-control device.

[0009] Preferably, the sub-control device includes a microcontroller and a power supply. The microcontroller is electrically connected to the adaptive clamping device, the power supply, and the server. The power supply is electrically connected to the adaptive clamping device to provide power.

[0010] Preferably, it also includes a wireless charging module, which includes two landing pads, a transmitter installed in the landing pads, and a receiver installed in the drone. The two landing pads are respectively located at opposite ends of the diagonal of the banana tree planting area.

[0011] Preferably, it also includes a solar charging module, which includes several photovoltaic panels, a photovoltaic combiner box, and a photovoltaic controller; Several photovoltaic panels are installed around the banana tree planting area and are all electrically connected to the photovoltaic combiner box. The photovoltaic combiner box is electrically connected to the photovoltaic controller, and the photovoltaic controller is electrically connected to the transmitting device and the sub-controller.

[0012] On the other hand, the present invention also provides a method for preventing lodging and increasing yield in banana cultivation, using the above-mentioned banana cultivation lodging prevention and yield-increasing system, the method comprising the following steps: S1: Divide the N banana trees into planting areas in the form of a rectangular array, and plant them in holes; S2: The drone makes its first patrol and stores the GPS coordinates of the N banana tree shooting points into the coordinate database in N groups. The drone then forms a drone patrol route based on these GPS coordinates. The camera captures initial images of N banana trees, and the acquired N initial images are divided into N groups and stored in the image database; The image processor obtains N initial images from the image database, generates N initial tilt angles for banana trees, and stores the N initial tilt angles in N groups into the tilt angle database; S3: The drone cruises according to the drone's cruise route at first time intervals. The camera acquires first images of N banana trees and stores the N first images into the image database in N groups. The image processor acquires the N first images from the image database, generates the first tilt angle of the N banana trees, and stores them into the tilt angle database in N groups. The first time interval is one week. S4: Based on the first tilt angle difference, it is determined that the banana tree is tilted. Based on the initial tilt direction of the banana tree, an adaptive clamping device is installed on the banana tree until all banana trees are equipped with adaptive clamping devices. The support clamping mechanism is clamped at the bend of the banana tree, and the clamping force is adaptively adjusted through the second pressure sensor, the sub-control device, and the first dual-axis motor. The clamping mechanism is corrected to clamp above the bend of the banana tree, and the clamping force is adaptively adjusted through the first pressure sensor, the sub-control device, and the micro motor. The lengths of the two support adjustment mechanisms are adjusted respectively so that the corrected clamping mechanism fits the banana tree. Based on the initial tilt direction, the shooting point of the corresponding banana tree is adjusted. The coordinate database is updated with the GPS coordinates of N banana tree shooting points to form the first UAV cruise route. The first tilt angle difference is the difference between the first tilt angle and the initial tilt angle. S5: The drone cruises along the first drone's cruise route every second time period. The camera acquires second images of N banana trees and stores them in the image database in N groups. The image processor acquires N second images from the image database and generates second tilt angles for the N banana trees. It also stores the N second tilt angles in the tilt angle database in N groups. The second tilt angle difference is obtained by subtracting the second tilt angle of the previous time point from the second tilt angle of the next time point. Several second tilt angle differences are accumulated to obtain a tilt angle accumulation value. When the tilt angle accumulation value is greater than 5°, the server sends a control command to the sub-control device. The sub-control device controls the length of the support adjustment mechanism by controlling the second dual-axis motor, thereby correcting the tilt angle of the banana trees and preventing them from falling over. The second time period is 2-3 days.

[0013] Preferably, step S5 further includes the following step: Based on the acquired second image, the image processor generates height values ​​at the bends of the banana tree and stores these height values ​​in the height database in N groups. It calculates the height difference by subtracting the height value at the bend from the height value at the previous time point, and accumulates these height differences to obtain a cumulative height difference value. When the cumulative height difference value is greater than 15cm, the server sends a control command to the sub-control device. The sub-control device then controls the adaptive clamping device to move upwards along the banana tree a first distance, where the first distance is 10-15cm.

