Light forage seed unmanned aerial vehicle pneumatic seeding system

Abstract

The utility model relates to a kind of light grass seed unmanned aerial vehicle pneumatic seeding system, belong to agricultural machinery field, and the system includes unmanned aerial vehicle, seeding box installed in the middle part of unmanned aerial vehicle, the seeding box is equipped with roller feeder and cross stirring shaft, bottom is connected with sowing channel, independent intelligent reseeding system, including fixed in the camera of the bottom of seeding box and set in the edge computing development board of unmanned aerial vehicle fuselage;Signal interlock module, input respectively connects the reseeding signal B of seeding control signal A and edge computing development board output of unmanned aerial vehicle flight control system output. Flight control system exports 5V high level signal A according to preset route in target seeding point, camera vertically shoots ground, edge computing development board analyzes image in real time, when signal interlock module detects A=B=5V, motor drive circuit is turned on. Re-verification mechanism makes misseeding rate to be reduced to 3% or less, hardware interlock avoids the seeding out of control caused by software failure, and seed can be supplemented to preset position.

Description

Technical Field

[0001] The present invention relates to the technical field of sowing, and in particular to a lightweight forage seed drone pneumatic sowing system. Background Art

[0002] Existing seeding drones already have mature intelligent flight control systems that can perform autonomous path planning, obstacle avoidance, and seeding operations within a set area. However, their seeding control logic still relies on preset path parameters and cannot dynamically adjust seeding parameters based on real-time detection of ground crop density. If precise seeding is required, current technology requires vegetation growth detection in the target area through satellite remote sensing or multispectral drones before the operation. This solution is not only costly but also has a cumbersome data processing process, making it difficult to meet the real-time perception and decision-making needs during flight. In addition, traditional grass seed sowing is usually carried out using land-based grass seeders. However, for drone sowing, grass seeds are light in weight and are easily affected by weather and airflow generated by the drone's rotors during flight, resulting in uneven sowing of grass seeds. Especially for large-scale grass sowing, some grass seeds need to be soaked before sowing. For example, leguminous grasses (such as alfalfa and sweet sorghum) are soaked to promote germination, and some seeds (such as Polygonaceae and Asteraceae) or dormant seeds need to be soaked in warm water to break dormancy. Using traditional drones for sowing can easily cause the soaked seeds to adhere to the rollers, resulting in uneven grass sowing.

[0003] To address the above defects, a lightweight, low-cost real-time visual inspection system is urgently needed. Summary of the Invention

[0004] In view of the problems in the prior art, the present invention aims to overcome the shortcomings of the prior art and provide a lightweight forage seed drone pneumatic seeding system.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a lightweight forage seed drone pneumatic seeding system, including a drone, a seeding box installed in the middle of the drone, a roller meter and a cross stirring shaft installed in the seeding box, and a seeding duct connected to the bottom. An independent intelligent reseeding system includes a camera fixed to the bottom of the seeding box and an edge computing development board installed on the drone body;

[0006] The signal interlock module has its input connected to the seeding control signal A output by the drone flight control system and the reseeding signal B output by the edge computing development board, and its output connected to the drive motor of the cross stirring shaft.

[0007] The signal interlock module is configured to drive the roller dosing device to rotate only when signal A and signal B are both at high level.

[0008] Preferably, the real-time ground image captured by the camera is received; the vegetation coverage density is calculated through HSV color segmentation and GLCM texture analysis; and a high-level overseeding signal B is output when the density is lower than a set threshold.

[0009] Preferably, the seed box further comprises:

[0010] The duct fan is installed at the air inlet of the spreading duct and connects the roller meter outlet with the spreading duct.

[0011] The rotation speed of the roller dosing device determines the amount of seeds delivered per unit time;

[0012] A driving shaft is fixedly provided at one end of the roller dosing device, and the roller device is connected to the output end of the driving motor through a belt;

[0013] The roller dosing device is hollow, and a connecting air pipe is provided on one side of the duct fan, and the other end of the connecting air pipe extends to the middle of the roller dosing device.

[0014] Preferably, when the signal interlock module outputs the start instruction: the speed of the roller quantity meter is increased to a preset supplementary broadcasting gear;

[0015] The wind speed of the ducted fan is increased by 20%-50% simultaneously.