[0014] Compared with the prior art, the beneficial effects of the present invention are: This invention provides a banana planting anti-lodging and yield-increasing system. A drone equipped with a camera patrols the banana planting area and acquires the real-time status (images, coordinates, etc.) of each banana tree. An image processor processes the banana tree images to obtain the tilt angle of the banana tree. An adaptive clamping device clamped on the banana tree performs corresponding auxiliary adjustments (height, tilt, and changes in stem diameter due to growth, etc.) to the banana tree. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0016] Figure 1 This is a schematic diagram of the banana planting lodging prevention and yield increase system of the present invention; Figure 2 This is an electrical control diagram of the sub-control device and the adaptive clamping device in this invention; Figure 3 This is a schematic diagram of the adaptive clamping device in this invention; Figure 4 This is a schematic diagram of the supporting clamping mechanism in this invention; Figure 5 This is a schematic diagram of the modified clamping mechanism in this invention; Figure 6 This is a schematic diagram of the supporting adjustment mechanism in this invention; Figure 7 This is a schematic diagram of the planting area in this invention.

[0017] 100 - Adaptive clamping device; 110 - Supporting clamping mechanism; 111 - Base plate; 112 - Through slot; 113 - Slide groove; 114 - Arc-shaped spring metal sheet; 115 - Second buffer rubber layer; 116 - Second contact rubber layer; 117 - Second pressure sensor; 118 - First dual-axis motor; 119 - Drive wheel; 120 - Driven wheel; 121 - Adjusting screw; 122 - First rotating seat; 123 - Adjusting slider; 130 - Correcting clamping mechanism; 131 - Arc-shaped SMA spring sheet; 13 2-First buffer rubber layer, 133-First contact rubber layer, 134-First pressure sensor, 135-First connecting seat, 136-Micro motor, 137-Threaded rod, 140-Support adjustment mechanism, 141-Hollow adjustment column, 142-Second dual-axis motor, 143-Adjusting push rod, 144-Second rotating seat, 200-Sub-control device, 300-Camera, 400-UAV, 500-Hanging pad, 600-Photovoltaic panel, 610-Photovoltaic combiner box, 620-Photovoltaic controller. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "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, they should not be construed as limitations on this invention.

[0020] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. Where the terms "first," "second," and "third" are used for descriptive purposes and to distinguish technical features, they should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0022] Example like Figures 1 to 7As shown, a banana planting anti-lodging and yield-increasing system includes an adaptive clamping device 100 that clamps onto the banana tree and controls the tilt angle of the banana tree. The adaptive clamping device 100 is equipped with several sub-control devices 200, which are electrically connected to the adaptive clamping device 100 and to an external server. The sub-control devices 200 receive feedback signals from the adaptive clamping device 100 and control commands from the server, and control the adaptive clamping device 100 to adjust the clamping height and clamping force on the banana tree. The adaptive clamping device 100 can adjust the clamping force and height according to the growth status of the banana tree and the environmental influences on it.

[0023] The system also includes a drone 400 equipped with a camera 300, which is used to move the camera 300 and record the GPS coordinates of each banana tree shooting point. The camera 300 is also used to acquire images of the banana trees. Preferably, the system further includes a coordinate database, an image database, a tilt angle database, a bend height database, and an image processor. The coordinate database stores the GPS coordinates, the image database stores images of the banana tree, and the image processor calculates the tilt angle and bend height of the banana tree based on the images. The tilt angle database stores the tilt angle, and the bend height database stores the bend height. The server is electrically connected to the camera 300, the drone 400, the coordinate database, the image database, the tilt angle database, the bend height database, and the image processor. The device is electrically connected to the image database, tilt angle database, and bending height database. The server receives the GPS coordinates, banana tree image, tilt angle, and bending height value, and transmits the GPS coordinates and banana tree image to the coordinate database and the image database, respectively. Based on the tilt angle and bending height value, it sends control commands to the sub-control device 200. Further, the sub-control device 200 includes a microcontroller and a power supply. The microcontroller is electrically connected to the adaptive clamping device 100, the power supply, and the server. The power supply is electrically connected to the adaptive clamping device 100 to provide power.

[0024] In some preferred embodiments, the adaptive clamping device 100 includes a support clamping mechanism 110, a correction clamping mechanism 130, and a support adjustment mechanism 140. The support clamping mechanism 110 clamps at the bending point of the banana tree. Further, the correction clamping mechanism 130 includes two SMA adaptive grippers. Each SMA adaptive gripper includes an arc-shaped SMA spring 131, a first buffer rubber layer 132, and a first contact rubber layer 133 connected in sequence. A plurality of first pressure sensors 134 are disposed in the first buffer rubber layer 132. First connecting seats 135 are provided on opposite sides of the arc-shaped SMA spring 131. The two SMA adaptive grippers are connected by a telescopic clamping part. The telescopic clamping part includes a micro motor 136 and a threaded rod 137. The threaded rod 137 is mounted on the output end of the micro motor 136. By driving the micro motor 136, the two SMA adaptive grippers are driven to move closer or further apart. One end of the support adjustment mechanism 140 is rotatably connected to the support clamping mechanism 110, and the other end is rotatably connected to the SMA adaptive gripper. The support clamping mechanism 110, the arc-shaped SMA spring 131, the first pressure sensor 134, the micro motor 136, and the support adjustment mechanism 140 are all electrically connected to the sub-control device 200. During the clamping process, the clamping force can be adjusted accordingly based on the pressure signal fed back by the first pressure sensor 134.

[0025] In some preferred embodiments, the support clamping mechanism 110 is fixedly installed on the ground at the root of the banana tree by a connecting assembly. The support clamping mechanism 110 includes a base plate 111, a drive adjustment part and a support claw. The base plate 111 has a through groove 112 for the banana tree to pass through and a sliding groove 113 located at opposite ends of the through groove 112. The support claw is slidably installed on the sliding groove 113. The support claw includes an arc-shaped spring metal sheet 114, a second buffer rubber layer 115 and a second contact rubber layer 116 connected in sequence. The bottom end of the arc-shaped spring metal sheet 114 is provided with a slider that is slidably connected to the sliding groove 113. A plurality of second pressure sensors 117 are provided in the second buffer rubber layer 115. The second pressure sensors 117 are used to collect the clamping force of the support claw on the banana tree and feed back the collected value to the sub-control device 200. The drive adjustment unit includes a first dual-axis motor 118, a drive wheel 119, a driven wheel 120, an adjusting screw 121, a first rotating seat 122, and an adjusting slider 123. The first dual-axis motor 118 is mounted on the base plate 111, and the drive wheel 119 is provided on both output ends of the first dual-axis motor 118. The adjusting slider 123 is connected to the support claw and slidably disposed on the slide groove 113. The first rotating seat 122 is mounted on the base plate 111. The adjusting screw 121 is rotatably mounted on the first rotating seat 122. The adjusting slider 123 is threadedly connected to the adjusting screw 121. The driven wheel 120 is mounted on the adjusting screw 121, and the driven wheel 120 is connected to the drive wheel 119 by a synchronous belt. The sub-control device 200, based on a preset clamping threshold range, controls the first dual-axis motor 118 to drive the adjusting slider 123 to slide on the slide groove 113, thereby adjusting the clamping force of the support gripper on the banana tree. When the collected clamping force is less than the clamping threshold range, the sub-control device 200 controls the two supporting jaws to retract, preventing the adaptive clamping device 100 from slipping. When the collected clamping force is greater than the clamping threshold range, the sub-control device 200 controls the two supporting jaws to move away from each other, preventing the supporting jaws from damaging the banana tree stem as it grows larger. The first pressure sensor 134 is divided into two groups. The first pressure sensor 134 located in the SMA adaptive clamp below the banana tree is the first group, and the first pressure sensor 134 located in the SMA adaptive clamp above the banana tree is the second group. When the pressure collected by the first pressure sensor 134 in the second group is greater than the clamping threshold preset in the sub-control device 200, the sub-control device 200 uses PWM pulse width modulation to energize and heat the arc-shaped SMA spring 131, and sends a control command to the micro motor 136. The micro motor 136 drives the threaded rod 137 to rotate, thereby causing the two SMA springs to move away from each other. The adaptive grippers move away from each other, while the arc-shaped SMA spring 131 deforms, increasing its radius to match the increased radius of the banana tree stem, preventing damage to the stem. Specifically, the arc-shaped SMA spring 131 is a nickel-titanium alloy that expands in one direction through thermomechanical training. When the banana tree tilts, the sub-control device 200 controls the two second dual-axis motors 142 to adjust the lengths of the two support adjustment mechanisms 140, correcting the tilt angle. Furthermore, the server can connect to the local weather forecast network to obtain real-time weather changes in the banana planting area. The sub-control device 200 has a preset extreme clamping threshold. When the server receives weather forecast signals such as strong winds, typhoons, or heavy rain, it triggers the sub-control device 200 to adjust the clamping force of the adaptive clamping device 100 based on the extreme clamping threshold, increasing the clamping force on the banana pseudostem without damaging it, thus improving the pseudostem's ability to prevent lodging in severe weather.