[0016] Preferably, the rotation of the cross stirring shaft is linked with the roller quantity controller, and the speed ratio between the two is 1:1.5~1:2.

[0017] Preferably, vegetation density analysis adopts a dynamic threshold adjustment strategy:

[0018] The initial threshold was set at 40% coverage; the threshold was automatically adjusted by ±5% every 10 minutes based on historical seeding data.

[0019] Preferably, there is no data communication interface between the edge computing development board and the UAV flight control system, and the two only realize hardware signal coupling through a signal interlocking module.

[0020] Preferably, the signal interlock module is integrated on the GPIO expansion board of the edge computing development board, and includes:

[0021] Optoelectronic isolation circuit to isolate electrical interference of signal A / B;

[0022] AND gate logic chip outputs drive signal to the motor controller.

[0023] Preferably, the camera adopts a multispectral imaging module, including visible light and near-infrared band channels.

[0024] Based on the above technical solutions, the lightweight forage seed drone pneumatic seeding system of the present invention has at least one of the following beneficial effects compared to the prior art:

[0025] 1. The flight control system of the present invention outputs a 5V high-level signal A at the target sowing point according to the preset route. The camera shoots the ground vertically, and the edge computing development board analyzes the image in real time. When the signal interlock module detects A=B=5V, it turns on the motor drive circuit. The re-verification mechanism reduces the misseeding rate to below 3%. The hardware interlock avoids sowing out of control caused by software failure, and can replenish seeds to the preset position. The duct fan generates an airflow of 4 to 6 m / s to blow the seeds into the sowing duct, which is conducive to the rapid falling of seeds.

[0026] 2. When releasing grass seeds, the present invention is relatively light. In rainy and humid weather or soaked grass seeds, the grass seeds may adhere to the grooves opened on the outer wall of the roller meter. By blowing out a small amount of gas from the bottom of the groove, the grass seeds can be prevented from adhering to the grooves and the seeds can be quickly introduced into the sowing duct. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The present invention will be further described below with reference to the accompanying drawings and examples.

[0028] Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of a lightweight forage seed drone pneumatic seeding system provided by the present invention.

[0029] Figure 2 For the present invention Figure 1 Schematic diagram of the connection between the seed box and the roller meter.

[0030] Figure 3 For the present invention Figure 2 A cutaway view of the seed box is shown.

[0031] Figure 4 This is a diagram of the camera rebroadcast signal acquisition of the present invention.

[0032] Figure 5 This is a control signal diagram for the sowing action of the sowing box of the present invention.

[0033] Figure 6 Schematic diagram of the internal connection of the roller dosing device of the present invention.

[0034] Figure 7 This is a working principle diagram of the present invention.

[0035] In the above drawings, the meanings of the reference numerals are as follows:

[0036] 100-UAV; 200-seeding box; 210-camera; 220-roller meter; 230-ducted fan; 231-connecting air pipe; 240-cross stirring shaft; 260-seeding duct; 270-drive motor; 280-synchronous belt; 290-roller. DETAILED DESCRIPTION

[0037] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0038] The terms used in the present invention are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present invention. The singular forms "a", "an", "the" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0039] At present, the traditional process of sowing grass seeds is usually carried out by land-based grass seeders. However, for drone sowing, the grass seeds are light in weight and easily affected by the weather and the airflow generated by the rotors during the flight of the drone, which makes the grass seeds unevenly spread. Especially for large-scale grass sowing, some grass seeds need to be soaked before sowing. For example, leguminous grasses (such as alfalfa and sweet sorghum) are soaked to promote germination, and some seeds (such as Polygonaceae and Asteraceae) or dormant seeds need to be soaked in warm water to break dormancy. The use of traditional drones for sowing is likely to cause the soaked seeds to adhere to the rollers, resulting in uneven grass sowing. Therefore, the present invention is as follows. Figure 1-Figure 5 As shown, the lightweight forage seed drone pneumatic seeding system of the present invention includes a drone 100 and a seeding box 200 installed in the middle of the drone 100. The seeding box 200 is provided with a roller meter 220 and a cross stirring shaft 240, and the bottom is connected to a seeding duct 260;

[0040] An independent intelligent reseeding system, comprising a camera 210 fixed to the bottom of the seeding box 200 and an edge computing development board mounted on the body of the drone 100;

[0041] The signal interlock module has an input end connected to the sowing control signal A output by the UAV 100 flight control system and the reseeding signal B output by the edge computing development board, and an output end connected to the drive motor 270 of the cross stirring shaft 240;

[0042] The signal interlock module is configured to drive the roller meter 220 to rotate only when the signal A and the signal B are both at a high level.