[0026] It is worth mentioning that, since the main stem of the banana tree is covered with a smooth plant outer skin, anti-slip stripes are provided on the inner side of both the first contact rubber layer 133 and the second contact rubber layer 116 to make the clamping process more stable.

[0027] In some preferred embodiments, the support adjustment mechanism 140 includes a hollow adjustment column 141, a second dual-axis motor 142, an adjustment push rod 143, and a second rotating seat 144. The second dual-axis motor 142 is fixedly installed inside the hollow adjustment column 141, and its two output ends are respectively threaded to one of the adjustment push rods 143. The adjustment push rod 143 is slidably connected to the hollow adjustment column 141, and its other end is connected to the second rotating seat 144. The two second rotating seats 144 are respectively rotatably connected to the arc-shaped SMA spring 131 and the first rotating seat 122. The second dual-axis motor 142 is electrically connected to the sub-control device 200. The support adjustment mechanism 140 can adjust the height of the support according to the growth status of the banana tree, thus having good adaptability.

[0028] In some preferred embodiments, a wireless charging module is also included, which includes two helipads 500, a transmitter installed in the helipads 500, and a receiver installed in the drone 400. The two helipads 500 are respectively located at opposite ends of the banana tree planting area, and the drone 400 is used to conduct regular patrols and inspections of the banana planting area.

[0029] It also includes a solar charging module, which comprises several photovoltaic panels 600, a photovoltaic combiner box 610, and a photovoltaic controller 620. The photovoltaic panels 600 are installed around the banana tree planting area and are all electrically connected to the photovoltaic combiner box 610. The photovoltaic combiner box 610 is electrically connected to the photovoltaic controller 620. The photovoltaic controller 620 is electrically connected to both the transmitting device and the sub-controller 200. The solar charging module can serve as the DC power input module for the transmitting device. By setting up the solar charging module, solar power generation is fully utilized, reducing the system's demand for mains power, which is beneficial for energy conservation, emission reduction, and cost reduction.