[0043] Among them, the roller meter 220 controls the single seeding amount through the groove volume (groove depth 2mm); the duct fan 230 generates 4-6m / s airflow to blow the seeds into the sowing duct 260; the cross stirring shaft 240 prevents the seeds from arching.

[0044] Furthermore, the seeding accuracy is ±5 seeds / second, and the air flow speed can be adjusted within the range of 3 to 8 m / s.

[0045] In the present invention, the flight control system outputs a 5V high-level signal A at the target seeding point according to the preset route. The camera 210 shoots the ground vertically. The edge computing development board analyzes the image in real time. When the signal interlock module (74HC08 AND gate chip) detects A=B=5V, it turns on the motor drive circuit.

[0046] Technical data in the embodiment: signal response delay <5ms, camera 210 resolution 1280×720@30fps, double verification mechanism reduces the misseeding rate to below 3%, hardware interlock avoids sowing out of control due to software failure, and enables timely seed replenishment.

[0047] The system receives the real-time ground image captured by the camera 210; calculates the vegetation coverage density through HSV color segmentation and GLCM texture analysis; and outputs a high-level overseeding signal B when the density is lower than a set threshold.

[0048] The HSV color space is used to extract the green vegetation area H∈[35°,90°]. GLCM texture analysis is used to calculate the contrast characteristics of a 15×15 pixel window: vegetation density = number of vegetation pixels / total number of pixels × 100%. Density calculation takes 120ms per frame, with detection accuracy of 93% on sunny days and 86% on cloudy days. By integrating color and texture features, the seedling recognition rate is improved by 40%, and the system can adapt to different lighting conditions with an error rate of less than 7%.

[0049] Wherein, the seed box 200 further includes:

[0050] The duct fan 230 is provided at the air inlet of the spreading duct 260 and connects the outlet of the roller meter 220 and the spreading duct 260;

[0051] The rotation speed of the roller dosing device 220 determines the amount of seeds delivered per unit time;

[0052] A driving shaft 290 is fixedly provided at one end of the roller dosing device 220, and the roller 290 is connected to the output end of the driving motor 270 via a belt;

[0053] The roller metering device 220 is hollow, and a connecting air pipe 231 is provided on one side of the ducted fan 230 , and the other end of the connecting air pipe 231 extends to the middle of the roller metering device 220 .

[0054] The groove of the roller meter 220 is 2mm deep, and 50 seeds are dropped per rotation. A ducted fan 230 generates a 5m / s airflow to form the seed transport channel, maintaining an air-to-solid ratio of 1.25 (1.25L of air per gram of seed). The groove is connected to the air pipe 231 at the center of the roller meter 220. When the ducted fan 230 generates suction into the sowing duct 260, some air enters the groove through the connecting air pipe 231, blowing the seeds out from the bottom of the groove. Because the grooves on the side walls of the roller meter 220 are asymmetrical, when the grooves face the sowing duct 260, they also align with the side walls of the seed box 200, so the air blowing has no effect on the seeds. The actual seed drop rate can be adjusted from 20 to 100 seeds / second, with an airflow velocity error of ±0.3m / s.

[0055] In this embodiment, the pneumatic seed breakage rate is <0.5% (mechanical seed breakage rate is 8%), and the sowing uniformity CV value is <15%.

[0056] When releasing grass, since the grass seeds are relatively light, they may adhere to the grooves opened on the outer wall of the roller meter 220 in rainy and humid weather. A small amount of gas is blown out from the bottom of the groove, which can prevent the grass seeds from adhering to the grooves and also help the seeds quickly enter the sowing duct 260.

[0057] Among them, when the signal interlocking module outputs the start command: the rotation speed of the roller meter 220 is increased to the preset reseeding gear; the wind speed of the ducted fan 230 is synchronously increased by 20% to 50%.