[0030] This invention also provides a method for preventing lodging and increasing yield in banana cultivation, using the above-mentioned banana lodging prevention and yield-increasing system. The method includes the following steps: S1: Divide the N banana trees into planting areas using a rectangular array, and then dig holes to plant them. Depending on the type of banana plantation and banana variety, different row spacings are selected for banana plants. For example, the row spacing in ordinary banana plantations is 2.2-2.5 meters, the row spacing in dwarf dense planting banana plantations is 1.8-2.5 meters, and the row spacing in mechanized harvesting banana plantations and banana plantations with wide and narrow row planting is 3-5 meters. S2: The drone 400 makes its initial patrol and stores the GPS coordinates of the N banana tree shooting points in N groups in the coordinate database. The drone 400 forms a drone patrol route based on several GPS coordinates. The camera 300 captures initial images of the N banana trees and stores the N initial images in N groups in the image database. The image processor obtains the N initial images from the image database and generates the initial tilt angles of the N banana trees, and stores the N initial tilt angles in N groups in the tilt angle database. The coordinate database is divided into N groups, each group is used to store the GPS coordinates corresponding to a banana tree. The image database is also divided into N groups, each group is used to store the initial image corresponding to a banana tree. The tilt angle database is also divided into N groups, each group is used to store the initial tilt angle corresponding to a banana tree. The coordinate database, image database and tilt angle database correspond one-to-one to achieve the correspondence and matching of coordinates-images-tilt angles. S3: The drone 400 cruises according to the drone's cruise route every first time period. The camera 300 acquires first images of N banana trees and stores the N first images into the image database in N groups. The image processor acquires the N first images from the image database, generates the first tilt angle of the N banana trees, and stores them into the tilt angle database in N groups. The first time period is one week. S4: Based on the first tilt angle difference, it is determined that the banana tree is tilted. Based on the initial tilt direction of the banana tree, an adaptive clamping device 100 is installed on the banana tree until all banana trees are equipped with the adaptive clamping device 100. The support clamping mechanism 110 is clamped at the bend of the banana tree, and the clamping force is adaptively adjusted through the second pressure sensor 117, the sub-control device 200 and the first dual-axis motor 118. The correction clamping mechanism 130 is clamped above the bend of the banana tree, and the clamping force is adaptively adjusted through the first pressure sensor 134, the sub-control device 200 and the micro motor 136. The lengths of the two support adjustment mechanisms 140 are adjusted respectively so that the correction clamping mechanism 130 fits the banana tree. Based on the initial tilt direction, the shooting point of the corresponding banana tree is adjusted. The coordinate database is updated with the GPS coordinates of the N banana tree shooting points to form the first drone cruise route. The first tilt angle difference is the difference between the first tilt angle and the initial tilt angle. S5: The UAV 400 cruises according to the first UAV cruise route every second time period. The camera 300 acquires second images of N banana trees and stores them in the image database in N groups. The image processor acquires N second images from the image database and generates second tilt angles for N banana trees. It stores the N second tilt angles in the tilt angle database in N groups. The second tilt angle difference is obtained by subtracting the second tilt angle of the previous time point from the second tilt angle of the next time point. Several second tilt angle differences are accumulated to obtain a tilt angle accumulation value. When the tilt angle accumulation value is greater than 5°, the server sends a control command to the sub-control device 200. The sub-control device 200 controls the length of the support adjustment mechanism 140 by controlling the second dual-axis motor 142, thereby correcting the tilt angle of the banana trees and preventing the banana trees from falling over. The second time period is 2-3 days.

[0031] Preferably, step S5 further includes the following step: Based on the acquired second image, the image processor generates height values ​​at the bends of the banana tree and stores these height values ​​in a bend height database in N groups. It calculates the height difference by subtracting the height value at the previous time point from the height value at the bend at the next time point, and accumulates these height differences to obtain a cumulative height difference value. When the cumulative height difference value is greater than 15cm, the server sends a control command to the sub-control device 200. The sub-control device 200 then controls the adaptive clamping device 100 to move upwards along the banana tree a first distance, where the first distance is 10-15cm.

[0032] In summary, the present invention provides a banana planting anti-lodging and yield-increasing system that uses a drone equipped with a camera to patrol the banana planting area and acquire the real-time status (images, coordinates, etc.) of each banana tree. The image processor processes the banana tree images to obtain the tilt angle of the banana tree, and an adaptive clamping device clamped on the banana tree performs corresponding auxiliary adjustments (height, tilt, and changes in stem diameter due to growth, etc.) to the banana tree.

[0033] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A banana planting lodging prevention and yield-increasing system, characterized in that, The device includes an adaptive clamping device (100) that clamps onto a banana tree and controls the tilt angle of the banana tree. The adaptive clamping device (100) is equipped with several sub-control devices (200). The sub-control devices (200) are electrically connected to the adaptive clamping device (100) and electrically connected to an external server. The sub-control devices (200) are used to receive feedback signals from the adaptive clamping device (100) and control commands from the server, and control the adaptive clamping device (100) to adjust the clamping height and clamping force on the banana tree through the control commands. It also includes a drone (400) equipped with a camera (300), the drone (400) being used to move the camera (300) and record the GPS coordinates of each banana tree shooting point, the camera (300) also being used to acquire images of the banana trees; It also includes a coordinate database, an image database, a tilt angle database, a bend height database, and an image processor. The coordinate database is used to store the GPS coordinates, the image database is used to store the banana tree image, and the image processor is used to calculate the tilt angle and bend height of the banana tree based on the banana tree image. The tilt angle database is used to store the tilt angle, and the bend height database is used to store the bend height value. The server is electrically connected to the camera (300), the drone (400), the coordinate database, the image database, the tilt angle database, the bend height database, and the image processor. The image processor is electrically connected to the image database, the tilt angle database, and the bend height database. The server is used to receive the GPS coordinates, the banana tree image, the tilt angle, and the bend height value, and to transmit the GPS coordinates and the banana tree image to the coordinate database and the image database, respectively. Based on the tilt angle and the bend height value, it sends control commands to the sub-control device (200).

2. The banana planting lodging prevention and yield-increasing system according to claim 1, characterized in that, The adaptive clamping device (100) includes a support clamping mechanism (110), a correction clamping mechanism (130), and a support adjustment mechanism (140), wherein the support clamping mechanism (110) clamps at the bend of the banana tree; The corrective clamping mechanism (130) includes two SMA adaptive grippers. Each SMA adaptive gripper includes an arc-shaped SMA spring (131), a first buffer rubber layer (132), and a first contact rubber layer (133) connected in sequence. A plurality of first pressure sensors (134) are provided in the first buffer rubber layer (132). First connecting seats (135) are provided on opposite sides of the arc-shaped SMA spring (131). The two SMA adaptive grippers are connected by a telescopic clamping part. The telescopic clamping part includes a micro motor (136) and a threaded rod (137). The threaded rod (137) is installed on the output end of the micro motor (136). By driving the micro motor (136), the two SMA adaptive grippers are driven to move closer or further apart. One end of the support adjustment mechanism (140) is rotatably connected to the support clamping mechanism (110), and the other end is rotatably connected to the SMA adaptive gripper. The support clamping mechanism (110), the arc-shaped SMA spring sheet (131), the first pressure sensor (134), the micro motor (136), and the support adjustment mechanism (140) are all electrically connected to the sub-control device (200).

3. The banana planting lodging prevention and yield-increasing system according to claim 2, characterized in that, The support clamping mechanism (110) includes a base plate (111), a drive adjustment part and a support claw. The base plate (111) has a through groove (112) for banana trees to pass through and a sliding groove (113) located at opposite ends of the through groove (112). The support claw is slidably mounted on the sliding groove (113). The support claw includes an arc-shaped spring metal sheet (114), a second buffer rubber layer (115) and a second contact rubber layer (116) connected in sequence. The bottom end of the arc-shaped spring metal sheet (114) is provided with a slider that is slidably connected to the sliding groove (113). A plurality of second pressure sensors (117) are provided in the second buffer rubber layer (115). The drive adjustment unit includes a first dual-axis motor (118), a drive wheel (119), a driven wheel (120), an adjustment screw (121), a first rotating seat (122), and an adjustment slider (123). The first dual-axis motor (118) is mounted on the base plate (111). The drive wheel (119) is provided on both output ends of the first dual-axis motor (118). The adjustment slider (123) is connected to the support claw and slidably disposed on the slide groove (113). The first rotating seat (122) is mounted on the base plate (111). The adjustment screw (121) is rotatably mounted on the first rotating seat (122). The adjustment slider (123) is threadedly connected to the adjustment screw (121). The driven wheel (120) is mounted on the adjustment screw (121). The driven wheel (120) and the drive wheel (119) are connected by a synchronous belt.

4. The banana planting lodging prevention and yield-increasing system according to claim 3, characterized in that, Anti-slip stripes are provided on the inner sides of both the first contact rubber layer (133) and the second contact rubber layer (116).

5. The banana planting lodging prevention and yield-increasing system according to claim 3, characterized in that, The support adjustment mechanism (140) includes a hollow adjustment column (141), a second dual-axis motor (142), an adjustment push rod (143), and a second rotating seat (144). The second dual-axis motor (142) is fixedly installed inside the hollow adjustment column (141), and its two output ends are respectively threaded to one of the adjustment push rods (143). The adjustment push rod (143) is slidably connected to the hollow adjustment column (141), and its other end is connected to the second rotating seat (144). The two second rotating seats (144) are respectively rotatably connected to the arc-shaped SMA spring sheet (131) and the first rotating seat (122). The second dual-axis motor (142) is electrically connected to the sub-control device (200).

6. The banana planting lodging prevention and yield-increasing system according to claim 1, characterized in that, The sub-control device (200) includes a microcontroller and a power supply. The microcontroller is electrically connected to the adaptive clamping device (100), the power supply, and the server. The power supply is electrically connected to the adaptive clamping device (100) to provide power.