[0058] During the implementation process, when the reseeding is triggered, the roller speed increases from 30rpm to 45rpm, the duty cycle of the duct fan 230 increases from 40% to 60% (wind speed 5→7m / s), the seeding amount in the reseeding area increases by 80%, the response time is <200ms, the density gap is accurately matched, the seed utilization rate is increased by 35%, and the dual parameters are linked to avoid pipeline blockage.

[0059] The rotation of the cross stirring shaft 240 is linked to the roller quantity meter 220, and the rotation speed ratio between the two is 1:1.5~1:2.

[0060] The cross-stirring shaft 240 and the roller meter 220 are linked via a 1:1.8 gear set. The speed of the cross-stirring shaft 240 = roller speed × 0.55 (e.g., 30 rpm → 16.5 rpm), allowing the seeds to remain in a constant flow state. This improves seed fluidity by 70%, reduces seed jamming, and reduces the seed jamming failure rate to <0.1 times / hectare. The dual-shafts work together to eliminate seed bridging and reduce the frequency of maintenance downtime by 90%.

[0061] Among them, vegetation density analysis adopts a dynamic threshold adjustment strategy: the initial threshold is set to 40% coverage; the threshold is automatically corrected by ±5% every 10 minutes based on historical seeding data.

[0062] In the process of sowing, the initial threshold value is 40%, the historical data is counted every 10 minutes, if the average density is greater than 50%, the threshold value is raised to 45%, if the average density is less than 30%, the threshold value is lowered to 35%, the response time is dynamically adjusted to 8 minutes, the threshold value floating range is ±10%, through the processing of monitoring data, different soil backgrounds are adapted, the false trigger rate is reduced by 62%, and the all-weather operation stability is improved.

[0063] The edge computing development board and the flight control system of the unmanned aerial vehicle 100 have no data communication interface, and the two only realize hardware signal coupling through the signal interlocking module.

[0064] The development board and the flight control have no serial port / CAN communication, and only transmit the reseeding signal through the GPIO pin. The number of signal lines is reduced from 12 to 2, completely avoiding software compatibility problems, and the system adaptation time is shortened from 8 hours to 20 minutes.

[0065] The signal interlocking module is integrated on the GPIO expansion board of the edge computing development board, and includes:

[0066] An optoelectronic isolation circuit isolates the electrical interference of signals A / B;

[0067] An AND gate logic chip outputs a driving signal to a motor controller.

[0068] The GPIO expansion board integrates an optoelectronic coupler to isolate a 24V flight control signal and drive a motor. The isolation withstand voltage is 2500V, and the common mode interference resistance is >100dB. The electromagnetic interference of the motor start-stop on the control circuit is eliminated, and the system failure rate is reduced by 90%.

[0069] The camera 210 adopts a multispectral imaging module, which includes visible light and near-infrared waveband channels.

[0070] The multispectral camera synchronously collects 550nm (green), 680nm (red), and 800nm (NIR) wavebands, and NDVI=NIR-Red / NIR+Red assists in vegetation identification. NDVI>0.3 is determined as vegetation, and the shadow interference is reduced by 60%. The discrimination between seedlings and soil is enhanced, and the detection accuracy in the seedling stage is increased from 70% to 88%.

[0071] A reseeding control method includes that the flight control system generates a sowing control signal A according to a preset path;

[0072] The camera 210 collects ground images at a frequency of 5-10Hz;

[0073] The edge computing development board completes density analysis and outputs a reseeding signal B within 200ms;

[0074] Perform a logical AND operation on signals A / B through a hardware AND gate circuit;

[0075] The roller meter 220 is activated only when the output is high.

[0076] After the flight controller outputs signal A, the development board completes image acquisition, processing, and decision-making within 200ms, outputting signal B to the circuit. The entire link delay is less than 250ms, meeting the real-time requirements of a 3m / s flight speed.

[0077] Beneficial effects: Decision response speed is 15 times faster than cloud-based processing solutions, and the missed broadcast rate is reduced to less than 5%.

[0078] The density analysis includes: dividing the image into 0.5m×0.5m grids; calculating the vegetation pixel ratio of each grid; and triggering the reseeding signal B when the density of three consecutive grids is less than 35%.