7. The banana planting lodging prevention and yield-increasing system according to claim 1, characterized in that, It also includes a wireless charging module, which includes two helipads (500), a transmitter installed in the helipads (500), and a receiver installed in the drone (400). The two helipads (500) are respectively located at opposite ends of the diagonal of the banana tree planting area.

8. A banana planting lodging prevention and yield-increasing system according to claim 7, characterized in that, It also includes a solar charging module, which includes several photovoltaic panels (600), a photovoltaic combiner box (610), and a photovoltaic controller (620). Several photovoltaic panels (600) are installed around the banana tree planting area and are all electrically connected to the photovoltaic combiner box (610). The photovoltaic combiner box (610) is electrically connected to the photovoltaic controller (620). The photovoltaic controller (620) is electrically connected to the transmitting device and the sub-controller (200).

9. A method for preventing lodging and increasing yield in banana cultivation, characterized in that, The method, applied to a banana planting lodging prevention and yield-increasing system as described in any one of claims 1-8, comprises the following steps: S1: Divide the N banana trees into planting areas in the form of a rectangular array, and plant them in holes; S2: The drone (400) makes its first patrol and stores the GPS coordinates of the N banana tree shooting points in the coordinate database in N groups. The drone (400) forms a drone patrol route based on several GPS coordinates. The camera (300) captures initial images of N banana trees and stores the acquired N initial images into an image database in N groups; The image processor obtains N initial images from the image database, generates N initial tilt angles for banana trees, and stores the N initial tilt angles in N groups into the tilt angle database; S3: The drone (400) cruises according to the drone's cruise route every first time period. The camera (300) acquires the first images of N banana trees and stores the N first images into the image database in N groups. The image processor acquires the N first images from the image database, generates the first tilt angle of the N banana trees and stores them into the tilt angle database in N groups. The first time period is one week. S4: Based on the first tilt angle difference, it is determined that the banana tree is tilted. Based on the initial tilt direction of the banana tree, an adaptive clamping device (100) is installed on the banana tree until all banana trees are equipped with the adaptive clamping device (100). The support clamping mechanism (110) is clamped at the bend of the banana tree, and the clamping force is adaptively adjusted by the second pressure sensor (117), the sub-control device (200) and the first dual-axis motor (118). The correction clamping mechanism (130) is clamped above the bend of the banana tree, and the clamping force is adaptively adjusted by the first pressure sensor (134), the sub-control device (200) and the micro motor (136). The lengths of the two support adjustment mechanisms (140) are adjusted respectively so that the correction clamping mechanism (130) fits the banana tree. Based on the initial tilt direction, the shooting point of the corresponding banana tree is adjusted. The coordinate database updates the GPS coordinates of the shooting points of N banana trees to form the first drone cruise route. The first tilt angle difference is the difference between the first tilt angle and the initial tilt angle. S5: The UAV (400) cruises every second time period based on the first UAV cruise route. The camera (300) acquires second images of N banana trees and stores them in the image database in N groups. The image processor acquires N second images from the image database and generates second tilt angles for N banana trees. It stores the N second tilt angles in the tilt angle database in N groups. The second tilt angle difference is obtained by subtracting the second tilt angle of the previous time point from the second tilt angle of the next time point. Several second tilt angle differences are accumulated to obtain the tilt angle accumulation value. When the tilt angle accumulation value is greater than 5°, the server sends a control command to the sub-control device (200). The sub-control device (200) controls the length of the support adjustment mechanism (140) by controlling the second dual-axis motor (142), thereby correcting the tilt angle of the banana trees and preventing the banana trees from falling over. The second time period is 2-3 days.

10. A method for preventing lodging and increasing yield in banana cultivation according to claim 9, characterized in that, The S5 also includes the following steps: Based on the acquired second image, the image processor generates height values ​​at the bends of the banana tree and stores these height values ​​in N groups in the height database. It calculates the height difference by subtracting the height value at the bend from the height value at the previous time point, and accumulates several of these height differences to obtain a cumulative height difference value. When the cumulative height difference value is greater than 15cm, the server sends a control command to the sub-control device (200). The sub-control device (200) controls the adaptive clamping device (100) to move upwards along the banana tree a first distance, where the first distance is 10-15cm.

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