[0079] Image processing is done in grids (each grid corresponds to an actual 0.5m x 0.5m). Replay is triggered when the density of three consecutive grids is less than 35%, preventing instantaneous misjudgments. Grid processing takes 20ms, with a spatial resolution error of ±8cm. By eliminating noise interference from single-frame images, the false trigger rate is reduced to 2.1%.

[0080] When the present invention is working, the camera 210 collects an image of the grass sparseness on the grass, and the data collected by the camera 210 is uploaded to the processor. The processor processes the data through an algorithm, and the processor is connected to the duct fan 230 motor and the drive motor 270; the number of grass seeds discharged by the sowing duct 260 is controlled by controlling the rotation speed of the duct fan 230. In the present invention, the electronic components involved are all connected to the power supply system of the drone; a counter or image collector (not shown in the figure) is installed inside the roller meter 220 for collecting data on the seed discharge situation inside the roller meter 220, and the counter or image collector is connected to the processor to ensure the uniformity of the sowing of grass seeds.

[0081] After the above analysis, when releasing grass seeds, the present invention may adhere to the grooves opened on the outer wall of the roller meter 220 in rainy and humid weather or soaked grass seeds because the grass seeds are relatively light. A small amount of gas is blown out from the bottom of the groove, which can prevent the grass seeds from adhering to the groove and also facilitates the seeds to quickly enter the sowing duct 260.

[0082] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0083] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above-described embodiments. The above-described embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A lightweight forage seed drone pneumatic seeding system, comprising a drone and a seeding box mounted in the middle of the drone, wherein the seeding box is provided with a roller meter and a cross stirring shaft, and the bottom is connected to a seeding duct, characterized in that: Also includes: An independent intelligent reseeding system, consisting of a camera fixed to the bottom of the seeding box and an edge computing development board installed on the drone body; The signal interlock module has its input connected to the seeding control signal A output by the drone flight control system and the reseeding signal B output by the edge computing development board, and its output connected to the drive motor of the cross stirring shaft. The signal interlock module is configured to: drive the roller dosing device to rotate only when signal A and signal B are both at high level; Receive real-time ground images collected by the camera; calculate vegetation cover density through HSV color segmentation and GLCM texture analysis; When the density is lower than the set threshold, a high-level rebroadcast signal B is output; The duct fan is installed at the air inlet of the spreading duct and connects the roller meter outlet with the spreading duct. The rotation speed of the roller dosing device determines the amount of seeds delivered per unit time; A driving shaft is fixedly provided at one end of the roller dosing device, a roller device is installed inside the roller dosing device, and the roller device is connected to the output end of the driving motor through a belt; The roller dosing device is hollow, and a connecting air pipe is provided on one side of the duct fan, and the other end of the connecting air pipe extends to the middle of the roller dosing device.

2. The lightweight forage seed drone pneumatic seeding system according to claim 1, characterized in that: When the signal interlock module outputs the start command: the speed of the roller quantity meter is increased to the preset supplementary broadcasting gear; The wind speed of the ducted fan increases simultaneously by 20% to 50%.

3. The lightweight forage seed drone pneumatic seeding system according to claim 2, characterized in that: The rotation of the cross stirring shaft is linked with the roller quantity controller, and the speed ratio of the two is 1:1.5~1:

2.

4. The lightweight forage seed drone pneumatic seeding system according to claim 3, characterized in that: Vegetation density analysis uses a dynamic threshold adjustment strategy: The initial threshold was set at 40% coverage; the threshold was automatically adjusted by ±5% every ten minutes based on historical seeding data.

5. The lightweight forage seed drone pneumatic seeding system according to claim 4, characterized in that: There is no data communication interface between the edge computing development board and the drone flight control system. The two only achieve hardware signal coupling through a signal interlocking module.

6. The lightweight forage seed drone pneumatic seeding system according to claim 5, characterized in that: The signal interlock module is integrated into the GPIO expansion board of the edge computing development board and includes: Optoelectronic isolation circuit to isolate electrical interference of signal A / B; AND gate logic chip outputs drive signal to the motor controller.

7. The lightweight forage seed drone pneumatic seeding system according to claim 1, characterized in that: The camera uses a multispectral imaging module, including visible light and near-infrared band channels.

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